Software design - Proposal 01

 Starting with a crude idea and refine it step by step..
   
    Requirements
        + accept a command
        + process and understand it
        + do it

    Refined 01
        + accept voice command
        + convert it to text
        + understand the text --> mostly pickup an object
        + find the object by looking around
        + go nearer to the object
        + pick it up if possible
        + track back to the initial position

    Refined 02
        + detect the object - DETECTION
        + calculate the distance and size of the object - GUESSING
        + track the object - TRACKING
        + go to the object
        + pick up the object if possible.
        + return back to the initial position or who commanded.
           
Before doing anything it is important to write the firmware for the uC.
    I'm planning to implement the firmware as a finite state machine. again the specification for the firmware are

        + LOCOMOTION OPERATIONS
        - LOCO_FORWARD
        - LOCO_BACKWARD
        - LOCO_TURN_RIGHT
        - LOCO_TURN_LEFT
        - LOCO_TURN_AROUND
    + CAMERA HANDLING
        - CAM_LOOK_UP
        - CAM_LOOK_DOWN
        - CAM_LOOK_RIGHT
        - CAM_LOOK_LEFT
    + ARM CONTROL
        - ARM_CONTRACT
        - ARM_DILATE
        - ARM_UP
        - ARM_DOWN
   

    these are some example operations performed by the uC when commanded by the BRAIN
    other than these there are several house-keeping functions. as previously said the uC ATmega16 is selected. the command is received thro the USART
    _____________         _________________
    | uC | USART|  <----> | BtBee | BRAIN |
    """""""""""""         """""""""""""""""