# Top FSM. top States: START GET_SAMPLES GO_TO_GOAL GET_ICE GET_ADV_ICE BACKWARD Events: ok samples_took collector_full ice_took samples_deposed ice_dist_empty ended START: ok -> GET_SAMPLES Go to take some samples. The sequence shall be adapt to take the correct number of samples. GET_SAMPLES: samples_took -> BACKWARD The samples had been took and now the ice is missing. GET_ICE: ice_took -> BACKWARD Go backward to end the take balls. GO_TO_GOAL: samples_deposed -> GET_SAMPLES The samples had been deposed, it shall try to get more samples. This state will call the getsamples FSM and the moveFSM. GET_ADV_ICE: ice_took -> BACKWARD The ice has been taken. BACKWARD: ended -> GET_ICE Get ICE to end the sequence. collector_full -> GO_TO_GOAL Go the goal to depose the samples. ice_dist_empty -> GET_ADV_ICE Go to take the ice in the adversary distributor because our is empty.