
4
44
4-
--
-3
33
3
4.3 FLOWCHART FOR DRIVING
Figure 4-2 shows flowchart for driving.
Figure 4-2 Flowchart for Driving
Detector OFF
DETECTOR OFF WITHIN
500 msec
DETECTOR ON WITHIN
1 sec
Detector OFF
START
ROTATE THE MOTOR IN REVERSE
Detector ON
Detector ON
Detector OFF
Detector ON
MAKE THE MOTOR DRIVER OFF
DRIVE OUT
BRAKE THE MOTOR FOR 100 msec WITHIN 2 msec
START THE MOTOR ACTIVATION MAKE THE MOTOR DRIVER OFF
DETECTOR ON
WITHIN 1 sec
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