flowchart TD Read["Read distance sensor"]:::startNode D1{"distance_cm < 20?"}:::decisionNode Stop["Stop motors"]:::stopNode D2{"distance_cm < 50?"}:::decisionNode Slow["Slow down"]:::slowNode Full["Full speed ahead"]:::goNode Read --> D1 D1 -->|Yes| Stop D1 -->|No| D2 D2 -->|Yes| Slow D2 -->|No| Full Stop --> Read Slow --> Read Full --> Read classDef startNode fill:#42a5f5,stroke:#333,stroke-width:2px,color:#fff,font-size:16px classDef decisionNode fill:#ffb74d,stroke:#333,stroke-width:2px,color:#000,font-size:16px classDef stopNode fill:#e53935,stroke:#333,stroke-width:2px,color:#fff,font-size:16px classDef slowNode fill:#fbc02d,stroke:#333,stroke-width:2px,color:#000,font-size:16px classDef goNode fill:#43a047,stroke:#333,stroke-width:2px,color:#fff,font-size:16px linkStyle default stroke:#777,stroke-width:2px,font-size:14px