Brains are where one specifies the major algorithms to drive the robot, either in the simulator or on the real robot. Brains should be valid python files, and gain their functionality by working with certain variables and procedures built into SoaR. They are normally specified in a file of their own, and then opened by SoaR for parsing.

Normally, they contain two methods:
Beyond standard python, in a brain one also has access to the following variables and procedures: