This is the flowchart that represents the basic abilities of the Micromouse such as responding to changes for example when either touch-bars or an infrared circuit have been affected by outer environment. It also shows an interrupt service routine which allows for the speed control of the micromouse.
Flowchart 2: White line following
Even though it is not present , the Micromouse here saves its basic abilities from the Flowchart 1 and also it includes the I.S.R. for white line following. Please note that it is important NOT to include the white line following routine in the main routine in this flowchart as otherwise the microcontroller might get trapped in the same routine and will not execute any other programs!
Flowchart 3: Combat
This flowchart represents the Micromouse in the combat state. In here it is best to use the 3 important routines inside the main routine as this way the priority of different sensors will be shown and the Micromouse will not move to the next sensor if it has not fulfilled the requirements of the previous sensors. Please note that PORT B least significant bit and the next bit to it are the ones that are responsible for the Micromouse differentiating the colours. 11 = white , 00 = black, 10 = white-black and 01 = black-white.
November Group 