- [EventHandler]: anything that can handle events (reads continuously from an event queue)
- [FSM]: Finite state machine, handles events using the current state's handler
- [HSM]: Hierarchical State Machine
-[SensorManager](SensorManager): Periodically samples a set of sensors at different given frequencies through a high-priority, single-threaded TaskScheduler.
-[Logger](Logger): performs triple buffering to optimize SD cart writes.
- [EventBroker]: central component used in a publish-subscribe architecture to dispatch events between FSMs