# Overview

[Asimov Firmware](https://github.com/asimovinc/asimov-firmware) runs on the [Motion Control Board](../../hardware/specs/the-brains). It talks to motors over CAN, runs the RL policy, and streams telemetry over UDP.

You send protobuf commands, it moves the robot.

## I want to control the robot

Start here if you're writing a Python/C++ client to send commands.

1. [Quick Start](quickstart) - Send commands in 5 minutes
2. [Examples](examples) - Copy-paste Python scripts
3. [Protocol Reference](protocol) - Message formats

## I want to run my own policy

1. [Custom Policy](policy) - ONNX model interface, observation/action format

## I want to modify the firmware

Start here if you're changing the control code itself.

1. [Firmware Internals](internals) - Threads, state, architecture
2. [Debugging](debugging) - Common issues
3. [C API Reference](api) - Doxygen documentation

## How It Works

```{mermaid}
flowchart TB
    subgraph client["Your Code (Python, C++, etc.)"]
        app[Application]
    end

    app -->|"UDP :8888<br/>RobotCommand"| netrx

    subgraph firmware["asimov_io (Motion Control Board)"]
        netrx["netrx<br/>100 Hz"] --> gapp[("g_app<br/>(shared state)")]
        gapp --> policy["policy<br/>50 Hz<br/>ONNX model"]
        policy --> can

        subgraph can["CAN Threads"]
            can0["CAN 0<br/>6 motors"]
            can1["CAN 1<br/>6 motors"]
        end

        can --> gapp
        gapp --> nettx["nettx<br/>100 Hz"]
    end

    can0 --> motors0["Left Leg<br/>Motors"]
    can1 --> motors1["Right Leg<br/>Motors"]
    nettx -->|"UDP :8889<br/>RobotState"| telemetry["Telemetry<br/>@ 100 Hz"]

    style client fill:#e1f5fe
    style firmware fill:#fff3e0
    style can fill:#ffecb3
```