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FSM.dot
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digraph FSM {
"START" [ shape=circle label="start" ];
# PANIC/HALT sequence
#
subgraph cluster_A {
color = brown;
A_PANIC [ shape=box label=<<table border="0"><tr><td align="left">A_PANIC</td></tr><tr><td align="left">r=Panic</td></tr></table>> ];
A_VERY_EMERGENCY [ shape=box label=<<table border="0"><tr><td align="left">A_VERY_EMERGENCY</td></tr><tr><td align="left">r=Quiesce</td></tr></table>> ];
}
# "normal" STRAIGHT sequence (next turn is left)
#
subgraph cluster_B {
color = brown;
B_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">B_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
B_START_STRAIGHT [ shape=box label=<<table border="0"><tr><td align="left">B_START_STRAIGHT</td></tr><tr><td align="left">r=StartStraight</td></tr></table>> ];
B_KEEP_STRAIGHT [ shape=box label=<<table border="0"><tr><td align="left">B_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
B_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">B_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
B_HIT_BOUNDARY [ shape=box label=<<table border="0"><tr><td align="left">B_HIT_BOUNDARY</td></tr><tr><td align="left">r=HitBoundary</td></tr></table>> ];
B_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">B_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
B_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">B_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
B_AVOID [ shape=box label=<<table border="0"><tr><td align="left">B_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
B_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">B_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# "normal" HUNT LEFT sequence (next turn is left)
#
subgraph cluster_C {
color = brown;
C_HUNT [ shape=box label=<<table border="0"><tr><td align="left">C_HUNT</td></tr><tr><td align="left">r=HuntLeft</td></tr></table>> ];
C_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">C_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
C_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">C_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
C_AVOID [ shape=box label=<<table border="0"><tr><td align="left">C_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
C_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">C_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# "normal" HUNT RIGHT sequence (next turn is left)
#
subgraph cluster_D {
color = brown;
D_HUNT [ shape=box label=<<table border="0"><tr><td align="left">D_HUNT</td></tr><tr><td align="left">r=HuntRight</td></tr></table>> ];
D_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">D_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
D_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">D_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
D_AVOID [ shape=box label=<<table border="0"><tr><td align="left">D_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
D_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">D_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
D_STRAIGHTEN [ shape=box label=<<table border="0"><tr><td align="left">D_STRAIGHTEN</td></tr><tr><td align="left">r=Straighten</td></tr></table>> ];
}
# TURN LEFT 90 sequence
#
subgraph cluster_E {
color = brown;
E_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">E_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
E_START_TURN [ shape=box label=<<table border="0"><tr><td align="left">E_START_TURN</td></tr><tr><td align="left">r=TurnLeft</td></tr></table>> ];
E_KEEP_TURNING [ shape=box label=<<table border="0"><tr><td align="left">E_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
E_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">E_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
E_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">E_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
E_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">E_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
E_AVOID [ shape=box label=<<table border="0"><tr><td align="left">E_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
