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+# Code Flow Document
+## Scope
+The purpose of this file is to outline the desired framework of the auton stack (and the simulator + logging capabilities) of the RD25 software on a file level. This document should be referenced when writing new files for this framework.
+
+## Viewing On VSCode
+Install `bierner.markdown-mermaid` from the extension marketplace to render the charts in VSCode markdown preview.
+
+## Chart!
+```mermaid
+flowchart LR
+    Serial --> Sanity_Check
+
+    subgraph Control Loop
+        Controller --> Pathplanner
+    end
+
+    Simulator --> Pathplanner
+    Controller --> Simulator
+
+
+
+
+    Serial --> BuggyState_Republisher
+
+    BuggyState_Republisher --> Pathplanner
+    BuggyState_Republisher --> Controller
+
+
+
+    Controller --> Serial
+
+```
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