microduck — the robot's own software

Everything that runs on the robot. Rust, one workspace, no framework, with systemd supervising seven daemons.

Why the source is worth reading: every robotctl command ends up at a JSON-RPC interface in here, and the phone app, the web console, the gamepad and your own script all send exactly the same calls. Any question of the form “what does this command actually do” is answered in this repository.

The pieces:

• robotd — motor control, the 50 Hz loop, policy inference, safety
• updaterd — signature verification, the health gate, automatic rollback
• configd / btd / padd / mediad / tofd — wifi and identity, BLE, the gamepad, camera over WebRTC, the depth sensor

See System architecture and the robotctl reference.