start

Bluetooth available

Bluetooth
available =
1

NO

yes

Bluetooth read

yes
Bluetooth
read = F

forward

NO

yes
Bluetooth
read = L

NO

left

NO

NO

NO

Bluetooth
read = B

Bluetooth
read = R

yes

yes

right

NO
Bluetooth
read = G

Bluetooth
read = I

read =
F

yes

yes

Rotate left

back

read =
F

Rotate right

NO
NO

NO

NO

Bluetooth
read = V

Bluetooth
read = C

yes

yes

Pump suck

Pump feed

NO
Bluetooth
read = S

yes

stop

yes

yes

Gripper open

Gripper close

NO

NO

Bluetooth
read = 1

yes
Driller head angle
= 180

NO===
Bluetooth
read = Z

Bluetooth
read = F

NO
Bluetooth
read = 3

Bluetooth
read = 2

yes

yes

Driller head angle

=160

Driller head angle

= 140

NO

NO

NO

Bluetooth
read = 5

Bluetooth
read = 4

yes

yes

yes

Driller head angle

= 100

Driller head angle

= 120

Driller head angle

= 40

yes

Driller base angle

= 90

NO
Bluetooth
read = a

yes

Driller head angle

= 20

driller base angle

= 20

NO

Driller base angle

= 120

yes

Driller base angel

= 40

NO

Bluetooth
read = c

yes

NO

Bluetooth
read = w

yes

NO
Bluetooth
read = b

Driller head angle

= 60

NO
Bluetooth
read = 9

yes

yes

Driller head angle

= 80

NO
Bluetooth
read = 8

NO
Bluetooth
read = 7

Bluetooth
read = 6

Bluetooth
read = d

yes

Driller base angle

= 135