1  # dot -Tpng homing.dot > homing.png
 2  # dot -Txlib homing.dot
 3  
 4  digraph finite_state_machine {
 5  
 6          node [shape = doublecircle]; IDLE FINISHED
 7          node [shape = circle];
 8          rankdir=LR;
 9          START -> IDLE [ label = "errors" ];
10          START -> UNLOCK [ label = "unlock needed" ];
11          START -> UNLOCK_WAIT [ label = "unlock not needed" ];
12          UNLOCK -> UNLOCK_WAIT
13          UNLOCK_WAIT -> SET_SWITCH_POSITION [ label = "searchvel 0 latchvel 0" ];
14          UNLOCK_WAIT -> INDEX_ONLY_START [ label = "searchvel 0 latchvel !0 useindex" ];
15          UNLOCK_WAIT -> INITIAL_SEARCH_START [ label = "searchvel !0 latchvel !0" ];
16          INITIAL_BACKOFF_START -> INITIAL_BACKOFF_WAIT [ label = "delay times out" ];
17          INITIAL_BACKOFF_WAIT -> INITIAL_SEARCH_START [ label = "!switch" ];
18          INITIAL_SEARCH_START -> INITIAL_BACKOFF_START [ label = "switch" ];
19          INITIAL_SEARCH_START -> INITIAL_SEARCH_WAIT [ label = "!switch" ];
20          INITIAL_SEARCH_WAIT -> SET_COARSE_POSITION [ label = "switch" ];
21          SET_COARSE_POSITION -> FINAL_BACKOFF_START [ label = "search/latch opposite" ];
22          SET_COARSE_POSITION -> FALL_SEARCH_START [ label = "search/latch same sign" ];
23          FINAL_BACKOFF_START -> FINAL_BACKOFF_WAIT [ label = "switch" ];
24          FINAL_BACKOFF_WAIT -> RISE_SEARCH_START [ label = "!switch" ];
25          RISE_SEARCH_START -> RISE_SEARCH_WAIT [ label = "!switch" ];
26          RISE_SEARCH_WAIT -> INDEX_SEARCH_START [ label = "switch & index" ];
27          RISE_SEARCH_WAIT -> SET_SWITCH_POSITION [ label = "switch & !index" ];
28          FALL_SEARCH_START -> FALL_SEARCH_WAIT [ label = "switch" ];
29          FALL_SEARCH_WAIT -> INDEX_SEARCH_START [ label = "!switch & index" ];
30          FALL_SEARCH_WAIT -> SET_SWITCH_POSITION [ label = "!switch & !index" ];
31          SET_SWITCH_POSITION -> FINAL_MOVE_START
32          INDEX_ONLY_START -> INDEX_SEARCH_WAIT
33          INDEX_SEARCH_START -> INDEX_SEARCH_WAIT
34          INDEX_SEARCH_WAIT -> SET_INDEX_POSITION [ label = "index found" ];
35          SET_INDEX_POSITION -> FINAL_MOVE_START
36          FINAL_MOVE_START -> FINAL_MOVE_WAIT
37          FINAL_MOVE_WAIT -> LOCK [ label = "in position" ];
38          LOCK -> LOCK_WAIT
39          LOCK_WAIT -> FINISHED
40  
41          FINISHED -> IDLE
42          IDLE -> START 
43  }