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Page 1: 7+Nbc;edf9+gh.i0jbck l5*em>=303d )+*-m/*-nho&.1mp*e9q.inny=3,>s

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Page 7: 7+Nbc;edf9+gh.i0jbck l5*em>=303d )+*-m/*-nho&.1mp*e9q.inny=3,>s

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Code generatorinterface

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Bumper

Hands

Soda

Can

Servo

Vehicle

Control Linkages

IR Beam

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Wanderfor

Trashto

Move

Trash Trash

GrabStart

Move

to

Trashcan

Wander

for

Trashcan

trash_detected = 1 IR_beam = 0

IR_beam = 0

Backup1gripper_closed = 1bumper_pushed = 1

Turn 90 Backup2always

Drop

Trash

always

always

trashcan_detected = 1at_trashcan = 1

always

IR_beam = 1

(add obstacle)

IR_beam = 1

(add obstacle)

put_can look_for_basket

pick_up_trashlook_for_canstart

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