Before the robot could actually be built or programmed, a general understanding of what functions were necessary needed to be included. This included drive functions, task completion functions, navigation functions, and sensor input functions. In order to better prepare ourselves for the latter stages of the project, a flowchart description of the logic that the programming would follow was created. The goal was to keep the code as modular as possible so that debugging would be very simple and that the code would be very readable. A flowchart description of the logic is given below. Additionally, a full pseudocode document can be found below that, giving all of the information available regarding the planning of the code.
Flowchart Explanation of Plan for Code