Follow up on website documentation

website/docs/concepts/canbus_service/README.md

@@ -5,4 +5,53 @@ title: CANBUS
 
 # Canbus Service Overview
 
-(Coming soon!)
+The Canbus service is an integral component of the Amiga platform.
+This service offers direct control over the robot's motors, allowing users to both
+publish motor states and send specific commands to manipulate the robot's movements.
+
+## Overview
+
+- **Purpose**: Control and manage the motors on the Amiga, handling command reception,
+processing, and motor instruction.
+- **Communication**: Direct interface with motors via CAN bus, a communication standard
+or microcontrollers and devices.
+- **Dependencies**: Standalone service, but pivotal for many autonomous operations.
+Notably, the Controller service is heavily reliant on the Canbus service.
+
+## API
+
+1. `/twist`: Receives twist commands (linear and angular velocities) and instructs the
+motors accordingly.
+2. `/can_message`: Accepts a specific Protobuf message format (details TBD).
+3. `/get_battery_state`: Returns the battery state.
+A float value indicating the battery's state of charge, ranging [0.0, 1.0].
+If no motors are connected, it returns -1.0.
+
+# Data Streams
+
+- `/twist`: The commanded linear velocity of the vehicle in the x direction in meters per second.
+ Check the protobuf definition for more details:
+ [canbus_pb2.Twist2d](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/canbus.proto#L58-L61)
+
+- `/raw_messages`:A representation of raw CAN bus messages with timestamps, node IDs, error
+flags, remote transmission indicators, and encoded payloads.
+Check the protobuf definition for more details:
+[canbus_pb2.RawCanbusMessages](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/canbus.proto#L95-L107)
+
+- `/state`: State of the Amiga CAN bus.
+  Encapsulates key information required to evaluate the state of the Amiga robot.
+  Check the protobuf definition for more details:
+  [amiga_v6_pb2.AmigaV6CanbusState](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/protos/farm_ng/canbus/amiga_v6.proto)
+
+## Safety and Operation
+
+- **Operating Mode**: The robot should be in automode (activated via the dashboard)
+to utilize the Canbus service.
+- **Safety Perimeter**: Establish a clear perimeter when operating the robot, as motor
+commands will induce movement, ensuring safe operation.
+
+## Common Use-Cases
+
+The Canbus service is foundational for many of Amiga's autonomous functionalities.
+For instance, the Controller service is a prominent client of the Canbus service, making the
+Canbus service pivotal for any autonomous motion or activity undertaken by the Amiga.

website/docs/examples/events_recorder/README.md

@@ -5,8 +5,20 @@ title: Events Recorder
 
 ## Events Recorder
 
-In [this example](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/event_recorder/main.py)
-we show how to record events from farm-ng-brain using
+:::info Basic Knowledge Requirements
+
+Before diving into this example, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's essential to be well-versed in Python, as the example leverages foundational
+concepts such as functions, conditional statements, and command-line argument parsing using the
+argparse module.
+
+2. **[farm-ng Recorder Service Overview](/docs/concepts/recorder_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+:::
+
+In the [**Events Recorder**](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/event_recorder/main.py)
+example we show how to record events from farm-ng-brain using
 the `EventClient` class.
 
 ### 1. Install the [farm-ng Brain ADK package](/docs/brain/brain-install)

website/docs/examples/file_converter/README.md

@@ -3,11 +3,18 @@ id: file-converter
 title: File Converter
 ---
 
-
 # File Converter Example
 
-> [This example](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/file_converter/main.py)
-will take the `*.bin` log file for a given Oak Camera Stream or snapshot
+:::info Basic Knowledge Requirements
+
+Before diving into this example, here's a quick overview of what you'll need to be familiar with:
+
+1. **Python Programming**: This example is based in Python, making use of various foundational
+constructs like functions, conditional statements, and object-oriented techniques.
+:::
+
+> The [**File Converter example**](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/file_converter/main.py)
+  will take the `*.bin` log file for a given Oak Camera Stream or snapshot
 > captured by the Recorder app on an Amiga brain and convert it to either
 > `*.mp4` videos or `*.jpg` images for each view stream.
 

