Updated documentation

Author: aronhoff

doc/Sequence diagrams/Bronze.png

@@ -3,7 +3,6 @@ title Bronze challenge\nsequence diagram
 participant Buggy as b #4f4
 participant Station as s #44f
 note over b, s #fff: Buggy in parking lot, stopped
-    s->b: CLOCK
     s->b: GO
     s<-b: GOING
     s<->b: Under gantry 1...

doc/Sequence diagrams/Bronze.puml

@@ -4,15 +4,9 @@ title Gold challenge sequence diagram
 participant "Buggy 1" as b1 #f44
 participant Station as s #44f
 participant "Buggy 2" as b2 #4f4
-note over s #fff: Ask user the challenge level to present\n\
-    If gold, ask user for number of loops to go [➔n]\n\
-    If silver, 1➔n\n\
-    For bronze, see bronze sequence diagram
+note over s #fff: Ask user the number of buggies used\n\
+and the number of laps to go [➔n]
 note over b1, b2 #fff: Buggies in parking lot, stopped
-group Initialise
-    s->b1: CLOCK
-    s->b2: ACLOCK
-end
 loop n times
     group Buggy 1 lap
         s->b1: GO

doc/Sequence diagrams/Gold.png

@@ -7,6 +7,8 @@ group Obstacle encountered
     b->s: OBSTACLE
     ...
     b->s: PATHCLEAR
+    b<-s: GO
+    b->s: GOING
 end
 ...
 @enduml

doc/Sequence diagrams/Gold.puml

@@ -4,7 +4,7 @@ participant Buggy as b #4f4
 participant Station as s #44f
 ...
 group Under gantry n
-    s<-b: GANTRY n
+    s<-b: GANTRYn
     s->b: STOP
     s<-b: STOPPED
     note over s #fff: Wait 1 sec

doc/Sequence diagrams/Obstacle.png

@@ -3,34 +3,36 @@
 Each message consists of a sender ID, a receiver ID, and a command, separated by
 a single space (` `). Messages are terminated by a newline (`\n`).
 
-Valid IDs are `0`, `1` and `2`, where `0` represents the station and the other
-two the buggies.
+Valid IDs are `0`, `1` and `2`, where `0` represents the station and `1` and `2`
+represent the two buggies.
 
 ### Commands sent by the buggy to the station:
 
+Commands received by the station are parsed using regular expressions. They are
+presented here in C# syntax
+
 Command | Explanation
 --- | ---
-ACK | For automatic communication testing, sent for every command received. Expects no reply
-PONG | Response to PING
-PING | Response to PONG
-GOING | Buggy is going after receiveing a GO command
-STOPPED | Buggy stopped after receiving a STOP command
-GANTRY1 | Passing under Gantry 1
-GANTRY2 | Passing under Gantry 2
-GANTRY3 | Passing under Gantry 3
-GANTRY_INVALID | The buggy detected a gantry, but its signature did not match any of the gantries
-PARKED | When the buggy has stopped after being requested to park with a PARK command
-OBSTACLE | Informs the station that an obstacle has appeared in the path of the buggy and therefore it has temporarily stopped
-PATHCLEAR | Informs the station that the obstacle has been removed and the buggy is resuming travel
-INVALID | An invalid message has been recieved from the station, addressed to this buggy
+`ACK` | For automatic communication testing, sent for every command received. Expects no reply
+`PONG` | Response to `PING`
+`PING` | Response to `PONG`
+`GOING` | Buggy is going after receiveing a `GO` command
+`STOPPED` | Buggy stopped after receiving a `STOP` command
+`GANTRY(?<GantryID>[123])` | Passing under Gantry with the corresponding ID
+`GANTRY_INVALID` | The buggy detected a gantry, but its signature did not match that of any of the gantries
+`IRLength: (?<Length>\d+)` | The length of the infrared pulse measured by the buggy's gantry sensor, sent purely for diagnostic purposes
+`PARKED` | When the buggy has stopped after being requested to park with a `PARK` command
+`OBSTACLE` | Informs the station that an obstacle has appeared in the path of the buggy and therefore it has temporarily stopped
+`PATHCLEAR` | Informs the station that the obstacle has been removed and the buggy could now resume its travel
+`INVALID: (?<Command>.*)` | An invalid command has been recieved from the station, addressed to the sending buggy
 
 ### Commands sent by the station to one of the buggies:
 
 Command | Explanation
 --- | ---
-SYN | For automatic communication testing, expects nothing other than the default ACK
-PING | For communications testing, expecting PONG
-PONG | For communications testing, expecting PING
-GO | Commands buggy to go, following the line
-STOP | Commands buggy to stop immediately
-PARK | Commands buggy to turn in the appropriate direction for the parking lane, then stop after parking
+`SYN` | For automatic communication testing, expects nothing other than the default `ACK`
+`PING` | For communications testing, expecting `PONG`
+`PONG` | For communications testing, expecting `PING`
+`GO` | Commands buggy to go, following the line
+`STOP` | Commands buggy to stop immediately
+`PARK` | Commands buggy to turn in the appropriate direction for the parking lane, then stop after parking