Interactive explorations of how the Valeron robot system works. Each diagram is a self-contained playground — click around, explore subsystems, and build your mental model.
Diagrams
ACE Binary Architecture
Full architecture of the ace C++ binary — sensor pipeline, shared memory, HAL drivers, nav2 modules, and HTTP debug API. How data flows from GPS/IMU to motor commands.
GNSS Navigator Decision Flow
Step-by-step decision tree of the GNSS navigation algorithm — waypoint selection, heading calculations, turn detection, speed control, and terminal rotation. Maps directly to nav2.yaml parameters.