Floor cleaning apparatus with control circuitry

A cleaner for cleaning a floor comprising

• a first assembly of components for performing a first cleaning operation on the floor,
• a second assembly of components for performing a second cleaning operation on the floor,
• control circuitry, connected to the first and second assemblies, executing in parallel a first and second program modules,
• the first program module comprising a first plurality of instructions for controlling the operations of the first and second assemblies and coordinating among the operations of the first and second assemblies,
• the second program module comprising a second plurality of instructions for controlling the operations of the first and second assemblies,
• wherein the first plurality of instructions includes an instruction for
• supplying a command from the first program module to the second program module, the command requiring performance of a sequence of actions by at least one of the first and second assemblies, wherein the first program module, after executing the instruction for supplying the command, executes other instructions independent of performance of said sequence of actions,
• the second plurality of instructions including a sequence of instructions for causing said at least one of the first and second assemblies to perform said sequence of actions, the second program module executing the sequence of instructions independent of the first program module.

A cleaner comprising

• a first assembly of components for performing a first cleaning operation,
• a second assembly of components for performing a second cleaning operation,
• control circuitry, connected to the first and second assemblies,
• coordinating an operation of the first assembly relative to an operation of the second assembly based on a distance traveled by said cleaner.