diff --git a/58cf41715a77116104f2a98fb0e44bf58c6c515095ea82301ebf79ebc2e09f4e_9_flowchart.svg b/58cf41715a77116104f2a98fb0e44bf58c6c515095ea82301ebf79ebc2e09f4e_9_flowchart.svg
new file mode 100644
index 0000000..d04d16e
--- /dev/null
+++ b/58cf41715a77116104f2a98fb0e44bf58c6c515095ea82301ebf79ebc2e09f4e_9_flowchart.svg
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<!-- Generated by graphviz version 8.0.3 (0)
+ -->
+<!-- Pages: 1 -->
+<svg width="637pt" height="165pt"
+ viewBox="0.00 0.00 637.00 164.74" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+<g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(36 128.74)">
+<polygon fill="dimgray" stroke="none" points="-36,36 -36,-128.74 601,-128.74 601,36 -36,36"/>
+<text text-anchor="middle" x="282.5" y="-77.54" font-family="Helvetica,sans-Serif" font-size="14.00">Sweep&#39;s Plan &amp; Progress</text>
+<!-- start -->
+<g id="node1" class="node">
+<title>start</title>
+</g>
+<!-- c352dd31&#45;8069&#45;4856&#45;b494&#45;2787d5f03d62 -->
+<g id="node3" class="node">
+<title>c352dd31&#45;8069&#45;4856&#45;b494&#45;2787d5f03d62</title>
+<ellipse fill="yellow" stroke="black" cx="115.5" cy="-26.87" rx="62.87" ry="26.74"/>
+<text text-anchor="middle" x="115.5" y="-30.67" font-family="Helvetica,sans-Serif" font-size="14.00">⋯ Create</text>
+<text text-anchor="middle" x="115.5" y="-15.67" font-family="Helvetica,sans-Serif" font-size="14.00">src/cnn.py</text>
+</g>
+<!-- start&#45;&gt;c352dd31&#45;8069&#45;4856&#45;b494&#45;2787d5f03d62 -->
+<g id="edge3" class="edge">
+<title>start&#45;&gt;c352dd31&#45;8069&#45;4856&#45;b494&#45;2787d5f03d62</title>
+<path fill="none" stroke="black" d="M0.83,-26.87C3.41,-26.87 20.8,-26.87 41.28,-26.87"/>
+<polygon fill="black" stroke="black" points="41.22,-30.37 51.22,-26.87 41.22,-23.37 41.22,-30.37"/>
+<text text-anchor="middle" x="26.78" y="-33.67" font-family="Helvetica,sans-Serif" font-size="14.00">Start</text>
+</g>
+<!-- end -->
+<g id="node2" class="node">
+<title>end</title>
+</g>
+<!-- 34118e8f&#45;7d16&#45;40fc&#45;a61e&#45;f55e184f01c5 -->
+<g id="node4" class="node">
+<title>34118e8f&#45;7d16&#45;40fc&#45;a61e&#45;f55e184f01c5</title>
+<ellipse fill="white" stroke="black" cx="283.5" cy="-26.87" rx="69.09" ry="26.74"/>
+<text text-anchor="middle" x="283.5" y="-30.67" font-family="Helvetica,sans-Serif" font-size="14.00">▶ Modify</text>
+<text text-anchor="middle" x="283.5" y="-15.67" font-family="Helvetica,sans-Serif" font-size="14.00">src/main.py</text>
+</g>
+<!-- c352dd31&#45;8069&#45;4856&#45;b494&#45;2787d5f03d62&#45;&gt;34118e8f&#45;7d16&#45;40fc&#45;a61e&#45;f55e184f01c5 -->
+<g id="edge1" class="edge">
+<title>c352dd31&#45;8069&#45;4856&#45;b494&#45;2787d5f03d62&#45;&gt;34118e8f&#45;7d16&#45;40fc&#45;a61e&#45;f55e184f01c5</title>
+<path fill="none" stroke="black" d="M178.83,-26.87C186.89,-26.87 194.94,-26.87 203,-26.87"/>
+<polygon fill="black" stroke="black" points="202.99,-30.37 212.99,-26.87 202.99,-23.37 202.99,-30.37"/>
+</g>
+<!-- 09ad5cd1&#45;317b&#45;4979&#45;9590&#45;31ce5d044c7c -->
+<g id="node5" class="node">
+<title>09ad5cd1&#45;317b&#45;4979&#45;9590&#45;31ce5d044c7c</title>
+<ellipse fill="white" stroke="black" cx="447.5" cy="-26.87" rx="59.29" ry="26.74"/>
+<text text-anchor="middle" x="447.5" y="-30.67" font-family="Helvetica,sans-Serif" font-size="14.00">▶ Modify</text>
+<text text-anchor="middle" x="447.5" y="-15.67" font-family="Helvetica,sans-Serif" font-size="14.00">src/api.py</text>
+</g>
+<!-- 34118e8f&#45;7d16&#45;40fc&#45;a61e&#45;f55e184f01c5&#45;&gt;09ad5cd1&#45;317b&#45;4979&#45;9590&#45;31ce5d044c7c -->
+<g id="edge2" class="edge">
+<title>34118e8f&#45;7d16&#45;40fc&#45;a61e&#45;f55e184f01c5&#45;&gt;09ad5cd1&#45;317b&#45;4979&#45;9590&#45;31ce5d044c7c</title>
+<path fill="none" stroke="black" d="M353.01,-26.87C361.04,-26.87 369.08,-26.87 377.12,-26.87"/>
+<polygon fill="black" stroke="black" points="377.07,-30.37 387.07,-26.87 377.07,-23.37 377.07,-30.37"/>
+</g>
+<!-- 09ad5cd1&#45;317b&#45;4979&#45;9590&#45;31ce5d044c7c&#45;&gt;end -->
+<g id="edge4" class="edge">
+<title>09ad5cd1&#45;317b&#45;4979&#45;9590&#45;31ce5d044c7c&#45;&gt;end</title>
+<path fill="none" stroke="black" d="M507.03,-26.87C524.81,-26.87 542.47,-26.87 553.42,-26.87"/>
+<polygon fill="black" stroke="black" points="553.17,-30.37 563.17,-26.87 553.17,-23.37 553.17,-30.37"/>
+<text text-anchor="middle" x="535.45" y="-33.67" font-family="Helvetica,sans-Serif" font-size="14.00">Finish</text>
+</g>
+</g>
+</svg>