Burton computes next action (step 2)

Goal

Current

open

closed

open

closed

stuck

fail

fail

idle

idle

dr = on,

cmdin = open

dr = on ,

cmdin = close

Goal

Current

on

off

on

off

reset

failure

idle

idle

off

Cmd

closed

on

open

1

2

cmdin = close

dcmdin =

reset

dcmdin = on

dcmdin = off

dcmdin =

reset

Goal:

Current:

dr

vlv

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