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# loader FSM
loader
  Handle Eurobot 2010 robot clamp, elevator and output door.

States:
 *LOADER_IDLE
  wait start
 LOADER_WAIT_JACK_IN
  wait until the jack is inserted for the first time
 LOADER_WAIT_JACK_OUT
  wait until the jack is removed to initialise robot
 LOADER_INIT_ELEVATOR_ZERO
  move the elevator down to find zero position
 LOADER_INIT_CLAMP_CLOSE
  test clamp closing
 LOADER_INIT_CLAMP_ZERO
  find clamp zero position
 LOADER_INIT_ELEVATOR_UP
  move the elevator up so that the robot can go to the wall

Events:
 elevator_succeed
  asserv success result
 elevator_failed
  asserv failure result
 clamp_succeed
  asserv success result, clamp movement cannot fail

LOADER_IDLE:
 start -> LOADER_WAIT_JACK_IN

LOADER_WAIT_JACK_IN:
 jack_inserted_into_bot -> LOADER_WAIT_JACK_OUT

LOADER_WAIT_JACK_OUT:
 jack_removed_from_bot -> LOADER_INIT_ELEVATOR_ZERO
  find elevator zero
  close clamp

LOADER_INIT_ELEVATOR_ZERO:
 elevator_succeed -> LOADER_INIT_CLAMP_CLOSE

LOADER_INIT_CLAMP_CLOSE:
 clamp_succeed -> LOADER_INIT_CLAMP_ZERO
  move elevator up
  find clamp zero

LOADER_INIT_CLAMP_ZERO:
 clamp_succeed -> LOADER_INIT_ELEVATOR_UP

LOADER_INIT_ELEVATOR_UP:
 elevator_succeed -> LOADER_IDLE
 elevator_failed -> LOADER_IDLE
  initialisation failure