website/docs/examples/file_reader/README.md

@@ -5,9 +5,20 @@ title: File Reader
 
 # File Reader Example
 
+:::info Basic Knowledge Requirements
+
+Before diving into this example, here's a quick overview of what you'll need to be familiar with:
+
+1. **Python Programming**: Mastery of Python is essential, as the example employs foundational
+concepts such as functions, conditional statements, and working with third-party libraries.
+
+2. **OpenCV**: A foundational understanding of the OpenCV library, particularly functions related to
+image decoding and display, as the example showcases how to visualize camera images from the log file.
+:::
+
 In this example you will learn how to upload a given log file and
 use it to run the
-[**file_reader example**](https://github.com/farm-ng/farm-ng-amiga/tree/main-v2/py/examples/file_reader/main.py).
+[**File Reader Example**](https://github.com/farm-ng/farm-ng-amiga/tree/main-v2/py/examples/file_reader/main.py).
 
 ## Install the [farm-ng Brain ADK package](/docs/brain/brain-install)
 

website/docs/examples/file_reader_can/README.md

@@ -5,8 +5,19 @@ title: File Reader CAN
 
 # File Reader CAN Example
 
-This [**file_reader_can example**](https://github.com/farm-ng/farm-ng-amiga/tree/main-v2/py/examples/file_reader_can/main.py)
-parses the CAN data from a recorded log and prints the `AmigaTpdo1` parsed
+:::info Basic Knowledge Requirements
+
+Before diving into this example, here's a quick overview of what you'll need to be familiar with:
+
+1. **Python Programming**: This code is written in Python.
+Basic constructs such as functions, conditional statements, loops, and more are utilized.
+
+2. **[farm-ng Canbus Service Overview](/docs/concepts/canbus_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+:::
+
+This [**File Reader Can**](https://github.com/farm-ng/farm-ng-amiga/tree/main-v2/py/examples/file_reader_can/main.py)
+example parses the CAN data from a recorded log and prints the `AmigaTpdo1` parsed
 values. The `AmigaTpdo1` can packet contains
 the `state`, `speed`, and `angular rate` of the Amiga, as
 reported by the vehicle control unit (VCU).

website/docs/examples/file_reader_gps/README.md

@@ -5,25 +5,21 @@ title: File Reader GPS
 
 # File Reader GPS Example
 
-This [**file_reader_gps_example**](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/file_reader_gps/main.py)
-provides a utility for reading and parsing GPS messages from the event file.
-It can process two types of GPS messages: `relposned` and `pvt`.
-The user specifies the type of GPS message to parse, and the script reads the corresponding data,
-unpacks it, and prints it to the console.
-
-:::info
-There are two types of GPS messages: **PVT** and **RELPOSNED**.
+:::info Basic Knowledge Requirements
 
-**PVT** (Position, Velocity, and Time) messages provide the all-in-one solution: position, velocity,
-and time.
-It contains details like longitude, latitude, altitude, speed, and UTC time.
+1. **Python Programming**: Understanding basic Python programming concepts such as functions, loops,
+conditional statements, and type-checking.
 
-**RELPOSNED** (Relative Positioning) messages provide relative position
-information in a North, East, Down (N-E-D) frame. It's mainly used for applications requiring relative
-positioning between two receivers, often as a part of Real Time Kinematics (RTK) solutions.
-It shows the difference in position between a "moving" receiver and a "fixed" reference receiver.
+2. **[farm-ng GPS Service Overview](/docs/concepts/gps_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
 :::
 
+This [**File Reader GPS**](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/file_reader_gps/main.py)
+example provides a utility for reading and parsing GPS messages from the event file.
+It can process two types of GPS messages: `relposned` and `pvt`.
+The user specifies the type of GPS message to parse, and the script reads the corresponding data,
+unpacks it, and prints it to the console.
+
 ## Install the [farm-ng Brain ADK package](/docs/brain/brain-install)
 
 ## Download the example log file