From e08cb71edddb656e9518b9f361b18612d9d27c98 Mon Sep 17 00:00:00 2001
From: TiaSinghania <samanvita.singhania@gmail.com>
Date: Mon, 14 Oct 2024 13:40:06 -0700
Subject: [PATCH] cleanup edits

---
 docs/architecture/code_flow.md | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/docs/architecture/code_flow.md b/docs/architecture/code_flow.md
index a15fca24..432df6b1 100644
--- a/docs/architecture/code_flow.md
+++ b/docs/architecture/code_flow.md
@@ -2,6 +2,8 @@
 ## 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 `bierner.markdown-mermaid` from the extension marketplace to render the charts in VSCode markdown preview.
 
@@ -26,12 +28,13 @@ flowchart LR
 
     subgraph Telemetry Node
         Sanity_Check
-        Visualizer
-    end
 
+    end
 
+    INS --> |"ekf/*"|Serial
     BuggyState_Converter --> |"(unit conversions)"|Serial
     Serial --> |"all the data"| Sanity_Check
+
     Pathplanner --> |"traj/follow_path"| Controller
     Controller --> |"SC/state"| Pathplanner
     Simulator --> Pathplanner
@@ -46,4 +49,6 @@ flowchart LR
 
     JSON_to_Trajectory --> |"get_init_traj()"|Pathplanner
 
-```
\ No newline at end of file
+```
+
+