My engine's intelligence is encoded in the c programming language. Structurally, it is organized into 4 modules:

1. 'Main' initializes subsystems, manages timing and controls the modules.
2. 'State Machine' constructs possible states and transitions between them.
3. 'Events' continuously polls for events to trigger state machine transitions.
4. 'Navigation' contains the high and low level functions for maneuvering.

Logically, the program is organized as a nested state machine. You will find a state chart describing it within the Diagrams section herein.