# Software

The robot runs two separate processes on two custom PCBs.

| Process | Board |
|---------|-------|
| [Asimov Firmware](https://github.com/asimovinc/asimov-firmware) | [Motion Control Board](../hardware/specs/the-brains) (ARM64) |
| [Asimov Manager](https://github.com/asimovinc/asimov-manager) | [Perception and Network Controller](../hardware/specs/the-brains) (x86) |

They talk [nanopb](https://github.com/nanopb/nanopb) over UDP:

```{mermaid}
flowchart LR
    subgraph pnc["Perception & Network Controller"]
        manager["Asimov Manager<br/>Cameras, Audio, Net"]
    end
    subgraph mcb["Motion Control Board"]
        firmware["Asimov Firmware<br/>Motors, IMU, RL Policy"]
    end
    manager -->|"UDP :8888<br/>Commands"| firmware
    firmware -->|"UDP :8889<br/>State"| manager
```
- **Port 8888**: Commands (manager → firmware)
- **Port 8889**: State (firmware → manager)

```{toctree}
:maxdepth: 2

firmware/index
manager/index
```