---
title: "SD-02 | UC-02: Detect Obstacle (Front)"
---
sequenceDiagram
    actor OS as Obstacle Sensor (HW)
    participant FS as front:ObstacleSensor
    participant CTR as :Controller

    OS->>FS: detect()
    activate FS
    FS->>CTR: reportObstacle(FRONT)
    activate CTR
    CTR->>CTR: recordObstacleDetection(FRONT)
    CTR-->>FS: ack()
    deactivate CTR
    deactivate FS
