the idea is to have the robot take care of itself. just refer to the master os for references and instructions. master os will be used like a server. server of info, directions, traffic directions , scripts, etc. like a co-ordinator. to direct everything that is going on. for example like a forman on a building site. the forman gives everyone their job and they go to it. if there are any questions you refer back to him. or when you are finished your job, you refer to him and he gives you another one. and the forman monitors everything in progress. if he sees something that isnt going correctly, he may step in and give other instructions. joee