  The MINiature Exoplanet Radial Velocity Array (MINERVA) is a dedicated
observatory of four 0.7m robotic telescopes fiber-fed to a KiwiSpec
spectrograph. The MINERVA mission is to discover super-Earths in the habitable
zones of nearby stars. This can be accomplished with MINERVA's unique
combination of high precision and high cadence over long time periods. In this
work, we detail changes to the MINERVA facility that have occurred since our
previous paper. We then describe MINERVA's robotic control software, the
process by which we perform 1D spectral extraction, and our forward modeling
Doppler pipeline. In the process of improving our forward modeling procedure,
we found that our spectrograph's intrinsic instrumental profile is stable for
at least nine months. Because of that, we characterized our instrumental
profile with a time-independent, cubic spline function based on the profile in
the cross dispersion direction, with which we achieved a radial velocity
precision similar to using a conventional "sum-of-Gaussians" instrumental
profile: 1.8 m s$^{-1}$ over 1.5 months on the RV standard star HD 122064.
Therefore, we conclude that the instrumental profile need not be perfectly
accurate as long as it is stable. In addition, we observed 51 Peg and our
results are consistent with the literature, confirming our spectrograph and
Doppler pipeline are producing accurate and precise radial velocities.
