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machine.js

const fetchMachine = Machine({
    id: "robotStateTransitions",
    initial: "auto",
    context: {
        lastControlledState: "AUTO",
    },
    actions: {
        robotModeAutonomous: assign({
        lastControlledState: (context ) => "auto" }),
        robotModeManual: assign({
        lastControlledState: (context ) => "manual"
    })},
    states: {
        auto: {
            entry: "robotModeAutonomous",
            on: {
                MANUAL: "manual",
                RUN_STOP: "runstopped",
                LOW_EFFORT: "loweffort",
            },
        },
        manual: {
            entry: "robotModeManual",
            on: {
                AUTO: "auto",
                RUN_STOP: "runstopped",
                LOW_EFFORT: "manual",
            },
        },
        runstopped: {
            on: {
                AUTO: undefined,
                MANUAL: undefined,
                LOW_EFFORT: "loweffort",
                DISENGAGE_RUNSTOP: "auto",
            },
        },
        loweffort: {
            on: {
                RUN_STOP: "runstopped",
                DISENGAGE_LOW_EFFORT: "auto",
            },
        },
    },
});