#Move FSM. move States: START END DESIRED_POSITION MOVE_ON_LEFT MOVE_ON_RIGHT Events: ok reached failed_or_blocked_or_near_border failed_or_blocked START: ok -> DESIRED_POSITION Tries to reach a position provided by the user. If the position desired can not be reached, it all try to move on the right or the left. DESIRED_POSITION: reached -> END The position provided by the user has been reached, the FSM can stop. failed_or_blocked: near_right_border -> MOVE_ON_LEFT The robot has failed to reach the position. It shall try another position before trying to reach this one again. It shall go to the on the left only if the left border is the farest one. failed_or_blocked: near_left_border -> MOVE_ON_RIGHT Same process as the previous one but on the right. MOVE_ON_LEFT: reached -> DESIRED_POSITION The position has been reached. It will now try to reach the position provided by the user. failed_or_blocked_or_near_border -> MOVE_ON_RIGHT The position is fail again, it will try to reach another one. MOVE_ON_RIGHT: reached -> DESIRED_POSITION The position has been reached. It will now try to reach the position provided by the user. failed_or_blocked_or_near_border -> MOVE_ON_LEFT The position is fail again, it will try to reach another one.