flowchart LR
subgraph Open["Open-Loop"]
direction LR
OC_Ctrl["Controller"]:::ctrl --> OC_Act["Actuator
(Motors)"]:::act --> OC_Out["Output
(Robot Motion)"]:::out end subgraph Closed["Closed-Loop"] direction LR CL_Ctrl["Controller"]:::ctrl --> CL_Act["Actuator
(Motors)"]:::act --> CL_Out["Output
(Robot Motion)"]:::out CL_Out --> CL_Sensor["Sensor
(Distance)"]:::sensor --> CL_Err["Error
Calculation"]:::err --> CL_Ctrl end classDef ctrl fill:#42a5f5,stroke:#333,stroke-width:2px,color:#fff,font-size:16px classDef act fill:#7e57c2,stroke:#333,stroke-width:2px,color:#fff,font-size:16px classDef out fill:#26a69a,stroke:#333,stroke-width:2px,color:#fff,font-size:16px classDef sensor fill:#ffa726,stroke:#333,stroke-width:2px,color:#000,font-size:16px classDef err fill:#ef5350,stroke:#333,stroke-width:2px,color:#fff,font-size:16px linkStyle default stroke:#777,stroke-width:2px,font-size:14px
(Motors)"]:::act --> OC_Out["Output
(Robot Motion)"]:::out end subgraph Closed["Closed-Loop"] direction LR CL_Ctrl["Controller"]:::ctrl --> CL_Act["Actuator
(Motors)"]:::act --> CL_Out["Output
(Robot Motion)"]:::out CL_Out --> CL_Sensor["Sensor
(Distance)"]:::sensor --> CL_Err["Error
Calculation"]:::err --> CL_Ctrl end classDef ctrl fill:#42a5f5,stroke:#333,stroke-width:2px,color:#fff,font-size:16px classDef act fill:#7e57c2,stroke:#333,stroke-width:2px,color:#fff,font-size:16px classDef out fill:#26a69a,stroke:#333,stroke-width:2px,color:#fff,font-size:16px classDef sensor fill:#ffa726,stroke:#333,stroke-width:2px,color:#000,font-size:16px classDef err fill:#ef5350,stroke:#333,stroke-width:2px,color:#fff,font-size:16px linkStyle default stroke:#777,stroke-width:2px,font-size:14px