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# Try to reach a position, this digram shall provide an start of solution when
# the robot is blocked or a when the robot has a obstacle in front of it.

digraph move
{
	start -> "go_to_position" [label ="ok"];
	"go_to_position" -> end [label = "reached"];

	"go_to_position" -> "failed \n or \n blocked";
	"failed \n or \n blocked" -> "move_on_left" [label = "Far from left boarder"];
	"failed \n or \n blocked" -> "move_on_right" [label = "Far from right boarder"];

	"move_on_right" -> "go_to_position" [label = "reached"]
	"move_on_right" -> "failed \n or \n blocked";
	"move_on_right" -> "move_on_left" [label = "fail || block  \n&&\n near border"];

	"move_on_left" -> "go_to_position" [label = "reached"]
	"move_on_left" -> "failed \n or \n blocked";
	"move_on_left" -> "move_on_right" [label = "fail || block \n&&\n near border"];
}