danic85 · Mar 22, 2026 · Feb 25, 2026 · Feb 25, 2026 · Feb 26, 2026 · Feb 28, 2026
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -24,7 +24,8 @@ jobs:
 
       - name: Run unittests
         run: |
-          python -m unittest discover -s tests -p 'test_*.py'
+          PYTHONPATH=src python -m unittest discover -s src/tests -p 'test_*.py' -t src
+          PYTHONPATH=src python -m unittest discover -s src/modules -p 'test_*.py' -t src
 
     permissions:
       pull-requests: write

diff --git a/3d_prints/v2/skeleton.stl → 3d_prints/archie/Archie - Body Skeleton.stl b/3d_prints/v2/skeleton.stl → 3d_prints/archie/Archie - Body Skeleton.stl
diff --git a/3d_prints/v2/back_case.stl → 3d_prints/archie/Archie - Case Back.stl b/3d_prints/v2/back_case.stl → 3d_prints/archie/Archie - Case Back.stl
diff --git a/3d_prints/v2/front_case.stl → 3d_prints/archie/Archie - Case Front.stl b/3d_prints/v2/front_case.stl → 3d_prints/archie/Archie - Case Front.stl
diff --git a/3d_prints/v2/left_foot.stl → 3d_prints/archie/Archie - Foot Left.stl b/3d_prints/v2/left_foot.stl → 3d_prints/archie/Archie - Foot Left.stl
diff --git a/3d_prints/v2/right_foot.stl → 3d_prints/archie/Archie - Foot Right.stl b/3d_prints/v2/right_foot.stl → 3d_prints/archie/Archie - Foot Right.stl
diff --git a/3d_prints/v2/head_bottom.stl → 3d_prints/archie/Archie - Head Bottom.stl b/3d_prints/v2/head_bottom.stl → 3d_prints/archie/Archie - Head Bottom.stl
diff --git a/3d_prints/v2/head_lid.stl → 3d_prints/archie/Archie - Head Lid.stl b/3d_prints/v2/head_lid.stl → 3d_prints/archie/Archie - Head Lid.stl
diff --git a/3d_prints/v2/head_top.stl → 3d_prints/archie/Archie - Head Top.stl b/3d_prints/v2/head_top.stl → 3d_prints/archie/Archie - Head Top.stl
diff --git a/3d_prints/v2/head_visor.stl → 3d_prints/archie/Archie - Head Visor.stl b/3d_prints/v2/head_visor.stl → 3d_prints/archie/Archie - Head Visor.stl
diff --git a/...ts/v2/2026 updates/Archie - Leg Lower.stl → 3d_prints/archie/Archie - Leg Lower.stl b/...ts/v2/2026 updates/Archie - Leg Lower.stl → 3d_prints/archie/Archie - Leg Lower.stl
diff --git a/...ts/v2/2026 updates/Archie - Leg Upper.stl → 3d_prints/archie/Archie - Leg Upper.stl b/...ts/v2/2026 updates/Archie - Leg Upper.stl → 3d_prints/archie/Archie - Leg Upper.stl
diff --git a/...ts/v2/2026 updates/Archie - Neck Tilt.stl → 3d_prints/archie/Archie - Neck Extension.stl b/...ts/v2/2026 updates/Archie - Neck Tilt.stl → 3d_prints/archie/Archie - Neck Extension.stl
diff --git a/3d_prints/v2/neck_servo_mount.stl → ...ints/archie/Archie - Neck Servo Mount.stl b/3d_prints/v2/neck_servo_mount.stl → ...ints/archie/Archie - Neck Servo Mount.stl
diff --git a/3d_prints/v2/neck_tilt_lower.stl → ...rints/archie/Archie - Neck Tilt Lower.stl b/3d_prints/v2/neck_tilt_lower.stl → ...rints/archie/Archie - Neck Tilt Lower.stl
diff --git a/3d_prints/v2/neck_tilt_mount.stl → ...rints/archie/Archie - Neck Tilt Mount.stl b/3d_prints/v2/neck_tilt_mount.stl → ...rints/archie/Archie - Neck Tilt Mount.stl
diff --git a/3d_prints/v2/neck_tilt_upper.stl → ...rints/archie/Archie - Neck Tilt Upper.stl b/3d_prints/v2/neck_tilt_upper.stl → ...rints/archie/Archie - Neck Tilt Upper.stl
diff --git a/3d_prints/v2/complete.png → 3d_prints/archie/Complete (Reference).png b/3d_prints/v2/complete.png → 3d_prints/archie/Complete (Reference).png
diff --git a/3d_prints/v2/complete.stl → 3d_prints/archie/Complete (Reference).stl b/3d_prints/v2/complete.stl → 3d_prints/archie/Complete (Reference).stl
diff --git a/3d_prints/v2/left_leg_lower.stl → 3d_prints/archie/archive/left_leg_lower.stl b/3d_prints/v2/left_leg_lower.stl → 3d_prints/archie/archive/left_leg_lower.stl
diff --git a/3d_prints/v2/left_leg_upper.stl → 3d_prints/archie/archive/left_leg_upper.stl b/3d_prints/v2/left_leg_upper.stl → 3d_prints/archie/archive/left_leg_upper.stl
diff --git a/3d_prints/v2/neck_extension.stl → 3d_prints/archie/archive/neck_extension.stl b/3d_prints/v2/neck_extension.stl → 3d_prints/archie/archive/neck_extension.stl
diff --git a/3d_prints/v2/right_leg_lower.stl → 3d_prints/archie/archive/right_leg_lower.stl b/3d_prints/v2/right_leg_lower.stl → 3d_prints/archie/archive/right_leg_lower.stl
diff --git a/3d_prints/v2/right_leg_upper.stl → 3d_prints/archie/archive/right_leg_upper.stl b/3d_prints/v2/right_leg_upper.stl → 3d_prints/archie/archive/right_leg_upper.stl
diff --git a/README.md b/README.md
@@ -1,10 +1,9 @@
-# Open Source, 3D Printable, Modular Bipedal Robot Project
+# Open Source, 3D Printable, Modular Robot Project
 
