com.umlet.element.custom.State400180200160Observe Current -- -Objective is to move into the current - Wait until the current heading is roughly opposite of the desired heading -. fg=black bg=greencom.umlet.element.custom.FinalState8007502020com.umlet.element.base.Relation72070010080lt=<-80;60;20;20com.umlet.element.custom.State66063019090Wrap Up/Clean Up -- - Set State Vector Values - Join any finished threads -. fg=black bg=yellowcom.umlet.element.base.Relation58023127071lt=<- Timeout (just go)250;39;20;29com.umlet.element.custom.Systemborder90150950630topcenter:Movement com.umlet.element.custom.State800350210130Moving -- - Monitor movement by querying the motor controller - Error conditions: over-current, torque limit, EZServo error -. bg=greencom.umlet.element.custom.State260520170150Move Error Recovery -- - Fairly simple solutions may exist of common problems (e.g., cycle power to the EZservo) - Save state and try again if possible -. bg=pinkcom.umlet.element.base.Relation590460250167lt=<- Not Done210;20;60;40;20;120;120;140;220;100;230;20com.umlet.element.base.Relation41061627064lt=<- Abort Move250;44;20;24com.umlet.element.base.Relation370356450184lt=<- Try Again430;54;240;24;160;34;130;74;20;164com.umlet.element.base.Relation86026040110lt=<-20;90;20;20com.umlet.element.custom.State83023010050Start Move bg=greencom.umlet.element.base.Relation58021627054lt=<- Current Acceptable250;24;110;34;20;34com.umlet.element.base.Relation313320187130lt=<- Current Unacceptable97;20;87;110;167;20com.umlet.element.base.Relation790460105190lt=<- Finished20;170;60;140;70;20com.umlet.element.custom.State17018010040Init bg=yellowcom.umlet.element.custom.InitialState1001602020com.umlet.control.Group150152022040com.umlet.element.custom.State410134010040Error Recovery bg=pinkcom.umlet.element.custom.State0149010040statecom.umlet.element.base.Relation150152022040lt=<-200;20;20;20com.umlet.element.base.Relation1001509070lt=<-70;50;20;20com.umlet.element.base.Relation25018017040lt=<-150;20;20;20com.umlet.element.base.Relation410386410174lt=-> Error390;84;160;34;20;154