[ROOT] Add some documentation on the architecture

README.md

@@ -4,3 +4,45 @@
 ```sh
 cargo run
 ```
+# Wanted Architecture
+```mermaid
+flowchart RL
+    STM
+    subgraph ide1 [UsbManager]
+        UsbDecoder
+        UsbEncoder
+    end
+    STM --> UsbDecoder
+    UsbEncoder --> STM
+
+    subgraph ide2 [Capteur]
+        LidarProcessor
+        IMUProccesor
+        OdometerProcessor
+        CameraProcessor
+    end
+
+    LidarProcessor --> PositionManager
+    IMUProccesor --> PositionManager
+    OdometerProcessor --> PositionManager
+    CameraProcessor --> PositionManager
+
+    CameraProcessor --> ObjectManager
+    LidarProcessor --> ObjectManager
+
+    subgraph ide3 [State]
+        Mapper
+        PositionMedium
+    end
+
+    MQTTClient <--> PositionMedium
+    MQTTClient <--> UsbDecoder
+
+    TrajectoryPlanner --> TrajectoryGenerator
+    TrajectoryGenerator --> UsbEncoder
+
+    PositionMedium --> TrajectoryPlanner
+    TrajectoryPlanner --> PositionManager
+    PositionManager --> PositionMedium
+    MQTTClient --> MQTT
+```

src/strategy/README.md

@@ -0,0 +1,14 @@
+## Strategy
+
+```mermaid
+flowchart RL
+    Wait ==> FindFlower
+    FindFlower ==> GotoFlower --> Wait
+    GotoFlower ==> GrabFlower
+    GrabFlower ==> FindPot --> Wait
+    FindPot ==> GotoPot --> Wait
+    GotoPot ==> Planting --> Wait
+    Planting ==> GotoSerre --> Wait
+    GotoSerre ==> FindFlower --> Wait
+
+```