Google home, Home assistant and info

Hi all

I am new to home automation so please I just need some general info to get me started on the correct path.
I have build a google home with the SDK on a raspberry pi.
What I would like to do is obviously control my lights, plugs etc etc but I would like to control arduino devices which makes automating switches and plugs a lot cheaper than using phillips hue, Z wave and smart things.
So as I understand it now is I will have a google home that takes the voice commands and sends them to HA on a raspberry pi which then sends commands to the arduino?
Any feedback will be helpful.

Thanks