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!