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-# Hola FSM
-hola
- entertain people
-
-States:
- *HOLA_IDLE
- waiting start
- HOLA_WAIT_HOLA
- wait hola signal
- HOLA_WAIT_JACK_IN
- wait until the jack is inserted for the first time
- HOLA_WAIT_JACK_OUT
- wait until the jack is removed to initialise robot
- HOLA_ROUNDS
- moving clamps in rounds
- HOLA_UP
- moving clamp up
- HOLA_CENTER
- HOLA_CLAP_CLOSE
- HOLA_CLAP_OPEN
-
-Events:
- hola_start
- start hola
-
-HOLA_IDLE:
- start -> HOLA_WAIT_HOLA
-
-HOLA_WAIT_HOLA:
- hola_start -> HOLA_WAIT_JACK_IN
-
-HOLA_WAIT_JACK_IN:
- jack_inserted_into_bot -> HOLA_WAIT_JACK_OUT
-
-HOLA_WAIT_JACK_OUT:
- jack_removed_from_bot -> HOLA_ROUNDS
-
-HOLA_ROUNDS:
- asserv_last_cmd_ack: no_timeout -> .
- move clamp rounds
- asserv_last_cmd_ack: timeout -> HOLA_UP
- move up
- rotate
-
-HOLA_UP:
- bot_move_succeed -> HOLA_CENTER
- rotate to center
-
-HOLA_CENTER:
- bot_move_succeed -> HOLA_CLAP_CLOSE
- close clamp
-
-HOLA_CLAP_CLOSE:
- clamp_succeed -> HOLA_CLAP_OPEN
- open clamp
-
-HOLA_CLAP_OPEN:
- clamp_succeed -> HOLA_CLAP_CLOSE
- close clamp