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#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.