GF (floor=LOWER->elevMot=FWD)
GF (floor=UPPER->elevMot=BWD)
GF (spec_mode=AUTO->balancer=FWD)
GF (spec_mode=AUTO->(spec_blockedState=S0|spec_blockedState=S2))
GF (bluetoothCmd=AUTO->balancer=FWD)
GF (bluetoothCmd=AUTO->(balancer=TURN_RIGHT|balancer=TURN_LEFT))
GF (bluetoothCmd=AUTO->(spec_blockedState=S0|spec_blockedState=S2))
GF (mode = PARKING -> driveMotor != STOP)
GF (task = SORT) -> sorted
GF (task = SORT & sortAsms) -> sortDone
GF (task = HANOI & hanoiAsms) -> hanoiDone
GF (task = GATHER_REDS & gatherRedsAsms) -> gatherRedsDone
GF (task = MOVE_RED_LEFT & moveRedLeftAsms) -> moveRedLeftDone
GF task = HANOI -> hanoiDone
GF task = SORT -> sortDone
GF (task = GATHER_REDS) -> gatherRedsDone
GF (task = MOVE_RED_LEFT) -> moveRedLeftDone
GF sortingAssumptions -> sorted
