Neurons

Neurons are stateful functions. They involve no hardware, instead taking in and returning values immediately.

Closely tied to controllers, they are used for sensor algorithms, input processing, etc. They can also be used for organ actions if necessary. A controller or organ will utilize neurons to make assumptions from sensor values, or determine the speeds necessary for motors/servos.

They used to be pure functions, but because of the need for PID and more sophisticated control they are now classes.