Daniel Concha

Mike Erickson
Mindy Phung
Teresa Tomelli
Limit Switch 1

IR 1

Limit Switch 2

Proximity Sensor 3
Front

Wheels

IR 2

Proximity Sensor 2

Proximity Sensor 1

Top View of Bot

Press on button
-spin in place
-start game timer
Ready for
Game

Timer expires (0.5 s)

-motors forward
-reset timer

FLAP detected
(IR1)
-spin clockwise
-begin spin timer

Initial
Orientation

Detect FLAP

Daniel Concha
Mike Erickson
Mindy Phung
Teresa Tomelli

FLAP detected
(IR2)
-spin c.clockwise

Approach Center

FLAP detected
(IR1)
-motors forward

Centered

Facing FLAP
First limit switch hits (1/2)
-stop corresponding wheel,
and move opposite wheel
forward

Unload
counter=3
-spin in place

STOPPED

(For all orange arrows) Emergency

stop is pressed or game timer
expires (2:00)
-stop wheels
-reset unload counter
-reset game timer

Align FLAP

Light sensor detects loaded

chips
-start loading timer

At FLAP

Loading

Drive timer
expires (0.5 s)
-reset drive timer

Proximity sensor 2 & 3 trigger

-stop motors
-unload chips
-start unload timer
-+1 unload counter

Unload timer expires (1s)

-motors forward
-reset unload timer
-start drive timer
Leaving Lever

Second limit switch hits

(1/2)
-stop motors
-reset unload counter

Unload

Locked and
Loaded

Lever
contact

Loading timer
expires (1s)
-both motors
reverse
-reset loading timer

Proximity sensor 1 triggers

-spin clockwise