added messages/ data transfer

CMU-Robotics-Club · Oct 14, 2024 · 3ea2869 · 3ea2869
1 parent 6b91522
commit 3ea2869
Showing 1 changed file with 12 additions and 10 deletions.
diff --git a/docs/architecture/code_flow.md b/docs/architecture/code_flow.md
@@ -11,7 +11,7 @@ flowchart LR
 
     subgraph I/O Translation Node
         Serial
-        BuggyState_Republisher
+        BuggyState_Converter
     end
 
     subgraph Controller Node
@@ -26,22 +26,24 @@ flowchart LR
 
     subgraph Telemetry Node
         Sanity_Check
+        Visualizer
     end
 
 
-    Serial --> BuggyState_Republisher
-    BuggyState_Republisher --> Sanity_Check
-    Controller --> Serial
+    BuggyState_Converter --> |"(unit conversions)"|Serial
+    Serial --> |"all the data"| Sanity_Check
+    Pathplanner --> |"traj/follow_path"| Controller
+    Controller --> |"SC/state"| Pathplanner
+    Simulator --> Pathplanner
+    Controller --> Simulator
+    Controller --> |"self/steering_angle"| Serial
 
-    BuggyState_Republisher --> Pathplanner
-    BuggyState_Republisher --> Controller
+    Serial --> |"NAND/state"| Pathplanner
+    Serial --> |"self/state"| Controller
 
 
-    Controller --> Pathplanner
-    Simulator --> Pathplanner
-    Controller --> Simulator
 
 
-    JSON_to_Trajectory --> Pathplanner
+    JSON_to_Trajectory --> |"get_init_traj()"|Pathplanner
 
 ```