From 3ea2869d87fa87f52bb1e6dc93cf79526bd6c9fa Mon Sep 17 00:00:00 2001 From: TiaSinghania Date: Mon, 14 Oct 2024 10:52:16 -0700 Subject: [PATCH] added messages/ data transfer --- docs/architecture/code_flow.md | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/docs/architecture/code_flow.md b/docs/architecture/code_flow.md index dbc00e07..a15fca24 100644 --- 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 ``` \ No newline at end of file