E_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">E_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# HOME sequence
#
subgraph cluster_F {
color = brown;
F_GO_HOME [ shape=box label=<<table border="0"><tr><td align="left">H_GO_HOME</td></tr><tr><td align="left">r=GoHome</td></tr></table>> ];
}
# "think outside the box" STRAIGHT sequence
#
subgraph cluster_G {
color = brown;
G_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">G_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
G_START_STRAIGHT [ shape=box label=<<table border="0"><tr><td align="left">G_START_STRAIGHT</td></tr><tr><td align="left">r=StartStraight</td></tr></table>> ];
G_KEEP_STRAIGHT [ shape=box label=<<table border="0"><tr><td align="left">G_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
G_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">G_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
G_BUMP [ shape=box label=<<table border="0"><tr><td align="left">G_BUMP</td></tr><tr><td align="left">r=Bump</td></tr></table>> ];
G_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">G_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# "think outside the box" QUIESCE sequence
#
subgraph cluster_H {
color = brown;
H_QUIESCE [ shape=box label=<<table border="0"><tr><td align="left">H_QUIESCE</td></tr><tr><td align="left">r=Quiesce</td></tr></table>> ];
H_WAIT_STOP_UP [ shape=box label=<<table border="0"><tr><td align="left">H_WAIT_STOP_UP</td></tr><tr><td align="left">r=IsNotTouched</td></tr></table>> ];
H_WAIT_START_DN [ shape=box label=<<table border="0"><tr><td align="left">H_WAIT_START_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
H_WAIT_START_UP [ shape=box label=<<table border="0"><tr><td align="left">H_WAIT_START_UP</td></tr><tr><td align="left">r=IsNotTouched</td></tr></table>> ];
}
# "sprinting" STRAIGHT sequence
#
subgraph cluster_I {
color = brown;
I_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">I_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
I_START_STRAIGHT [ shape=box label=<<table border="0"><tr><td align="left">I_START_STRAIGHT</td></tr><tr><td align="left">r=StartStraight</td></tr></table>> ];
I_KEEP_STRAIGHT [ shape=box label=<<table border="0"><tr><td align="left">I_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
I_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">I_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
I_HIT_BOUNDARY [ shape=box label=<<table border="0"><tr><td align="left">I_HIT_BOUNDARY</td></tr><tr><td align="left">r=HitBoundary</td></tr></table>> ];
I_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">I_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
I_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">I_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
I_AVOID [ shape=box label=<<table border="0"><tr><td align="left">I_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
I_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">I_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# "sprinting" HUNT LEFT sequence
#
subgraph cluster_J {
color = brown;
J_HUNT [ shape=box label=<<table border="0"><tr><td align="left">J_HUNT</td></tr><tr><td align="left">r=HuntLeft</td></tr></table>> ];
J_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">J_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
J_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">J_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
J_AVOID [ shape=box label=<<table border="0"><tr><td align="left">J_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
J_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">J_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# "sprinting" HUNT RIGHT sequence
#
subgraph cluster_K {
color = brown;
K_HUNT [ shape=box label=<<table border="0"><tr><td align="left">K_HUNT</td></tr><tr><td align="left">r=HuntRight</td></tr></table>> ];
K_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">K_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
