diff --git a/docs/architecture/code_flow_detailed.md b/docs/architecture/code_flow_detailed.md
index a0e90dc..8762560 100644
--- a/docs/architecture/code_flow_detailed.md
+++ b/docs/architecture/code_flow_detailed.md
@@ -2,73 +2,77 @@
 ## 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.
 
-The large boxes are ROSNodes. Each individual smaller box is a file. Data within ROSNodes are transferred via function calls, while data between node are transferred via publishers and subscribers.
-
 ## Viewing On VSCode
 Install `bierne
 r.markdown-mermaid` from the extension marketplace to render the charts in VSCode markdown preview.
 
-## Chart!
+## Legend
+- Green Boxes are marking ros topic gropus, labeled at the top
+- Orange boxes are marking ros nodes and their functions
+- Hexagonal black boxes are marking the ros topics that the ros nodes subscribe and publish to 
+- Rectangular black boxes are marking individual files within the ros node and what topics they interact with
+
+## Chart
 
 
 ```mermaid
-flowchart LR
-
-    subgraph "ROS Topic - Raw State"
-        self/raw_state
-        other/raw_state
-        self/gps
-        self/encoder_speed
-        self/stepper_steering
+flowchart TB
+
+    subgraph RT-RS["ROS Topic - Raw State"]
+        self/raw_state{{"self/raw_state"}}
+        other/raw_state{{"other/raw_state"}}
+        self/gps{{"self/gps"}}
+        self/encoder_speed{{"self/encoder_speed"}}
+        self/stepper_steering{{"self/stepper_steering"}}
     end
 
-    subgraph "ROS Topic - Clean State"
-        self/state
-        other/state
+    subgraph RT-CS["ROS Topic - Clean State"]
+        self/state{{"self/state"}}
+        other/state{{"other/state"}}
     end
 
-    subgraph "ROS Topic - Trajectory"
-        self/global_traj
-        self/cur_traj
+    subgraph RT-TRAJ["ROS Topic - Trajectory"]
+        self/global_traj{{"self/global_traj"}}
+        self/cur_traj{{"self/cur_traj"}}
     end
 
-    subgraph "ROS Topic - Output"
-        self/steering
+    subgraph RT-OUT["ROS Topic - Output"]
+        self/steering{{"self/steering"}}
     end
 
-    subgraph "ROS Topic - Debug"
-        self/ins_topics 
-        self/gnss1
-        self/gnss2
-        self/firmware_debug
-        self/sanity
+    subgraph RT-DEB["ROS Topic - Debug"]
+        self/ins_topics{{"self/ins_topics "}}
+        self/gnss1{{"self/gnss1"}}
+        self/gnss2{{"self/gnss2"}}
+        self/firmware_debug{{"self/firmware_debug"}}
+        self/sanity{{"self/sanity"}}
     end
     
-    subgraph "Serial Node"
+    subgraph RN-SER["Serial Node"]
         ROS_serial_translator
         serial_port_parser
     end
 
-    subgraph "UKF Node"
+    subgraph RN-UKF["UKF Node"]
         UKF
     end
 
-    subgraph "Buggy State Node"
+    subgraph RN-STATE["Buggy State Node"]
         buggy_state_converter
     end
 
-    subgraph "Debug Telem Node"
+    subgraph RN-DEB["Debug Telem Node"]
         telemetry
         watchdog
     end
 
-    subgraph "Pathplanner Node - 10 Hz"
+    subgraph RN-PATH["Pathplanner Node - 10 Hz"]
         initialize_trajectory
         path_planner
         trajectory_wrapper
     end
 
-    subgraph "Controller Node - 100 Hz"
+    subgraph RN-CTRL["Controller Node - 100 Hz"]
         controller
     end
 
@@ -82,13 +86,6 @@ flowchart LR
     INS --> |"10 Hz"| self/gnss2
     INS --> |"10 Hz - SC"| self/gps
 
-    ROS_serial_translator --> |"10 Hz - SC"| self/encoder_speed
-    ROS_serial_translator --> |"10 Hz - SC"| self/stepper_steering
-    ROS_serial_translator --> |"10 Hz - SC"| other/raw_state
-    ROS_serial_translator --> |"100 Hz - NAND"| self/raw_state
-    ROS_serial_translator --> |"100 Hz"| self/firmware_debug
-    self/steering --> |"100 Hz"| ROS_serial_translator
-
     other/raw_state --> |"10 Hz"| buggy_state_converter
     buggy_state_converter --> |"10 Hz"| other/state
     self/raw_state --> |"100 Hz"| buggy_state_converter
@@ -110,5 +107,29 @@ flowchart LR
     other/state --> telemetry
     self/cur_traj --> telemetry
     watchdog --> self/sanity
+
+    ROS_serial_translator --> |"10 Hz - SC"| self/encoder_speed
+    ROS_serial_translator --> |"10 Hz - SC"| self/stepper_steering
+    ROS_serial_translator --> |"10 Hz - SC"| other/raw_state
+    ROS_serial_translator --> |"100 Hz - NAND"| self/raw_state
+    ROS_serial_translator --> |"100 Hz"| self/firmware_debug
+    self/steering --> |"100 Hz"| ROS_serial_translator
+
+    RT-RS:::RT
+    RT-CS:::RT
+    RT-TRAJ:::RT
+    RT-OUT:::RT
+    RT-DEB:::RT
+
+    RN-SER:::RN
+    RN-UKF:::RN
+    RN-STATE:::RN
+    RN-DEB:::RN
+    RN-PATH:::RN
+    RN-CTRL:::RN
+
+    classDef RT color:#000,fill:#74a57f;
+    classDef RN color:#000,fill:#ee5622;
+    linkStyle default stroke-width:3px;
     
 ```
\ No newline at end of file