In the Small-Size-League, both playing teams receive the positions of every robot and the ball over a network connection from SSL-Vision. The software, written by the teams individually, is responsible for letting the robots react to this input. Referee information about the state of the game is provided by a centralised RefBox system.
The software of ER-Force is divided into three parts:
- The Amun-Ra framework handles network communication and radio transmission to the robots. All input and output may optionally be connected to an integrated rigid body simulation.
- The Artificial Intelligence, implemented in the Lua scripting language, makes decisions based on the input from the cameras and the current state of the game.
- The low-level firmware, which runs on microcontrollers on the robots, translates incoming radio commands to motor speeds.