25 lines
541 B
Plaintext
25 lines
541 B
Plaintext
@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 |