@startuml
'https://plantuml.com/sequence-diagram

actor User as usr
participant can_message as can
control kartculator as kc
queue XF as xf
entity Drive as drive
entity Steering as steering

usr -\ xf : set message "move"
xf -> can : new value on joystick

== If X axis change value ==
can -> kc : calculate new position
kc -> can : build message
can -> steering : set new position

== If Y axis change value ==
can -> kc : calculate new torque
kc -> can : build message
can -> xf : set message "torque"
xf -> drive : set new torque

@enduml