Service Overview

website/docs/concepts/canbus_service/README.md

@@ -1,6 +1,6 @@
 ---
 id: canbus-overview
-title: CANBUS
+title: Canbus
 ---
 
 # Canbus Service Overview

website/docs/concepts/oak_service/README.md

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 ---
 id: oak-overview
-title: OAK
+title: Oak
 ---
 
 # Oak Service Overview

website/docs/concepts/system_overview/amiga_development_101.md

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+---
+id: amiga-dev
+title: Amiga Development 101
+---
+
+# Amiga Development 101
+
+Welcome to the world of Amiga robot development!
+If you're excited about harnessing the power of the Brain and the Amiga platform,
+you've come to the right place.
+This guide is designed to give you a bird's-eye view of how various services run on the Brain
+work in harmony to power the Amiga.
+
+## What are Services?
+
+In the realm of robot development, a service can be thought of as a specialized program or
+routine that performs a specific function.
+For the Amiga robot, each service handles a unique aspect of the robot's operation, from processing
+imagery to managing movement.
+They're the cogs that make the Amiga machine tick.
+
+## Why Are Services Necessary?
+
+Services modularize robot functions.
+Instead of having one colossal program trying to manage everything the robot does,
+we break down tasks into individual services.
+This approach has several advantages:
+
+1. **Scalability**: As the robot's capabilities grow, new services can be added without
+disturbing existing ones.
+2. **Maintainability**: If there's a bug or an issue, it's isolated to a particular service,
+making troubleshooting easier.
+3. **Efficiency**: Services can run concurrently, utilizing the multi-core capabilities of
+platforms like the Brain.
+
+## The Heartbeat of Amiga: Key Services
+
+- [**Canbus**](../canbus_service/): Manages the robot's motors.
+It's like the nervous system, transmitting movement commands and receiving feedback.
+- [**Oak**](../oak_service/): The eyes and balance of the robot.
+It streams imagery and provides IMU data, crucial for services like Filter and Controller.
+- [**GPS**](../gps_service/): The robot's global positioning sense.
+It knows where the Amiga is in the world.
+- [**Filter (UKF)**](../filter_service/): Acts as the robot's sense of self-awareness.
+By using IMU data from the OAK service, wheel odometry from CANBUS, and global positioning from GPS,
+it estimates the state of the robot.
+- [**Recorder**](../recorder_service/): The memory of the robot.
+It logs data, ensuring we can revisit past operations or analyze performance.
+- [**Controller**](../controller_service/): The brain of the operation.
+It uses algorithms like pure pursuit and PID to guide the Amiga.
+It makes decisions based on data from other services.
+
+## How Do Services Talk to Each Other?
+
+Imagine a bustling city where everyone has a job. The mail carrier brings letters (data),
+the traffic cop (Controller) guides vehicles (services), and everyone communicates to ensure the city
+runs smoothly.
+Similarly, in the Amiga ecosystem:
+
+- The **OAK** service streams visual and IMU data.
+- The **Filter** service uses IMU data from OAK, wheel odometry from CANBUS, and global positioning
+data from GPS to understand how the robot is moving.
+- The **Controller** takes this movement data, combines it with its algorithms, and decides
+the best way to move the robot.
+- This decision is then passed to **CANBUS**, which communicates with the robot's motors to
+execute the movement.
+
+All these services run on the powerful Brain, allowing for efficient and concurrent operations.
+
+## Architectural Diagram
+
+Below is the architectural diagram that visually represents how these services interact:
+
+This introduction is designed to be a primer.
+Each service has its depths and intricacies, which you'll uncover as you dive deeper into Amiga development.
+Enjoy the journey!

website/sidebars.js

@@ -116,6 +116,7 @@ const sidebars = {
     "concepts/concepts-index",
     {
       "Fundamental Concepts": [
+        "concepts/system_overview/amiga-dev",
         "concepts/transforms_and_poses/transforms-and-poses",
         "concepts/controller_101/tracks-and-waypoints",
       ],