---
title: "SD-01 | UC-01: Perform Normal Cleaning"
---
sequenceDiagram
    participant RVC as :RVC
    participant CTR as :Controller
    participant MU as :MovementUnit
    participant CU as :CleaningUnit
    participant FS as front:ObstacleSensor
    participant DS as dust:DustSensor

    RVC->>CTR: startCleaning()
    activate CTR

    CTR->>CU: startCleaning()
    activate CU
    deactivate CU

    CTR->>MU: moveForward()
    activate MU
    deactivate MU

    CTR->>FS: readData()
    FS-->>CTR: false

    CTR->>DS: readData()
    DS-->>CTR: 0.0

    CTR->>MU: moveForward()
    activate MU
    deactivate MU

    deactivate CTR
