File content as of revision 55:f9e13797024f:

@startuml

class Bot {
	+Bot()
	+confirmAll()
	+controllDrive()
	+controllMech()
	+calibrate()

	~pad
	~motor
	-suc
}

class Controller {
	+Controller()
	+receiveState()
	+getButton1()
	+getButton2()
	+getStick()
	+getRadian()
	+getNorm()

	-setStick()
	-data[6]
	-fepTemp

	#button1[7]
	#button2[6]
	#stick[4]
	#radian[2]
	#norm[2]
}

class MotorDriver {
	+MotorDriver()
	+moveSlider()
	+destroy()
	+swing()
	+shakeHead()
	+release()
	+goXY()
	+goCircular()

	~arm
	~quadOmni
	~solenoid
}

class PIDC {
	+PIDC()
	+confirm()
	+getCo()
	+calibration()

	-updateOutput()
	-rawDegree
	-offSetDegree
	-turnOverNumber
	-beforeDegree

	#co
	#processValue
	#initDegree
}

class Arm {
	+Arm()
	+isPushed()
	+isResetted()
	+getHeight()

	-resetHeight()
	~ limitSwitch

	#heightResetFlag
}

class WheelUnit {
	+WheelUnit()
}

object pin_config
object FEP
object HMC6352
object MDC
object Omni
object PID
object QEI

Bot o.. Controller
Bot o.. MotorDriver
Bot o.. PIDC

MotorDriver <-. Arm
MotorDriver <-. WheelUnit

Bot .right. pin_config

Controller . FEP
MotorDriver . MDC
WheelUnit . Omni
PIDC .. PID
PIDC .. HMC6352
Arm . QEI

@enduml