FlowChart: SUMO Advanced

Instructions: create a FlowChart for the following coding challenge:

Challenge Description: Sumo Advanced.
Find and push the green object out of the ring using both ultrasonic sensors while staying in the ring using the both light sensors.
— eBot should reverse from the ring away from the light sensor that detected the black line.
– scan direction should be randomised.
– turn towards the ultrasonic sensor with lowest distance
– continuously moves without stopping for more than 1 second
– always stays inside the black ring
– never drives completely over the black ring line
– reverses first when over the black line so that it’s back end doesn’t go outside the black ring