http://glfwtfwhlsm2u5pw3b7crist7bt7fwepj2wgv3n3b64unj22v5435tyd.onion/blog/2019/11/05/Incarnations-of-modularity.html
So if you were working on the behavior aspect of the code you’d know what source files to work on.
The same applied to the other features of the software. The First Computer Not too much time later, the first single board computers emerged and were happily welcomed into our robots heads.
In 2009 one of the first “kinda easily” available embeddable Computer, a gumstix verdex pro (32Bits, whoopwhoop), replaced the tiny AVR.