K_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">K_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
K_AVOID [ shape=box label=<<table border="0"><tr><td align="left">K_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
K_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">K_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
K_STRAIGHTEN [ shape=box label=<<table border="0"><tr><td align="left">K_STRAIGHTEN</td></tr><tr><td align="left">r=Straighten</td></tr></table>> ];
}
# TURN LEFT 180 sequence (part 1)
#
subgraph cluster_L {
color = brown;
L_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">L_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
L_START_TURN [ shape=box label=<<table border="0"><tr><td align="left">L_START_TURN</td></tr><tr><td align="left">r=TurnLeft</td></tr></table>> ];
L_KEEP_TURNING [ shape=box label=<<table border="0"><tr><td align="left">L_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
L_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">L_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
L_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">L_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
L_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">L_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
L_AVOID [ shape=box label=<<table border="0"><tr><td align="left">L_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
L_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">L_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# TURN LEFT 180 sequence (part 2)
#
subgraph cluster_M {
color = brown;
M_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">M_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
M_START_TURN [ shape=box label=<<table border="0"><tr><td align="left">M_START_TURN</td></tr><tr><td align="left">r=TurnLeft</td></tr></table>> ];
M_KEEP_TURNING [ shape=box label=<<table border="0"><tr><td align="left">M_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
M_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">M_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
M_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">M_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
M_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">M_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
M_AVOID [ shape=box label=<<table border="0"><tr><td align="left">M_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
M_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">M_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# "normal" STRAIGHT sequence (next turn is right)
#
subgraph cluster_N {
color = brown;
N_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">N_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
N_START_STRAIGHT [ shape=box label=<<table border="0"><tr><td align="left">N_START_STRAIGHT</td></tr><tr><td align="left">r=StartStraight</td></tr></table>> ];
N_KEEP_STRAIGHT [ shape=box label=<<table border="0"><tr><td align="left">N_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
N_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">N_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
N_HIT_BOUNDARY [ shape=box label=<<table border="0"><tr><td align="left">N_HIT_BOUNDARY</td></tr><tr><td align="left">r=HitBoundary</td></tr></table>> ];
N_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">N_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
N_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">N_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
N_AVOID [ shape=box label=<<table border="0"><tr><td align="left">N_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
N_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">N_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# "normal" HUNT LEFT sequence (next turn is right)
#
subgraph cluster_O {
color = brown;
O_HUNT [ shape=box label=<<table border="0"><tr><td align="left">O_HUNT</td></tr><tr><td align="left">r=HuntLeft</td></tr></table>> ];
O_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">O_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