-The **Modular Bipedal Robot** project aims to educate and inspire individuals interested in robotics and electronics. This open-source initiative focuses on creating a fully autonomous companion robot with a variety of advanced features.
+The **Modular Robot** project aims to educate and inspire individuals interested in robotics and electronics. This open-source initiative focuses on creating a fully autonomous companion robot with a variety of advanced features.
 
 ## Key Features
 
-- **Bipedal Design**: The robot includes articulated legs for bipedal movement.
 - **Control Systems**: Utilizes Arduino and Raspberry Pi, managed through custom PCBs.
 - **Modular Body**: Configurable body components allow for easy customization and adaptability.
 - **Software Modules**:
@@ -30,23 +29,23 @@ The **Modular Bipedal Robot** project aims to educate and inspire individuals in
 
 ## Project Background
 
-The Modular Biped Robot Project is designed to provide a flexible and modular framework for robotics development using Python and C++ on the Raspberry Pi and Arduino platforms. It aims to enable developers, robotics enthusiasts, and curious individuals to experiment, create, and customize their own biped robots. With a range of features and functionalities and the option to add your own easily, the Modular Biped Robot Project offers an exciting opportunity to explore the world of robotics.
+The Modular Robot Project is designed to provide a flexible and modular framework for robotics development using Python and C++ on the Raspberry Pi and Arduino platforms. It aims to enable developers, robotics enthusiasts, and curious individuals to experiment, create, and customize their own robots. With a range of features and functionalities and the option to add your own easily, the Modular Robot Project offers an exciting opportunity to explore the world of robotics.
 
 ## Modularity
 
 The open source framework is designed for flexibility, allowing users to easily add or remove components to suit their specific needs. Comprehensive [guides](https://github.com/makerforgetech/modular-biped/wiki/Software#creating-a-module) are provided for integrating new modules seamlessly.
 
 ## Resources
 
-- **Documentation**: For detailed information, visit the project’s GitHub wiki: [Modular Biped Documentation](https://github.com/makerforgetech/modular-biped/wiki)
+- **Documentation**: For detailed information, visit the project’s GitHub wiki: [Modular Robot Documentation](https://github.com/makerforgetech/modular-biped/wiki)
 - **Code**: Check out the modular open source software on [GitHub](https://github.com/makerforgetech/modular-biped)
 - **YouTube Playlist**: Explore the development process through our build videos: [Watch on YouTube](https://www.youtube.com/watch?v=2DVJ5xxAuWY&list=PL_ua9QbuRTv6Kh8hiEXXVqywS8pklZraT)
 - **Community**: Have a question or want to show off your build? Join the communities on [GitHub](https://bit.ly/maker-forge-community) and [Discord](https://bit.ly/makerforge-community)!
 
