Suzanne has told me to stop working on the current iteration of the documentation as I had been writing it for an audience unacquainted with my work, not for her and my coworker. I have provided her with what she needs, but it would be a shame for all the writing I did not to see the light of day. Maybe it will be useful to someone. After all, it was written for an unacquainted audience, so you might learn something! Here it is
Written by Lucas Doyle, a robotics engineer who does a lot of web development in San Francisco.