carrier.rosl

while (true) {
    receive(producer, idle) {
        case Ok() => {
            moveCart( 500 );
            setAngleCart( -90 );
            strafeCart( -100 );
            send(sensor,Ok);
            receive(sensor, idle) {
                case Red() => {
                    send(franka, Ok);
                    send(arm, Done);
                    moveCart(400);
                    send(franka, Ok);
                    receive(franka, idle) {
            	        case Ok() => {
                            moveCart(-400);
                            strafeCart( 100 );
                            setAngleCart( 0 );
                            moveCart( -500 );
			}
                    }
                }
                case Green() => {
                    send(arm, Ok);
                    send(franka, Done);
                    moveCart(-340);
                    send(arm, Ok);
                    receive(arm, idle) {
            	        case Ok() => {
                            moveCart( 340 );
                            strafeCart( 100 );
                            setAngleCart( -0 );
                            moveCart( -500 );
                        }
                    }
                }
            }
        }
        case Done() => {
            stop( );
            exit( 0 );
        }
    }
}