#FSM get samples get_samples States: GO_TO_GUTTER OPEN_COLLECTOR CLOSE_COLLECTOR END Events: position_reached position_failed collector_opened collector_closed 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.