I have this object avoidance robot, who is supposed to detect cans and

[qablos]

Homework Statement

I have this object avoidance robot, who is supposed to detect cans and push them out of a ring. It has two optical sensors, one looking left (C1) and one looking right (C2). I also have two timers which are triggered simultaneously when the robot goes over the ring line. Time 1 (T1) is the time the robot should turn around for (by turning to the left) and timer 2 (T2) is the time it should go forward for to reach the center of the circle. These are connected to two motors, left motor (LM) and right motor (RM). If a can is not detected the robot must do a search by turning to the left. When it has a can in front of it, it must push it until it is out of the ring, then return to the center.

I need to sort out the logic...I have tried so many times, but it doesn't make sense to me.
If you know the Boolean expression for these, that would be great.

Thanks.

 

[mfb]

To fill out the table, you don't need boolean expressions. For each row, determine what the inputs mean, and determine which motors should be powered.
As an example, the first row means no timer is running, and Comp1 and Comp2 (the sensors)? are 0 (does not see anything?). What should the robot do?

After the table is full, you can try to express this with boolean expressions.