Update docs/temperature_sensors/software/dataflow.md

docs/temperature_sensors/software/dataflow.md

@@ -2,7 +2,7 @@
 
 Generally, the data flow related to the whole pipeline of the sensing of the motor temperature is quite simple and a brief summary is proposed here below, whose main purpose is to make the reader aware of how the temperature data is retrieved from the motor resistance thermometer and printed out to a YARP port. 
 
-In a nutshell, as introduced in the [introductory section](../general/overview.md#temperature-sensors), most of the `ergoCub` motors are currently provided with a `PT100`, which is roughly a particular resistor able to correlate a value of temperature to a value of resistance in `Ohm`. This is then linked to a board called Temperature Detection Board (TDB), whose internal components are meaningless for our aim.
+In a nutshell, as introduced in the [introductory section](../general/overview.md#temperature-sensors), most of the `ergoCub` motors are currently provided with a `PT100`, which is a particular resistor able to correlate a value of temperature to a value of resistance in `Ohm`. The resistor is connected to a board called **Temperature Detection Board **(TDB).
 Anyways, its function is to evaluate the `Ohm` value given by the `PT100` (or `PT1000` for different types of motors) and streams out with a `I2C` protocol the raw data. This are then read by the `2FOC` board with a frequency of around 200Hz, which also checks if there's any `overHeating` error depending on the values set by the end-user in the configuration files at the parameter `hardwareTemperatureLimits`. The raw temperatures are sent over `CAN` to the `EMS` board, which stores them in the memory and sends to `embObjMotionControl` together all the other motor information. 
 
 On reception of the motor temperature, `embObjMotionControl` converts the values from raw to Celsius and checks if the set `warningTemperatureLimit` is overcome. In that case it prints a warning on the yarprobotinterface log just to advise the user. No other actions are taken.