The robot has 5 main functions:

1. Power –> powers the system via battery.
2. Computing –> communication between inputs and microcontroller.
3. Sensing –> sensors give information to microcontroller in order to determine robot’s position and detect walls in the maze.
4. Turning –> robot turns 90° right/left, 180° (turn around).
5. Motion –> robot moves forward/backwards, slows down/stops.

Block Diagram of Functions and Sub Functions: Shows

how each function works with the other functions. Arrows

indicate a function’s input. For example, the sensing function

has 3 arrows going to the computing function. This indicates

the types of information the sensors input to the microcontroller.