O_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">O_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
O_AVOID [ shape=box label=<<table border="0"><tr><td align="left">O_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
O_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">O_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# "normal" HUNT RIGHT sequence (next turn is right)
#
subgraph cluster_P {
color = brown;
P_HUNT [ shape=box label=<<table border="0"><tr><td align="left">P_HUNT</td></tr><tr><td align="left">r=HuntRight</td></tr></table>> ];
P_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">P_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
P_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">P_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
P_AVOID [ shape=box label=<<table border="0"><tr><td align="left">P_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
P_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">P_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
P_STRAIGHTEN [ shape=box label=<<table border="0"><tr><td align="left">P_STRAIGHTEN</td></tr><tr><td align="left">r=Straighten</td></tr></table>> ];
}
# TURN RIGHT 180 sequence (part 1)
#
subgraph cluster_Q {
color = brown;
Q_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">Q_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
Q_START_TURN [ shape=box label=<<table border="0"><tr><td align="left">Q_START_TURN</td></tr><tr><td align="left">r=TurnRight</td></tr></table>> ];
Q_KEEP_TURNING [ shape=box label=<<table border="0"><tr><td align="left">Q_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
Q_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">Q_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
Q_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">Q_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
Q_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">Q_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
Q_AVOID [ shape=box label=<<table border="0"><tr><td align="left">Q_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
Q_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">Q_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
# TURN RIGHT 180 sequence (part 2)
#
subgraph cluster_R {
color = brown;
R_ADJUST_HEADING [ shape=box label=<<table border="0"><tr><td align="left">R_ADJUST_HEADING</td></tr><tr><td align="left">r=AdjustHeading</td></tr></table>> ];
R_START_TURN [ shape=box label=<<table border="0"><tr><td align="left">R_START_TURN</td></tr><tr><td align="left">r=TurnRight</td></tr></table>> ];
R_KEEP_TURNING [ shape=box label=<<table border="0"><tr><td align="left">R_KEEP_STRAIGHT</td></tr><tr><td align="left">r=KeepMoving</td></tr></table>> ];
R_BOUNDARY_CHECK [ shape=box label=<<table border="0"><tr><td align="left">R_BOUNDARY_CHECK</td></tr><tr><td align="left">r=BoundaryCheck</td></tr></table>> ];
R_DETECT_BALL [ shape=box label=<<table border="0"><tr><td align="left">R_DETECT_BALL</td></tr><tr><td align="left">r=DetectBall</td></tr></table>> ];
R_CHECK_COLOR [ shape=box label=<<table border="0"><tr><td align="left">R_CHECK_COLOR</td></tr><tr><td align="left">r=CheckColor</td></tr></table>> ];
R_AVOID [ shape=box label=<<table border="0"><tr><td align="left">R_AVOID</td></tr><tr><td align="left">r=Avoid</td></tr></table>> ];
R_CHECK_STOP_DN [ shape=box label=<<table border="0"><tr><td align="left">R_CHECK_STOP_DN</td></tr><tr><td align="left">r=IsTouched</td></tr></table>> ];
}
START -> H_QUIESCE;
A_PANIC -> A_VERY_EMERGENCY [ label = "T/F" ];
A_VERY_EMERGENCY -> A_VERY_EMERGENCY [ label = "T/F" ];
B_ADJUST_HEADING -> B_START_STRAIGHT [ label = "T/F" ];
B_START_STRAIGHT -> B_KEEP_STRAIGHT [ label = "T/F" ];
B_KEEP_STRAIGHT -> B_BOUNDARY_CHECK [ label = "T" ];
B_KEEP_STRAIGHT -> C_HUNT [ label = "F" ];
B_BOUNDARY_CHECK -> B_HIT_BOUNDARY [ label = "T" ];
B_BOUNDARY_CHECK -> B_DETECT_BALL [ label = "F" ];
B_HIT_BOUNDARY -> L_ADJUST_HEADING [ label = "T/F" ];
B_DETECT_BALL -> B_CHECK_COLOR [ label = "T" ];
B_DETECT_BALL -> B_CHECK_STOP_DN [ label = "F" ];
B_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
