This is a basic flow chart showing how the Agro-bot is to operate.

Ideally, the Agro-bot should just run straight down, starting at the mow pattern block. If the sensors indicate some sort of problem

(ex. Object in its path, low batteries, etc.), the Agro-bot should respond with a set of functions to maneuver around the problem.

Below is a diagram of the Agro-bot performing one of its mow patterns on our designated area of lawn.

This picture is a flow chart of how we first planned on controlling the navigation.

Here you can view a preliminary state machine on controlling basic motions such as turning left or right.

Here is the actual C language code we used to program the HC08 microcontroller. It is still under construction as we are doing some

fine tuning to get the timing correct.

The C language code calls certain Assembly language code that handles the motors on a smaller scale. We actually use the microcontroller

to set certain bits that will activate the H-Bridge circuits to turn the motors on in the required directions and speed.