SensorManager.md

@@ -2,8 +2,7 @@ The `SensorManager` component manages all the sensors connected to the board.
   
 Sensors are periodically sampled and their corresponding callback is called, so that further operations can be performed on the retrieved data.
 
-# Main Components
-
+# Main Elements
 ### Sensor
 
 The `Sensor.h` header file contains the base classes used to define sensors: every new sensor must inherit from one of them.  
@@ -45,25 +44,24 @@ The sensor will be added only if both the initialization and the test succeed.
   
 When `start()` is called, the `SensorManager` initializes the `TaskScheduler`: for each `SensorSampler`, it adds to the scheduler the `sampleAndCallback()` method to be called periodically according to the sampler's frequency.
 
-# Overall Behavior
+# Component Behavior
 It might seem tricky and complex, so in order to simplify the understanding we can schematize the component's behavior.  
-
-### Flowchart
-
-TODO
   
 We outline three phases:
 1.  In the first phase sensors are added to the `SensorManager`, that assigns them to the correct `SensorSampler`, along with the corresponding callback.
 2.  When the `SensorManager` is started, for each sampler it schedules a periodic task, according to the required frequency.
 3.  From that point on, the `TaskScheduler` periodically calls the `SensorSampler` objects. When called, each sampler performs the sampling of all the sensors it manages and for each of them calls the associated callback.
 
-# Module Structure
+![SensorManager_flowchart](uploads/f8a795df4bf94300bd4d6b6999aa4fc1/SensorManager_flowchart.png)
+
+# Component Structure
 For simplicity, each arrow in the diagram describes an action and reports the phase number that action belongs to (according to the above defined phases).
 
 ![SensorManager](uploads/419550d7828ce82614323d8ac34abd03/SensorManager.png)
 
 # Example
 ### Step 1: Creating a sensor
+For more details see how to write a sensor driver.
 ```cpp
 #include <cmath>
 #include "Common.h"
@@ -77,7 +75,7 @@ class TestSensor : public virtual Sensor
     public:
         TestSensor() : sample(0) {}
 
-        ~TestSensor() {}
+        ~TestSensor() {}SensorManager
 
         bool init() override
         {