Programming can be broken down into three principle aspects. There is the Firmware which allows each robot to receive instructions over wireless, and interpret them into the required motion of each of its two wheels.  Secondly there are the Vision Algorithms, which run on the server. These algorithms calculate various data about the game, such as positions and velocities of the robots and the ball.  Finally there is the Strategy, which also runs on the server and accesses the calculated game information and uses it to determine what each robot should be doing. This is then in turn communicated to each robot (which then carries out the instructions using its own firmware).