The body is the main processing element. It will contain the navigation and state estimation code. It receives commands from the front end and data from the backend. It processes these things and sends commands to the backend (e.g. motor commands) and information to the frontend (e.g. success or failure)

Current Implementation

Right now the body is only set up to do remote drive. It receives a speed packet from the front end, decodes it and sends a corresponding motor packet to the backend.