1. LEVEL ０

2. レス キューロ ボット制 御システ ム Press Button SW0, SW1 Toggle switch Tsw0->Tsw7 モータ センサー タイマー１ LCD LED Event input Enter a setting value Sensor Data Time Tick Output to display data Output for robot running Output to display error

3. LEVEL １

4. Press Button SW0, SW1 Toggle switch Tsw0->Tsw7 モータ センサー タイマー LCD External Input Process 1.1 Internal Process 1.2 Output Process to Display 1.3 Output Process For motor 1.4 LED Event input Enter a setting value Sensor Data Output to display data Time Tick Output for robot running

5. LEVEL ２

6. Press Button SW0, SW1 Toggle switch Tsw0->Tsw7 タイマー 1 Switching input process 1.1.1 Sw0,1 interrupt process 1.1.2 Timer interrupt Process 1.1.3 External Input Process Switch Data Press event センサー Sensor Process 1.1.4 10ms Sensor data Robot control Command Time Update Command 10ms elapsed 50mico elapsed タイマー 2 Sensor Data

7. Setting Process 1.2.1 Internal Process Switch Data Robot main Control 1.2.2 Robot control Command Time Update Command Sensor Data Setting Data Find Path Process 1.2.7 Wall Info Collect Process 1.2.5 Motor Control Process 1.2.6 Time Update Process 1.2.3 Wall Info Time Format Process 1.2.4 Setting Format 1.2.8 Display Data Right Motor data Left Motor data

8. モータ LCD Output Process to Display 1.3 Output Process For motor 1.4 LED Output to display data Output Process Output to display data Output to Left Motor LCD Display Data LED Display Data Right Motor data Left Motor data O/P LEFT Motor 1.4.1 O/P RIGHT Motor 1.4.2 Output to Right Motor O/P LCD 1.3.1 O/P LED 1.3.2

9. LEVEL 3

10. Press Button SW0, SW1 Toggle switch Tsw0->Tsw7 タイマー 1 Switching input process Sw0,1 interrupt process Timer interrupt Process External Input Process Switch Data Press event センサー Sensor Process 10ms Sensor data Robot control Command Time Update Command 10ms elapsed 50us elapsed タイマー 2 50us Get Switch Task 1.1.1.2 Get Switch IR0 1.1.2.3 Get Switch IR1 1.1.2.4 IR0 Init 1.1.2.1 IR1 Init 1.1.2.2 SW2 Pressed SW3 Pressed Over 50 us Over 10 ms Timer INT0 1.1.3.1 Timer INT1 1.1.3.2 Get 10ms 1.1.3.3 Timer Calc 1.1.3.4 Get 50us 1.1.3.3 Read L/R/F Sensor 1.1.4.1 Sensor data

11. Setting Process Internal Process Switch Data Time Update Command Setting Data Time Update Setting Format Display Data Display Data Time Format Set Methods 1.2.1.1 Get Methods 1.2.1.3 Integer to String 1.2.8.1 Init Config 1.2.1.2 Reverse 1.2.8.1 Integer to String 1.2.4.1 Reverse 1.2.4.1 Put Time 1.2.3.1 Over 10ms

12. Internal Process Robot main Control 1.2.2 Robot control Command Sensor Data Find Path Process 1.2.7 Wall Info Collect Process 1.2.5 Motor Control Process 1.2.6 Wall Info Right Motor data Left Motor data

13. モータ LCD Output Process to Display O/P Motor LED Output to display port Output Process Output to display port Output to Left Motor LCD Display Data LED Display Data Right Motor data Left Motor data O/P LEFT Motor 1.4.1.1 O/P RIGHT Motor 1.4.2.1 Output to Right Motor Put on LCD 1.3.1.2 O/P on LED PORT 1.3.2.1 Pos Cursor 1.3.1.3 Read Buffer 1.3.1.4 Write Buffer 1.3.1.1 BUFF Motor Data: DIR, Count, Time