| Subsystem | Function | Input | Output |
| Ball & Hole/Flag Locator | find ball and hole/flag when in their vicinity | proximity sensor(s), camera, ... | ball and flag/hole location, ... |
| Remote Station Communication | two-way communication between robot and base station and status display | ball and hole location, stop/start, ... | ball, hole, and position plot; battery voltage, task status, ... |
| Robot Location | determine robot position and orientation | GPS, compass, ... | position, orientation, ... |
| Robot Navigation | high-level navigation of robot to ball and hole | position, orientation, speed, odometry, ball/hole information, ... | data requests, movement commands, ... |
| Smart Chassis | low-level robot and ball movement | movement commands, encoders, ... | speed, odometry, PWM, ... |