#FSM gutter gutter States: IDLE ROTATE_REAR_SIDE_TO_GUTTER GO_TO_THE_GUTTER_WALL OPEN_COLLECTOR CLOSE_COLLECTOR Events: start rotation_done ready collector_opened collector_closed IDLE: start -> ROTATE_REAR_SIDE_TO_GUTTER Pur the robot back to the gutter to allow it to drop the balls in the gutter. ROTATE_REAR_SIDE_TO_GUTTER: rotation_done -> GO_TO_THE_GUTTER_WALL The rotation is done, the robot can go to the wall in backward mode to drop the balls in the gutter. GO_TO_THE_GUTTER_WALL: ready -> OPEN_COLLECTOR Open the collector and wait for a while. OPEN_COLLECTOR: collector_opened -> CLOSE_COLLECTOR Close the rear panel. CLOSE_COLLECTOR: collector_closed-> IDLE The samples has been inserted in the gutter. Go to the idle state.