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-rw-r--r--digital/io/src/gutter.fsm34
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diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm
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+#FSM get samples
+get_samples
+
+States:
+ START
+ GO_TO_GUTTER
+ OPEN_COLLECTOR
+ CLOSE_COLLECTOR
+ END
+
+Events:
+ ok
+ position_reached
+ position_failed
+ collector_opened
+ collector_closed
+
+START:
+ ok -> GO_TO_GUTTER
+ Go to the gutter.
+
+GO_TO_GUTTER:
+ position_reached -> OPEN_COLLECTOR
+ The robo is near the gutter and the door can be opened.
+ position_failed -> .
+ The position failed, shall try another path.
+
+OPEN_COLLECTOR:
+ collector_opened -> CLOSE_COLLECTOR
+ Wait some time and clse the door.
+
+CLOSE_COLLECTOR:
+ collector_closed-> END
+ The samples has been inserted in the gutter.