Ardumower software design

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 (Note: The drawing has been created using draw.io)

Implemented updates:

• If obstacle during reverse => roll
• If obstacle during roll => forward

C++ classes/interfaces

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