#FSM gutter gutter 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.