RunFree4AllSM
  If current state is Going2Stage_4all
      Execute During function for Going2Stage.
      If an event is active
        If event is event increment stage
        	Increment stage counter
        	if target stage reached
        		post target stage reached event
       	If event is event decrement stage
        	Decrement stage counter
        	if target stage reached
        		post target stage reached event
        If event is event get target stage
        	if CowsOnRobot is less than maximum
        		set target stage to Loading Depot
        	else 
        		set target stage as 1
        	endif

	        if current stage > target stage
	        	Drive forward
	        	Post set target stage event with direction as param
	        if current stage < target stage
	        	Drive reverse
	        	Post set target stage event with direction as param
	        else
	        	Post Target Stage Reached event

	    If event is event StageReached
            Next State is Shooting4All
            Mark that we are taking a transition
            Consume event

        If event is event DepotReached
        	Update current stage to loading depot
        	if current stage = target Stage
        		Next State is Loading4All
            	Mark that we are taking a transition
            	Consume event
            else
            	Next State is Going2Stage4All
            	Mark that we are taking a transition
            	Consume event
            Next State is Shooting4All
            Mark that we are taking a transition
            Consume event
      Else
        Return CurrentEvent

   If current state is Shooting_4all
      Execute During function for Shooting.
      If an event is active
        If event is event ShotCOW
        	Decrement CowsOnRobot counter
        	Consume event
        If event is event ShootingDone
        	Next State is Going2Stage4All
            Mark that we are taking a transition
        	Consume event
   Else
        Return CurrentEvent

   If current state is Loading
      Execute During function for Loading.
      If an event is active
        If event is event LoadedCOW
        	Increment COWs on Robot
        	if CowsOnRobot < 5
        		Next State is Loading4All
            	Mark that we are taking a transition
        		Consume event
        	else 
        		Next State is Going2Stage4All
            	Mark that we are taking a transition
        		Consume event
    	If event is Indicator pulse timeout
    		Toggle indicator LED

DuringStateGoing2Stage
	on Entry
		Post navigating event to hall service
		Enable wire following ISR
		Run Going2StageSM
	On Exit
		Run Going2StageSM
		Stop drivetrain
		Disable wireFollowingISR
	else 
		Run Going2Stage

DuringStateShooting
	On Entry
		Start shootingSM
	On Exit
		Run shootingSM
	else
		RunShootingSM

DuringStateLoading
	On Entry
		Toggle indicator LED
		Start LoadingSM
	On Exit
		Run LoadingSM
	else
		Run LoadingSM

        	Decrement CowsOnRobot counter
        	Consume event
        If event is event ShootingDone
        	Next State is Going2Stage4All
            Mark that we are taking a transition
        	Consume event
   Else
        Return CurrentEvent