Dexter is a stunningly complex robot. Understanding how it all works just from the source files is nearly impossible. Our inhouse Technical Evangelist, James Newton, has been working hard to develop a centralized place for Dexter documentation. It has information on all things Dexter, from end effectors to gateware to DDE. If you want to understand how Dexter really works, please read the "manual" at: https://github.com/HaddingtonDynamics/Dexter/wiki And if it still doesn't make sense, raise an issue or ask us here. We could use help with the docs.