Up

Left Righ

Cleaning process

Start

Check sensor left

If left =1

Check sensor up

If sensor up = 30 cm

Spray solution

.......................

Push button to EXTEND/RETRACT arm

If force sensor = 1 AND magnetic proximity =1

Move to the left, Sensor left =0

Move up till sensor up = 30cm

SPRAY

move to right

At left = 10 cm, SPRAY

At left = 20 cm, SPRAY

At left = 30cm, SPRAY

Until right = 0
Start

Spray

Wipe