Main Computer Overview

The Raspberry Pi 5 is the robot's main computer: it talks to the Controller and Station over Wi-Fi, reads the camera, and drives the microcontrollers (Pico 2, XIAO, Nano Every) over UART/I2C. Internally it is split into several isolated processes rather than one monolithic program, so that anything unrelated to motor safety (Wi-Fi, AI, camera, audio) can crash without affecting the processes that touch actuators.

• Main Computer Software — process breakdown, command arbitration, internal ZeroMQ channels, audio design.
• Main Computer System — system-level design: privilege separation, shutdown sequence, I2C bus arbitration (not written yet).

Current implementation status (which processes actually exist and run today) is tracked in zig-pi/ARCHITECTURE.md, not here — this section describes the target architecture.