http://glfwtfwhlsm2u5pw3b7crist7bt7fwepj2wgv3n3b64unj22v5435tyd.onion/blog/2019/11/05/Incarnations-of-modularity.html
However, even that transition was not entirely painless as a very brave student set out to first port the old AVR code to the new platform.
The code that remained wasn’t that complex;
There was a main() where a Robot object was instantiated which in turn had a representation of the body, a communication interface and image processing.