Part II — Anatomy of the Elite Architecture

The hood comes off.

Part I established what the Elite Architecture is, why to believe it, and how a program grows into it — at low resolution, deferring every mechanism. Part II is the engineering reference. Each chapter takes one major component, opens it, and shows the contracts, the decisions, the real variants in the corpus, and what to build. Code is quoted throughout from the public codebases the architecture was read from — to study the technique, not to copy.

The dividing line with Part I is depth: Part I motivates, Part II builds. Where a Part I chapter named a seam and pointed here, this is the page it pointed to.

Which corpus, which N. Part II cites counts from three related datasets: a 37-team hand survey (close reading, one team at a time), a 55-repo season index (one repository per team for the indexed season), and a 63-team full clone (684 repositories, with a parsed-call DuckDB index). The same fact can therefore carry different denominators — 24/55 and 27/63 are both correct measurements of IO-seam adoption, taken against two different bases. Every count in these chapters names its denominator.

Chapters

F. The control path and abstraction

15. The control path, end to end — how a teleop or auto command becomes a motor voltage, and how state flows back up.
16. Hardware abstraction and the IO line — what the IO seam really is, where the control loop sits, and how vendor types leak.
17. Motor interfaces — the device-level contract: the reusable MotorIO shapes the corpus actually uses.

G. The subsystems

18. Subsystem archetypes — the IO quartet per control type, with the sim model each uses.
19. The drivetrain subsystem — the swerve special case: modules, kinematics, odometry, and the CTRE-vs-owned-seam spectrum.

H. Perception and coordination

20. The world model — RobotState and sensor fusion in depth.
21. Vision systems — the pipeline, what teams run, and what it produces.
22. Coordination I — state machines and the superstructure — the FSM, the centralized manager, guarded interlocks.
23. Coordination II — state graphs and behavior trees — the far end of the coordination ladder.

• 15. The control path, end to end
• 16. Hardware abstraction and the IO line
• 17. Motor interfaces
• 18. Subsystem archetypes
• 19. The drivetrain subsystem
• 20. The world model
• 21. Vision systems
• 22. Coordination I — state machines and the superstructure
• 23. Coordination II — state graphs and behavior trees