#FSM get samples get_samples States: GO_TO_POSITION PREPARE_ARM FORWARD_CONTROL PREPARE_CLASSIFIER LOAD_SAMPLES Events: move_finished move_blocked arm_prepared ready_to_load classifer_prepared sample_loaded GO_TO_POSITION: move_finished -> FORWARD_CONTROL Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor. move_blocked -> . FORWARD_CONTROL: move_finished -> PREPARE_ARM The position is reached the arm shall be seted to the position disired. PREPARE_ARM: arm_prepared -> PREPARE_CLASSIFIER Prepare the arm to load the samples. PREPARE_CLASSIFIER: classifer_prepared -> LOAD_SAMPLES Load some samples.