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Transcript 
3.3 Decision Flow Diagram
Similar to the Block Diagram operations, the decision flow diagram visually represents the
actions taken by the controller when iterating through the system.
User Input
Push to close
pincher?
NO
YES
Mover gripper to same position as
pincher
Did the pincher
touch object?
NO
YES
Force above
minimum
threshold?
NO
YES
Activate feedback pincher motor
Gripper and
Master Controller
force sensors
YES
15
NO
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