LEVEL ０

1. LEVEL　０

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

3. LEVEL　１

4. Press Button SW0, SW1 Outputto display data Output Process to Display 1.3 Event input LCD Enter a setting value Toggle switch Tsw0->Tsw7 External Input Process 1.1 Internal Process1.2 Outputto display data Time Tick Output Process For motor 1.4 タイマー Outputfor robot running Sensor Data LED モータ センサー

5. LEVEL　２

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

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

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

9. LEVEL3

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

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

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

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