Overview

Currently there are 6 different threads, called cyclers in HULKs terminology, which are:

Control

This cyler is responsible for the high-level control of the robot. This includes behavior-related tasks like selecting the action to execute next and motion-related tasks like executing the selected action such as dribbling, kicking, standing up and others.
This cycler runs with higher priority than the other cyclers and with a higher frequency of 83 Hz, i.e. every 12ms.

Tip

For more insights, open the code and have a look at the behavior and motion folders in the control crate. Follow the documentation here and in the code in parallel.

VisionTop & VisionBottom

These two cyclers handle all image related tasks for top and bottom camera. This includes the image segmenter, ball detection, line detection and other nodes.
Both cyclers run with the frequency of the cameras which is 30 Hz.

Audio

This cycler is responsible for audio processing. It includes currently only one node, the whistle detection.

SPLNetwork

This cycler handles all spl network messages, i.e. it is responsible for the communication with the GameController and other robots.

ObjectDetectionTop

This cycler runs the pose detection of the referee.