Communication

Communication

flowchart TB
    RPi[Raspberry Pi 4]

    subgraph Hat[Raspberry Pi HAT]
        ESP[ESP32]
        CAN[TJA1051T]
        IMU[ICM-20948]
    end

    subgraph Power[Holybro PM03D Power Module]
        INA[INA226]
    end

    Motors[CyberGear Motors]

    RPi <-->|UART| Hat
    INA <-->|I2C| ESP
    ESP <-->|TWAI| CAN
    ESP <-->|SPI| IMU
    CAN <-->|CAN| Motors

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