Just the arduino code - but the board input is the I2C lines. It was originially designed to sit on top of the autosteer board.
The best design i think would be another udp based input output board to control whatever.
Second best is a usb based IO board. The project is kind of at the spot where we need to decide what we want it all to do and build the “machine control” part of it accordingly. That should be the next topic for the video conference meeting for sure.