Overview

This page links to documentation of the tractor's software systems:

• Coordinate Systems: Transforms between Kubo coordinate systems using tf2
• Ackermann Steering: Ackermann steering explanation and message setup
• Onboard Computer (NUC): Setup and Instructions for interfacing with onboard NUC computer
• Hindbrain: Firmware walkthrough for Kubo's hind-brain, including OAK Estop and softSwitch classes