START

BLACK LINE
FOLLOWER ACTIVATE

FORWARD

NO
3,4,5
WHITE

YES

LEFT

FORWARD

6,7 WHITE
 NO
LEFT

FORWARD

ALL
BLACK

LEFT

FORWARD

6,7
WHITE

FORWARD
 6,7
WHITE

RIGHT

SWITCH OFF SENSORS

IDENTIFY
BLOCK

COLOR,HGT

WHITE,6
BLACK,12 WHITE,12 BLACK,6

IDENTIFY D.B
 PICK BLOCK
BLOCKBLOCKBL
OCK+

TURN FORWARD
180 WHITE
D.B LINE ACT.

D.B
D.B

WHITE ARENA BLACK ARENA

 WHITE ARENA

D.B

3 4
1 2

1,2
WHITE

LEFT

1,2
WHITE
 FORWARD

6,7
White

RIGHT

MIDDLE

3Black

1,2
3,4

Left
Right

7
7Black
Black

Right
Left

7 Black
7 Black
 Front
FRONT

7 Black
7
Black

RIGHT
LEFT

7BLA 7BLACK
CK

FORWARD FORWARD

D.B
D.B
1 4
2 3

LEFT RIGHT
RIGHT LEFT

DROP DROP

DROP
 beep beep

Go to node 2
Go to node 2

BLACK ARENA

1,2 Black

Left

1,7 black

5,6
7,8
Left arc Right Arc

1,2 black
6,7 black

Left
Right

All white 1,2 White

 Right
Right

All white 6,7 white

Left

Forward Right

7 White
Deposit Deposit

7
8
 Left Right

Beep Beep

Deposit

Beep

Go to Node 2 Go to Node 2

Go
back to
start

Long
beep

Stop