Ev3 flowchart

START

Is the PCT value <30%?

Start moving left(-50) at 20% speed.

YES

NO

Start Moving right(50)at 20% speed

Is the ultrasonic sensor distance<10.3cm and touch sensor depressed?

stop moving

Move backward for 1 rotations

Run right motor counterclockwise for 1 rotations

Move forward For for 2.5 rotations

turn left motor counterclockwise for 1 rotation

move forward for 5 rotations

Right motor turn counterclockwise for 1 rotations

Is PCT value <30%?

Start moving straight at 20% speed

NO

YES

IS the Ultrasonic sensor distance<4cm?

YES

NO

NO

Stop moving

YES

Move backward for 1 rotations

Right motor run counterclockwise for 1 rotations

Move forwards for 1.5 rotations

right motor run clockwise for 1 rotations

Move forwards for 1.5 rotations

B run clockwise for 1 rotations

Is PCT Value <30%?

Start moving straight at 20% speed

NO

YES