B_CHECK_COLOR -> B_AVOID [ label = "F" ];
B_AVOID -> B_ADJUST_HEADING [ label = "T/F" ];
B_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
B_CHECK_STOP_DN -> B_KEEP_STRAIGHT [ label = "F" ];
C_HUNT -> C_DETECT_BALL [ label = "T/F" ];
C_DETECT_BALL -> C_CHECK_COLOR [ label = "T" ];
C_DETECT_BALL -> C_CHECK_STOP_DN [ label = "F" ];
C_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
C_CHECK_COLOR -> C_AVOID [ label = "F" ];
C_AVOID -> C_CHECK_STOP_DN [ label = "T/F" ];
C_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
C_CHECK_STOP_DN -> D_HUNT [ label = "F" ];
D_HUNT -> D_DETECT_BALL [ label = "T/F" ];
D_DETECT_BALL -> D_CHECK_COLOR [ label = "T" ];
D_DETECT_BALL -> D_CHECK_STOP_DN [ label = "F" ];
D_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
D_CHECK_COLOR -> D_AVOID [ label = "F" ];
D_AVOID -> D_CHECK_STOP_DN [ label = "T/F" ];
D_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
D_CHECK_STOP_DN -> D_STRAIGHTEN [ label = "F" ];
D_STRAIGHTEN -> B_ADJUST_HEADING [ label = "T/F" ];
E_ADJUST_HEADING -> E_START_TURN [ label = "T/F" ];
E_START_TURN -> E_KEEP_TURNING [ label = "T/F" ];
E_KEEP_TURNING -> E_BOUNDARY_CHECK [ label = "T" ];
E_KEEP_TURNING -> B_ADJUST_HEADING [ label = "F" ];
E_BOUNDARY_CHECK -> A_PANIC [ label = "T" ];
E_BOUNDARY_CHECK -> E_DETECT_BALL [ label = "F" ];
E_DETECT_BALL -> E_CHECK_COLOR [ label = "T" ];
E_DETECT_BALL -> E_CHECK_STOP_DN [ label = "F" ];
E_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
E_CHECK_COLOR -> E_AVOID [ label = "F" ];
E_AVOID -> E_ADJUST_HEADING [ label = "T/F" ];
E_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
E_CHECK_STOP_DN -> E_KEEP_TURNING [ label = "F" ];
F_GO_HOME -> A_VERY_EMERGENCY [ label = "T/F" ];
G_ADJUST_HEADING -> G_START_STRAIGHT [ label = "T/F" ];
G_START_STRAIGHT -> G_KEEP_STRAIGHT [ label = "T/F" ];
G_KEEP_STRAIGHT -> G_BOUNDARY_CHECK [ label = "T" ];
G_KEEP_STRAIGHT -> G_ADJUST_HEADING [ label = "F" ];
G_BOUNDARY_CHECK -> G_BUMP [ label = "T" ];
G_BOUNDARY_CHECK -> G_CHECK_STOP_DN [ label = "F" ];
G_BUMP -> I_ADJUST_HEADING [ label = "T/F" ];
G_CHECK_STOP_DN -> H_QUIESCE [ label = "T" ];
G_CHECK_STOP_DN -> G_KEEP_STRAIGHT [ label = "F" ];
H_QUIESCE -> H_WAIT_STOP_UP [ label = "T/F" ];
H_WAIT_STOP_UP -> H_WAIT_START_DN [ label = "T" ];
H_WAIT_STOP_UP -> H_WAIT_STOP_UP [ label = "F" ];
H_WAIT_START_DN -> H_WAIT_START_UP [ label = "T" ];
H_WAIT_START_DN -> H_WAIT_START_DN [ label = "F" ];
H_WAIT_START_UP -> G_ADJUST_HEADING [ label = "T" ];
H_WAIT_START_UP -> H_WAIT_START_UP [ label = "F" ];
I_ADJUST_HEADING -> I_START_STRAIGHT [ label = "T/F" ];
I_START_STRAIGHT -> I_KEEP_STRAIGHT [ label = "T/F" ];
I_KEEP_STRAIGHT -> I_BOUNDARY_CHECK [ label = "T" ];
I_KEEP_STRAIGHT -> J_HUNT [ label = "F" ];
I_BOUNDARY_CHECK -> I_HIT_BOUNDARY [ label = "T" ];
I_BOUNDARY_CHECK -> I_DETECT_BALL [ label = "F" ];
I_HIT_BOUNDARY -> E_ADJUST_HEADING [ label = "T/F" ];
I_DETECT_BALL -> I_CHECK_COLOR [ label = "T" ];
I_DETECT_BALL -> I_CHECK_STOP_DN [ label = "F" ];
I_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
I_CHECK_COLOR -> I_AVOID [ label = "F" ];
I_AVOID -> I_ADJUST_HEADING [ label = "T/F" ];
I_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
I_CHECK_STOP_DN -> I_KEEP_STRAIGHT [ label = "F" ];
J_HUNT -> J_DETECT_BALL [ label = "T/F" ];
J_DETECT_BALL -> J_CHECK_COLOR [ label = "T" ];
J_DETECT_BALL -> J_CHECK_STOP_DN [ label = "F" ];
J_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
J_CHECK_COLOR -> J_AVOID [ label = "F" ];
J_AVOID -> J_CHECK_STOP_DN [ label = "T/F" ];
J_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
J_CHECK_STOP_DN -> K_HUNT [ label = "F" ];
K_HUNT -> K_DETECT_BALL [ label = "T/F" ];
K_DETECT_BALL -> K_CHECK_COLOR [ label = "T" ];
K_DETECT_BALL -> K_CHECK_STOP_DN [ label = "F" ];
K_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
K_CHECK_COLOR -> K_AVOID [ label = "F" ];
K_AVOID -> K_CHECK_STOP_DN [ label = "T/F" ];
K_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
K_CHECK_STOP_DN -> K_STRAIGHTEN [ label = "F" ];
K_STRAIGHTEN -> I_ADJUST_HEADING [ label = "T/F" ];
