saper.uxf - wersja do edytowania (edytor UMLet)

–at he begining robot is outside the circle

IF activation sound detected THEN opartion is 'move forward'

IF wall detected THEN operation is 'turn around (+random value)'

IF line detected AND is outside circle THEN operation is 'stop, locate object'

IF object located THEN operation is 'move forward'

IF is inside circle AND line detected THEN operation is 'stop, turn around, locate object'

IF object found THEN operation is 'grab object, stop, turn around, move forward'

IF object grabbed AND line detected THEN operation is 'stop, release object'

END

patrol.uxf - wersja do edytowania (edytor UMLet)

– at the begining robot is on the line

IF activation sound detected THEN opeartion is 'calibrate position'

IF position calibrated THEN operation is 'follow line'

IF obstacle detected THEN operation is 'slow down'

IF object grabbed THEN operation is 'stop, turn 90 deg, release object'

IF is not on the line THEN operatio is 'calibrate position'

IF deactivated THEN END