The Evolution class is the primary controlling program for each physical robot. It connects to each of the servers controlling the robot and to the central communications server.
The class can be found here.
Were everything fully completed, the constructor and the function mapToolController() would be the only two functions called when a robot is started and the rest would be handled by them.
What is still needed
Some more instructions available for MapTool to send might be useful. Much testing would also be useful once everything has been integrated. Needed for full integration is something to connect to the Vision server and probably some minor edits to connect to the communications server on another computer instead of the MapTool on the current computer. (That part should just require changing an address, assuming we find a suitable host computer for the server.)