|Project Block Diagram showing the interaction between levels of hardware and software.|
|Sector Definitions and Sensor Placements|
In this situation we assume we just hit the Green Path Edge, meaning we cannot go to the right. This blocks Sector 3 and Sector 5. There is an obstacle in front of us that we have to avoid. This blocks Sector 1. There is an obstacle blocking Sector 4. The only free sector we can turn to is Sector 2. So the rover will turn so that it is facing Sector 2 and proceed forward.