 
 ## A Note On Branches
 
-The `main` branch is the latest stable release of the Modular Biped Robot project. This is compatible with the 'buddy' release, the latest supported release.
+The `main` branch is the latest stable release of the Modular Robot project. This is compatible with the 'buddy' release, the latest supported release.
 
 The `develop` branch is the development branch and may contain experimental features and changes that are not yet stable. Please use the `main` branch for the most stable experience. This will eventually become the next release, 'cody'. To facilitate testing modules are disabled by default in the `develop` branch. Enable each as needed in the config yaml files to test.
 
@@ -151,4 +150,64 @@ INFO: 01/30/2025 12:05:27 PM [Personality.random_neopixel_status:117] [Personali
 INFO: 01/30/2025 12:05:27 PM [PiTemperature.monitor:30] Temperature: 42.2°C
 INFO: 01/30/2025 12:05:28 PM [PiTemperature.monitor:30] Temperature: 42.2°C
 INFO: 01/30/2025 12:05:28 PM [Main] Loop ended
+```
+
+# Getting Started
+
+1. Clone the repository and navigate to the project directory.
+2. Review the environment configuration files in the `environments` folder and create your own if needed.
+3. Run install.sh <environment> to set up the necessary dependencies and configurations for your chosen environment.
+4. Add any environment variables required to /home/$USER/.myenv (this file is sourced on startup to set environment variables for the session).
+5. Test by running startup.sh to start the robot. You should see logs in the CLI and app.log file indicating that the robot is running.
+6. Ctrl+C to stop the robot.
+7. To enable autolaunch on boot, run `./installers/autolaunch.sh enable <environment>` (defaults to laptop if no environment specified). To disable autolaunch, run `./installers/autolaunch.sh disable`.
+
+# Adding New Modules
+To add a new module, create a new directory in the `src/modules` directory with the name of your module. 
+
+Inside this directory, create a Python file with the same name as the directory. This file should contain a class that extends the BaseModule class. 
+
+Implement the necessary methods and functionality for your module. 
+
+- `__init__(self, config, messaging_service)`: Initialize your module and set up any necessary variables or connections. The `config` parameter contains the configuration for your module from the YAML
+- `setup_messaging(self)`: Set up any necessary subscriptions to topics using the `subscribe` method from the BaseModule class. You can subscribe to other topics or system/loop/<interval> for timed loops. See the wiki for more details on the messaging service and available topics.
+- `loop(self)`: Implement the looping functionality of your module in this method. This method will be called repeatedly in the main loop of the robot.
+- `__exit__(self)`: Clean up any resources or connections when the module is stopped. 
+
+Create a configuration YAML file for your module in the new module's directory called `config.yml`. This file should include the class name of your module and any dependencies it requires, as well as any non-environment specific configuration.
+
+
+```yaml
+bno055:
+  class: BNO055
+  config:
+    some_config: <this will be passed to the module's init method via kwargs>
+  dependencies:
+    python:
+      - adafruit-circuitpython-bno055
+      - adafruit-blinka
+```
+
+Finally, add your module to the configuration YAML file for your environment to enable it. 
+
+You may wish to include environment specific configuration in the environment YAML file, which will be passed to the module's init method via kwargs.
+
+```yaml
+bus_servo:
+  enabled: true
+  config:
+    poses:
+      - legs_forward: {leg_r_tilt: 2806, leg_r_hip: 1989, leg_r_knee: 1349, leg_r_ankle: 2754, neck_pan: 1698, neck_tilt: 118, leg_l_tilt: 1619, leg_l_hip: 1028, leg_l_knee: 2634, leg_l_ankle: 1567}
+  instances:
+    - name: leg_r_tilt
+      model: ST3215
+      id: 1
+      range: [2511, 3944]
+      range_degrees: 125.9
+      start: 2810
+    - name: leg_r_hip
+      model: ST3215
+      id: 3
+      range: [0, 2063]
+      range_degrees: 181.3
 ```
diff --git a/arduino_sketch/.vscode/arduino.json b/arduino_sketch/.vscode/arduino.json