from aim_fsm import *

class Lab6b(StateMachineProgram):
    def __init__(self):
        super().__init__(launch_path_viewer=True)

    class Go(StateNode):
        def start(self, event=None):
            super().start(event)
            ob = self.robot.world_map.objects['OrangeBarrel.a']
            self.post_data(ob)

    $setup{
        TagDetection(enabled=True) =N=> loop

        loop: Print("\n\nType 'tm' to proceed") =TM=> self.Go() =D=> pilot

        pilot: PilotToPose()
        pilot =C=> loop
        pilot =PILOT=> loop
    }