Main

Star
t
Timer Initialization

LED Initialization

UART0
Initialization
Create five
Mailboxes
Create one Semaphore for
using Timer
Create five tasks

OSStart

Task0

Task1

Task2

Task3

Task5
Start Task
5

Pend Value from Task4

yes

If
val =
1?

Speeds are equal

no

yes

If
val =
2?

Wheel 1 is
locked

Pulse for opening valve 1

Wheel 1 and
wheel 2 are
locked

Pulse for opening

Valve 1 and Valve 2

no
yes

If
val =
3?

no

If
val =
4?

Repeat process of
getting value from
channels

yes

wheel 1, wheel 2
and wheel 3 are
locked is locked

Pulse for opening

Valve1,Valve2 and Valve 3