This diagram represents how the different nodes of our robot's ROS architecture will communicate with one another. We will have 3 ROS Nodes, one for reading the user input, one for translating user input into robot commands, and one for sending motor commands to the motor control microcontrollers.

Circles represent ROS Nodes, diamonds represent ROS Topics, and rectangles represent external devices.

This diagram represents how the elbow joints of our legs would extend and retract during the robot's gait, based on the floor contact feedback provided by the Limit Switch Feedback node. We no longer use limit switch feedback to control motor motion, instead relying on an open loop system.