Control_PW control_model_PW {
    State neutral {
        name = "neutral"
        initial = True
    }
    State movingDown {
        name = "movingDown"
        initial = False
    }
    State emergency {
        name = "emergency"
        initial = False
    }
    State movingUp {
        name = "movingUp"
        initial = False
    }

    Transition cmdStop1 {
        name = "cmdStop"
    }
    Transition cmdDown1 {
        name = "cmdDown"
    }
    Transition cmdUp1 {
        name = "cmdUp"
    }
    Transition cmdStop2 {
        name = "cmdStop"
    }
    Transition cmdDown2 {
        name = "cmdDown"
    }
    Transition cmdUp2 {
        name = "cmdUp"
    }
    Transition detectedObject {
        name = "detectedObject"
    }
    Transition s_ {
        name = ""
    }

    From (movingDown, cmdStop1) {}
    To (cmdStop1, neutral) {}
    From (neutral, cmdDown1) {}
    To (cmdDown1, movingDown) {}
    From (movingDown, cmdDown2) {}
    To (cmdDown2, movingUp) {}
    From (movingUp, cmdUp1) {}
    To (cmdUp1, movingDown) {}
    From (neutral, cmdUp2) {}
    To (cmdUp2, movingUp) {}
    From (movingUp, cmdStop2) {}
    To (cmdStop2, neutral) {}
    From (movingUp, detectedObject) {}
    To (detectedObject, emergency) {}
    From (emergency, s_) {}
    To (s_, neutral) {}
}