Overview

Business Logic is encoded in Behavior Trees (do check out the link, it's the nicest introduction to BTs there is). We use BehaviorTree.CPP library for this. All business logic lives in the rtt_behavior package.

There's a bunch of BTs sketched out in the docs/business-logic.cts file (in the same repo). You can open it in TreeSheets.

None of this code was ever run in production, just FYI