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1. Kameranın etrafı araması
2. Kameradan görüntü alma
a. Gemi bul
b. Rampayı bul
c. Suru belirle
3. Kameradan alınan görüntünün Raspberry Pi’da işlenmesi.
4. Robotun Raspberry Pi’dan gelen verilere göre hareket etmesi
5. Sensörlerden değer okunması için kodların yazılması
a.HC-SR04 mesafe okuma
b. TOF mesafe okuma
6. Suru belirleme fonksiyonundan çıkan veriyle konuşlanma
7. Taretin uygun açı alması
8. Silahın yeniden yüklenmesi
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