RunShootingSM
  If current state is Aligning
      Execute During function for Aligning.
      If an event is active
        If event is event Aligned2Beacon
            Next State is Preparing2Shoot
            Mark that we are taking a transition
            Consume event
      Else
        Return CurrentEvent

  If current state is Preparing2Shoot
      Execute During function for Preparing2Shoot.
      If an event is active
        If event is event PrepShooterDone
            Next State is QueryScore
            Mark that we are taking a transition
            Consume event
      Else
        Return CurrentEvent

  If current state is QueryScore
      Execute During function for QueryScore.
      If an event is active
        If event is event CommArrayReady
            Query the LOC
            Get Game Score
            if previous score = new score
	            Next State is Preparing2Shoot
	            Mark that we are taking a transition
	            Consume event
	        else if new score greater than previous score
	        	Return Shooting Done event
  Else
    Return CurrentEvent

DuringStateAligning
	On entry
		Query LOC
		Get current game score
		Save current time
		Start Rotating
		Post StartLooking4Beacon event to detect beacon service
	On exit
		Stop drive train
		calculate total align time

DuringStatePreparing2Shoot
	On entry
		Post PrepShooter event to ShooterService
		Stop drivetrain
	On exit
		Stop drivetrain

DuringStateQueryingScore
	On entry
		Request status bytes
		Stop drive train
	On exit
		Stop drive train