25 lines
541 B
Plaintext
25 lines
541 B
Plaintext
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@startuml
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'https://plantuml.com/sequence-diagram
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actor User as usr
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participant can_message as can
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control kartculator as kc
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queue XF as xf
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entity Drive as drive
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entity Steering as steering
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usr -\ xf : set message "move"
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xf -> can : new value on joystick
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== If X axis change value ==
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can -> kc : calculate new position
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kc -> can : build message
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can -> steering : set new position
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== If Y axis change value ==
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can -> kc : calculate new torque
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kc -> can : build message
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can -> xf : set message "torque"
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xf -> drive : set new torque
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@enduml
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