1. Flow Charts II Decisions, Decisions…. “Wait-for” Loop Parallel
Branches
Merged
Parallel
Branches
Looped
Parallel
Branches

2. Flow Charts II What does this describe? Obstacle Detection
over a distance
with a right-angle turn at the end

3. Flow Charts II What does this describe?
Obstacle Detection over “L-shaped” segment
Sentry Challenge II (based on L-Shape)

4. Flow Charts II: A New Element
Elements
Start/End
Process
Decision
Program Flow
Subprocess
represents another predefined flow chart

5. Flow Charts II: Using a Subprocess
and called it “Obstacle Detect”
Suppose we took this flow chart
Using this “Obstacle Detect” as a predefined process
Sentry Challenge II could now look this simple

6. Creating Flow Charts
Flowcharting programs like LucidChart.com (shown below):
Select “New Blank Flowchart”
Use “FLOWCHART” Library
Click/drag predefined process blocks