| Current Activity | Event | New Activity |
| When STOPPED: | if (Command) then | |
| if (TimeOut) then | ||
| TimeOut (s) | if (Left Limit) then | |
| if (Right Limit) then | ||
| if (Both Limits) then | ||
| if (No Limit) then | ||
| When FORWARD: | if (Command) then | |
| if (TimeOut) then | ||
| TimeOut (s) | if (Left Limit) then | |
| if (Right Limit) then | ||
| if (Both Limits) then | ||
| if (No Limit) then | ||
| When TURN LEFT: | if (Command) then | |
| if (TimeOut) then | ||
| TimeOut (s) | if (Left Limit) then | |
| if (Right Limit) then | ||
| if (Both Limits) then | ||
| if (No Limit) then | ||
| When TURN RIGHT: | if (Command) then | |
| if (TimeOut) then | ||
| TimeOut (s) | if (Left Limit) then | |
| if (Right Limit) then | ||
| if (Both Limits) then | ||
| if (No Limit) then |
| Power Min | Max |
