Ardumower software design
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This page describes some internals of the Ardumower software architecture.
Finite state machine
Main component of the software is a so called 'finite state machine', that means there exists a set of states ("OFF", "FORWARD", "ROLL", etc.) that the robot can be in. Depending on events (sensor is triggering etc.), the robot will enter a new state.
State diagram
Implemented updates:
- If obstacle during reverse => roll
- If obstacle during roll => forward
