From 6b91522f4d15ae516534196a45a81193ae136469 Mon Sep 17 00:00:00 2001
From: TiaSinghania <samanvita.singhania@gmail.com>
Date: Mon, 14 Oct 2024 10:19:46 -0700
Subject: [PATCH] rosnode organization (draft 2)

---
 docs/architecture/code_flow.md | 27 +++++++++++++++++++++------
 1 file changed, 21 insertions(+), 6 deletions(-)

diff --git a/docs/architecture/code_flow.md b/docs/architecture/code_flow.md
index 660ed230..dbc00e07 100644
--- a/docs/architecture/code_flow.md
+++ b/docs/architecture/code_flow.md
@@ -8,25 +8,40 @@ Install `bierner.markdown-mermaid` from the extension marketplace to render the
 ## Chart!
 ```mermaid
 flowchart LR
-    Serial --> Sanity_Check
 
-    subgraph Control Loop
-        Controller --> Pathplanner
+    subgraph I/O Translation Node
+        Serial
+        BuggyState_Republisher
     end
 
-    Simulator --> Pathplanner
-    Controller --> Simulator
+    subgraph Controller Node
+        Controller
+    end
 
+    subgraph Pathplanner Node
+        JSON_to_Trajectory
+        Pathplanner
+        Trajectory
+    end
 
+    subgraph Telemetry Node
+        Sanity_Check
+    end
 
 
     Serial --> BuggyState_Republisher
+    BuggyState_Republisher --> Sanity_Check
+    Controller --> Serial
 
     BuggyState_Republisher --> Pathplanner
     BuggyState_Republisher --> Controller
 
 
+    Controller --> Pathplanner
+    Simulator --> Pathplanner
+    Controller --> Simulator
 
-    Controller --> Serial
+
+    JSON_to_Trajectory --> Pathplanner
 
 ```
\ No newline at end of file