| CommManager | Manager class for mailbox and stream based network communications |
| CommModule | Wrapper module to create and access single CommManager instance |
| CommPortal | Virtual abstract class for a messager modality |
| DBBase | Common superclass of DBManager and DBClient |
| DBClient | Interface class for a database client |
| DBEntry | Fundamental class for entries in the database |
| DBManager | Manager for a database (blackboard) operations |
| DBModule | Wrapper module to create and access single DBManager instance |
| EncoderReader | Module to read encoder counts and compute axis position and speed |
| Event | Abstract base class for all state machine events |
| ExtProfiler | Class for generating piecewise cubic functions of a single variable |
| FileCommMonitor | Monitors a set of file descriptors from file communication portals for messages |
| FileCommPortal | Helper class for messagers which use file descriptors |
| Floats | Utility class to implement an arbitrary size array of floats |
| Hardware< T > | Basic template for Hardware classes |
| LogAccessor | A helper class for performing data acquisition |
| LogClient | Client side class for accessing the LogServer module on the robot |
| LogServer | Basic logging services for use on the robot |
| LogTask | A class for actually executing loigging tasks |
| Mailbox | Class for receiving messages from remote mailers |
| Mailer | Class for sending messages to a mailbox |
| Message | Class to represent all messages sent and received by mailboxes and streams |
| Messager | Superclass for both Mailer and StreamSource classes |
| ModeInfo_t | Blackboard entry format for mode descriptions |
| ModeSupervisor | Generic module for switching and remote control of modes |
| ModeSupervisorCommands_t | Blackboard entry format for mode supervisor commands |
| ModeSupervisorState_t | Blackboard entry format for mode supervisor state |
| Module | Interface class for periodic tasks |
| MotorControl | Abstract base class for all motor controller modules |
| MotorGains_t | Structure to hold gains for motor control |
| MotorTarget_t | Structure to hold motor targets |
| NetCommPortal | Concrete class for a network messaging |
| NetRemoteManager | Class for a remote manager connected via the UDP socket |
| PositionControl | Module to implement basic PD control of DC motors |
| RemoteDBEntry | Class to encapsulate a remote database entry's details |
| RemoteManager | Class to keep track of a remote communications manager |
| RHexCalibMode | Abstract base class for all calibration modes |
| RHexMode | Template class for all modes recognized by the mode supervisor |
| SerialCommPortal | Concrete class for a network messaging |
| SerialPort | Interface class for low level access to serial ports |
| SerialPortNonBlock | Serial port access module that uses non-blocking device calls |
| SerialPortThreaded | Threaded implementation of serial port access module |
| SerialRemoteManager | Class for a remote manager connected via a serial line |
| State | Abstract base class for all state machine states |
| StateMachine | Abstract base class for all state machine implementations |
| StreamSink | Class for receiving messages coming from stream sources |
| StreamSource | Class for sending messages to a remote stream sink |
| Strings | Utility class to implement an arbitrary size array of strings |