This page gives a beginner's overview of the software architecture for Nemo (2025).

Hardware

Nemo uses a roboRIO 2.0. It has eight Kraken X60 swerve motors and four encoders. Four motors power each forward/backward drive wheel, and four motors power the four rotation wheels. There are four encoders on the rotation wheels that measure the direction of the rotation wheel. All wheels are connected to the roboRIO by a CAN bus, and the roboRIO is connected to a laptop (driver's station, developer, telemetry dashboard) via WiFi.

It also has cameras for vision, none of which exist as of this writing.

Software architecture