I really enjoyed the Component Design chapter that Sam linked in the resource section, and even helped out with the decoupling of the Control layer and for me anyways seeing where Sam and you guys are going in the “master” plan. Even more surprised to see that the whole book is free! The whole chapter was really well laid out and explained I though especially as a layman like me could follow along and grasp the essential principles of it.
And if nothing else at the next dinner party I am at and should someone start talking about the “Gordian Knot” I wont start saying that I never did get my knot tying badge in the cubs 