# HMI and Doosan Robotics

There are several ways to structure an [HMI program](/hmi-designer/introduction.md) with Doosan Task Editor, and typically each developer has his own preferred way. Below you can find the two most used ways to structure a program with HMI (a mix of the two is also possible):

* Interaction based on functions
* Interaction based on variables

### **Interaction based on functions**

In this scenario motion actions are defined inside functions (Sub) linked to HMI buttons.

<figure><img src="/files/48h933qBTRMTIIOpjjk3" alt=""><figcaption></figcaption></figure>

### **Interaction based on variables**

In this scenario motion actions are defined inside the Main program. HMI buttons are linked with variables, used to control the main program flow.

<figure><img src="/files/wjn6GNbPeaiQPREHvyf9" alt=""><figcaption></figcaption></figure>


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