L_ADJUST_HEADING -> L_START_TURN [ label = "T/F" ];
L_START_TURN -> L_KEEP_TURNING [ label = "T/F" ];
L_KEEP_TURNING -> L_BOUNDARY_CHECK [ label = "T" ];
L_KEEP_TURNING -> M_ADJUST_HEADING [ label = "F" ];
L_BOUNDARY_CHECK -> A_PANIC [ label = "T" ];
L_BOUNDARY_CHECK -> L_DETECT_BALL [ label = "F" ];
L_DETECT_BALL -> L_CHECK_COLOR [ label = "T" ];
L_DETECT_BALL -> L_CHECK_STOP_DN [ label = "F" ];
L_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
L_CHECK_COLOR -> L_AVOID [ label = "F" ];
L_AVOID -> L_ADJUST_HEADING [ label = "T/F" ];
L_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
L_CHECK_STOP_DN -> L_KEEP_TURNING [ label = "F" ];
M_ADJUST_HEADING -> M_START_TURN [ label = "T/F" ];
M_START_TURN -> M_KEEP_TURNING [ label = "T/F" ];
M_KEEP_TURNING -> M_BOUNDARY_CHECK [ label = "T" ];
M_KEEP_TURNING -> N_ADJUST_HEADING [ label = "F" ];
M_BOUNDARY_CHECK -> A_PANIC [ label = "T" ];
M_BOUNDARY_CHECK -> M_DETECT_BALL [ label = "F" ];
M_DETECT_BALL -> M_CHECK_COLOR [ label = "T" ];
M_DETECT_BALL -> M_CHECK_STOP_DN [ label = "F" ];
M_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
M_CHECK_COLOR -> M_AVOID [ label = "F" ];
M_AVOID -> M_ADJUST_HEADING [ label = "T/F" ];
M_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
M_CHECK_STOP_DN -> M_KEEP_TURNING [ label = "F" ];
N_ADJUST_HEADING -> N_START_STRAIGHT [ label = "T/F" ];
N_START_STRAIGHT -> N_KEEP_STRAIGHT [ label = "T/F" ];
N_KEEP_STRAIGHT -> N_BOUNDARY_CHECK [ label = "T" ];
N_KEEP_STRAIGHT -> O_HUNT [ label = "F" ];
N_BOUNDARY_CHECK -> N_HIT_BOUNDARY [ label = "T" ];
N_BOUNDARY_CHECK -> N_DETECT_BALL [ label = "F" ];
N_HIT_BOUNDARY -> Q_ADJUST_HEADING [ label = "T/F" ];
N_DETECT_BALL -> N_CHECK_COLOR [ label = "T" ];
N_DETECT_BALL -> N_CHECK_STOP_DN [ label = "F" ];
N_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
N_CHECK_COLOR -> N_AVOID [ label = "F" ];
N_AVOID -> N_ADJUST_HEADING [ label = "T/F" ];
N_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
N_CHECK_STOP_DN -> N_KEEP_STRAIGHT [ label = "F" ];
O_HUNT -> O_DETECT_BALL [ label = "T/F" ];
O_DETECT_BALL -> O_CHECK_COLOR [ label = "T" ];
O_DETECT_BALL -> O_CHECK_STOP_DN [ label = "F" ];
O_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
O_CHECK_COLOR -> O_AVOID [ label = "F" ];
O_AVOID -> O_CHECK_STOP_DN [ label = "T/F" ];
O_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
O_CHECK_STOP_DN -> P_HUNT [ label = "F" ];
P_HUNT -> P_DETECT_BALL [ label = "T/F" ];
P_DETECT_BALL -> P_CHECK_COLOR [ label = "T" ];
P_DETECT_BALL -> P_CHECK_STOP_DN [ label = "F" ];
P_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
P_CHECK_COLOR -> P_AVOID [ label = "F" ];
P_AVOID -> P_CHECK_STOP_DN [ label = "T/F" ];
P_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
P_CHECK_STOP_DN -> P_STRAIGHTEN [ label = "F" ];
P_STRAIGHTEN -> N_ADJUST_HEADING [ label = "T/F" ];
Q_ADJUST_HEADING -> Q_START_TURN [ label = "T/F" ];
Q_START_TURN -> Q_KEEP_TURNING [ label = "T/F" ];
Q_KEEP_TURNING -> Q_BOUNDARY_CHECK [ label = "T" ];
Q_KEEP_TURNING -> R_ADJUST_HEADING [ label = "F" ];
Q_BOUNDARY_CHECK -> A_PANIC [ label = "T" ];
Q_BOUNDARY_CHECK -> Q_DETECT_BALL [ label = "F" ];
Q_DETECT_BALL -> Q_CHECK_COLOR [ label = "T" ];
Q_DETECT_BALL -> Q_CHECK_STOP_DN [ label = "F" ];
Q_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
Q_CHECK_COLOR -> Q_AVOID [ label = "F" ];
Q_AVOID -> Q_ADJUST_HEADING [ label = "T/F" ];
Q_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
Q_CHECK_STOP_DN -> Q_KEEP_TURNING [ label = "F" ];
R_ADJUST_HEADING -> R_START_TURN [ label = "T/F" ];
R_START_TURN -> R_KEEP_TURNING [ label = "T/F" ];
R_KEEP_TURNING -> R_BOUNDARY_CHECK [ label = "T" ];
R_KEEP_TURNING -> B_ADJUST_HEADING [ label = "F" ];
R_BOUNDARY_CHECK -> A_PANIC [ label = "T" ];
R_BOUNDARY_CHECK -> R_DETECT_BALL [ label = "F" ];
R_DETECT_BALL -> R_CHECK_COLOR [ label = "T" ];
R_DETECT_BALL -> R_CHECK_STOP_DN [ label = "F" ];
R_CHECK_COLOR -> F_GO_HOME [ label = "T" ];
R_CHECK_COLOR -> R_AVOID [ label = "F" ];
R_AVOID -> R_ADJUST_HEADING [ label = "T/F" ];
R_CHECK_STOP_DN -> A_VERY_EMERGENCY [ label = "T" ];
R_CHECK_STOP_DN -> R_KEEP_TURNING [ label = "F" ];
}