1. Sumo: Stay in Ring Algorithm
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Sumo: Stay in Ring Algorithm
1 Colour / Light Sensor

2. Sumo: Stay in Ring Algorithm
(1 Colour / Light Sensor)
Reverse then turn
Go forward
Yes Colour Value = Black
Light Value < Av black/white
Can I see black Sumo ring border? Check colour sensor
No Colour Value = Black
Light Value < Av black/white

3. SUMO: Stay in Ring Algorithm
(1 Colour / Light Sensor)
I see white so go straight
I see black so backwards turn
If robot sees black THEN reverse & turn
ELSE forward