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# dot -Tpng homing.dot > homing.png
# dot -Txlib homing.dot
digraph finite_state_machine {
node [shape = doublecircle]; IDLE FINISHED
node [shape = circle];
rankdir=LR;
START -> IDLE [ label = "errors" ];
START -> UNLOCK [ label = "unlock needed" ];
START -> UNLOCK_WAIT [ label = "unlock not needed" ];
UNLOCK -> UNLOCK_WAIT
UNLOCK_WAIT -> SET_SWITCH_POSITION [ label = "searchvel 0 latchvel 0" ];
UNLOCK_WAIT -> INDEX_ONLY_START [ label = "searchvel 0 latchvel !0 useindex" ];
UNLOCK_WAIT -> INITIAL_SEARCH_START [ label = "searchvel !0 latchvel !0" ];
INITIAL_BACKOFF_START -> INITIAL_BACKOFF_WAIT [ label = "delay times out" ];
INITIAL_BACKOFF_WAIT -> INITIAL_SEARCH_START [ label = "!switch" ];
INITIAL_SEARCH_START -> INITIAL_BACKOFF_START [ label = "switch" ];
INITIAL_SEARCH_START -> INITIAL_SEARCH_WAIT [ label = "!switch" ];
INITIAL_SEARCH_WAIT -> SET_COARSE_POSITION [ label = "switch" ];
SET_COARSE_POSITION -> FINAL_BACKOFF_START [ label = "search/latch opposite" ];
SET_COARSE_POSITION -> FALL_SEARCH_START [ label = "search/latch same sign" ];
FINAL_BACKOFF_START -> FINAL_BACKOFF_WAIT [ label = "switch" ];
FINAL_BACKOFF_WAIT -> RISE_SEARCH_START [ label = "!switch" ];
RISE_SEARCH_START -> RISE_SEARCH_WAIT [ label = "!switch" ];
RISE_SEARCH_WAIT -> INDEX_SEARCH_START [ label = "switch & index" ];
RISE_SEARCH_WAIT -> SET_SWITCH_POSITION [ label = "switch & !index" ];
FALL_SEARCH_START -> FALL_SEARCH_WAIT [ label = "switch" ];
FALL_SEARCH_WAIT -> INDEX_SEARCH_START [ label = "!switch & index" ];
FALL_SEARCH_WAIT -> SET_SWITCH_POSITION [ label = "!switch & !index" ];
SET_SWITCH_POSITION -> FINAL_MOVE_START
INDEX_ONLY_START -> INDEX_SEARCH_WAIT
INDEX_SEARCH_START -> INDEX_SEARCH_WAIT
INDEX_SEARCH_WAIT -> SET_INDEX_POSITION [ label = "index found" ];
SET_INDEX_POSITION -> FINAL_MOVE_START
FINAL_MOVE_START -> FINAL_MOVE_WAIT
FINAL_MOVE_WAIT -> LOCK [ label = "in position" ];
LOCK -> LOCK_WAIT
LOCK_WAIT -> FINISHED
FINISHED -> IDLE
IDLE -> START
}
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