# 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