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| Port A Truth Table | |||||||||||
| PA5 | PA4 | PA1 | PA0 | PA Hex | Action | ||||||
| 0 | 0 | 0 | 0 | 0 | Fwd | ||||||
| 0 | 0 | 0 | 1 | 1 | Clock | Port A | Port D | ||||
| 0 | 0 | 1 | 0 | 2 | Rturn | Fwd | 0 | 10 | Line tracking events. Robot is on line | ||
| 0 | 0 | 1 | 1 | 3 | Rturn | Clock | 1 | 11 | |||
| 0 | 1 | 0 | 0 | 10 | Aclock | Aclock | 10 | 12 | |||
| 0 | 1 | 0 | 1 | 11 | Rev | Rturn | 2 | 13 | |||
| 0 | 1 | 1 | 0 | 12 | Rturn-B | Lturn | 20 | 14 | |||
| 0 | 1 | 1 | 1 | 13 | Rturn-B | ||||||
| 1 | 0 | 0 | 0 | 20 | Lturn | Rev-B | 11 | 5 | Backtacking events. Robot is off the line | ||
| 1 | 0 | 0 | 1 | 21 | Lturn-B | Clock-B | 10 | 6 | |||
| 1 | 0 | 1 | 0 | 22 | Stop | Aclock-B | 1 | 7 | |||
| 1 | 0 | 1 | 1 | 23 | Rturn-B | 12 | 8 | ||||
| 1 | 1 | 0 | 0 | 30 | Lturn | Lturn-B | 21 | 9 | |||
| 1 | 1 | 0 | 1 | 31 | Lturn-B | ||||||
| 1 | 1 | 1 | 0 | 32 | Stop | ||||||
| 1 | 1 | 1 | 1 | 33 | |||||||
| Port C Truth Table | |||||||||||
| PC0 | PC1 | PC4 | PC5 | PC Hex | Action | ||||||
| 0 | 0 | 0 | 0 | 0 | nodetect - FW | ||||||
| 0 | 0 | 0 | 1 | 1 | Lturn | ||||||
| 0 | 0 | 1 | 0 | 2 | Rturn | ||||||
| 0 | 0 | 1 | 1 | 3 | FW | ||||||
| 0 | 1 | 0 | 0 | 10 | FW | ||||||
| 0 | 1 | 0 | 1 | 11 | Aclock | ||||||
| 0 | 1 | 1 | 0 | 12 | Clock | ||||||
| 0 | 1 | 1 | 1 | 13 | FW | ||||||
| 1 | 0 | 0 | 0 | 20 | FW | ||||||
| 1 | 0 | 0 | 1 | 21 | Lturn | ||||||
| 1 | 0 | 1 | 0 | 22 | Rturn | ||||||
| 1 | 0 | 1 | 1 | 23 | FW | ||||||
| 1 | 1 | 0 | 0 | 30 | FW | ||||||
| 1 | 1 | 0 | 1 | 31 | Lturn | ||||||
| 1 | 1 | 1 | 0 | 32 | Rturn | ||||||
| 1 | 1 | 1 | 1 | 33 | FW | ||||||