K. Davidek
Assignment #3

Definitions:
Box // Container holding the ball.
Table // Supports the box.
Ball // within the box. 
BSensor // Body touch sensor.
HSensor // Hand touch sensor.
1 Foot // 12 inch interval of distance.
Distance // measureable quantity between two objects.
LStep // RLeg XFer Weight, LLeg Lift (Fwd).
RStep // LLeg XFer Weight, RLeg Lift (Fwd).
SStep1 // LLeg XFer Weight, RLeg Lift (R).
SStep2 // RLeg XFer Weight, LLeg Lift (R).
Walk // RStep, LStep.
Find Table:
BEGIN Table
Walk 
If BSensor is triggered 
then STOP 
else 
if Distance ≥ 7 Feet Turn L 72* 
reset Distance count) 
(repeat until STOP)
END Table


BEGIN Box
UpperArm Lift Up
Body Perpendicular to Table, 
Lower arm lift down 
SStep1 
if HSensor is triggered by box 
then lift lower arm up SStep2
Lower arm test Findball 
if error repeat SStep1 | if HSensor is triggered 
then lift lower arm up SStep2
Lower arm test Findball 
until Findball returns success 
else lift arm up SStep2. 
(repeat)
END Box
BEGIN Arm