1. The problem statement, all variables and given/known data 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.