Attachments
===========

This alternative main program was not used in the final implementation of the 
robot but made use of the IMU to maintain robot heading when not tracking a 
line. The alternative software is outlined below:

Hierarchy
--------------

.. figure:: ./image/Hierarchy.png
   :alt: Hierarchy
   :align: center

.. raw:: html

   <br><br>

Class Diagram
--------------

.. figure:: ./image/Class_Diagrams.png
   :alt: Class Diagram
   :align: center

.. raw:: html

   <br><br>

IMU Sensor FSM
--------------

.. figure:: ./image/IMUStateMachine.png
   :alt: IMU FSM
   :align: center

.. raw:: html

   <br><br>