-The program is sort out in a hierarchical style. At the top of the hierarchy is the main loop that calls each of the subsystem functions depending on the readings collected from the sensors.  

-Ultrasonic sensors and IR sensor readings are used in the FSM of the object avoidance function to determine the current state of the robot.

-Upon determining the state of the robot, object avoidance function will communicate with the motor control function to control the motion of the robot.

-While the robot moves the SLAM function records the position of the robot and converts it into coordinates at equal intervals. The coordinates can be plotted to produce a map. 

-Sensor adjustment is performed regularly during the robot's maneuvering mainly to adjust the drift of the gyroscope within the MPU.  

-If the phototransisters sense a fire source, the robot will exit all the other functions and enter fire detection function. In this function the robot will scan the area to find the precise location of the fire source and blow it out with the fan.