The gen_diagram project can create an image of the controller network. Below outlines the process of how to use it.

Within the `quad/sw/modular_quad_pid` directory:

1. Within the `gen_diagram` folder, run `make` to build the new code.
2. Now execute the program with `./gen_diagram`
3. If you have graphviz installed, you can run `dot -Tpng network.dot -o network.png` to generate a PNG file of the graph.

Enjoy your new diagram!