Robot controller (version 0, just roll forward until you see something and stop)
| Step # | Tag | Condition | Action | Next | Notes |
| 1 | Start | (wait) Always |
PWM: 200 freq=32766 | Start IR | |
| 2 | MainLoop | Input: XXXXXXX0 |
LED On | object | Check IR sensor |
| 3 | (wait) Always |
Pulse: pin 7 2000 | Drive forward | ||
| 4 | (wait) Always |
Pulse: pin 6 1000 | Drive forward | ||
| 5 | (wait) After 20 ms | MainLoop | Servo delay (20ms) | ||
| 6 | object | (wait) Always | object | We detected something. For now, stop. |