http://glfwtfwhlsm2u5pw3b7crist7bt7fwepj2wgv3n3b64unj22v5435tyd.onion/blog/2019/11/05/Incarnations-of-modularity.html
The project that used to be easy to understand now consisted of a multitude of singletons for each aspect of the software.
I.e., there was a singleton for the robot, vision, for the motion, world model, debugger, feet(!), for every aspect of communication and so on.