Tasks

The task diagram illustrates a high-level overview of the Romi robot’s function.

The course FSM details the logic behind the course navigation.

The motor FSM details general motor logic for controlling motor stop/go.

Below are all the tasks and drivers for Romi:

• Main Program
• Motor Driver
• Encoder Driver
• Shared Task Data
• Cooperative Tasking
• Motor Task
• User Task
• Line Sensor Driver
• Line Sensor Task
• Line Follow Task
• Bumper Task
• Bumper Driver
• Course Task