Architecture
Warning: Although much of this is still correct, the current state of the codebase may not be reflected by these sequence diagrams. They will be kept as up-to-date as possible, but the highly dynamic nature of the code makes it prohibitively difficult to keep them perfectly in-sync.
The behavior of the 'bot can be expressed as a series of actions strung together to produce a solution to the course.
Sequence of events during the start-up process.
Sequence of events during a line following action.
Sequence of events during a firing action.