digraph {
  bgcolor="transparent"

  node [penwidth=0.5 fontsize="12" shape="box" style="filled" fontcolor="white" fontname="Courier New"]
  edge [penwidth=2 fontsize="10" color="#0A1931" arrowsize=0.8 fontname="Courier New"]

#########
# NODES #
#########
  id_4efd1402_104f_46e3_822a_6bb65e4c6999 [id="id_4efd1402_104f_46e3_822a_6bb65e4c6999#Begin" pos="0.0,10000.0!" height=0.4 width=1.0 fixedsize=true group="fun-main"    label="Begin" tooltip="Begin" shape="ellipse" fillcolor="#8de4ff" color="#00799e" fontcolor="#982b13"] 
  id_8be415ef_6a5b_404e_ae83_14a9f9297a7a [id="id_8be415ef_6a5b_404e_ae83_14a9f9297a7a#Declare" pos="0.0,9999.0625!" height=0.4 width=1.19 fixedsize=true group="fun-main"    label="s_inclina" tooltip="s_inclina: Integer" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  id_b749681b_2123_454f_bd39_2805bebaf278 [id="id_b749681b_2123_454f_bd39_2805bebaf278#Declare" pos="0.0,9998.125!" height=0.4 width=1.0 fixedsize=true group="fun-main"    label="s_esq" tooltip="s_esq: Integer" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  id_a48c53dd_0a67_4ddd_9294_bc3aa05100c3 [id="id_a48c53dd_0a67_4ddd_9294_bc3aa05100c3#Declare" pos="0.0,9997.1875!" height=0.4 width=1.0 fixedsize=true group="fun-main"    label="s_dir" tooltip="s_dir: Integer" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  id_b61bfc97_0e19_45db_83c4_ff497b82085f [id="id_b61bfc97_0e19_45db_83c4_ff497b82085f#If" pos="0.0,9996.25!" height=0.5 width=1.93 fixedsize=true group="fun-main" 
    label="s_inclina > 5" tooltip="s_inclina > 5" shape="diamond" fillcolor="#ffd166" color="#8f6400" fontcolor="black"]
  
  true_dummy_up_id_b61bfc97_0e19_45db_83c4_ff497b82085f [pos="5.0,9996.25!" shape=point width=0]
  false_dummy_up_id_b61bfc97_0e19_45db_83c4_ff497b82085f [pos="-1.25,9996.25!" shape=point width=0]
  
  id_fabb328b_d446_4190_a08f_f0e2942c422a [id="id_fabb328b_d446_4190_a08f_f0e2942c422a#If" pos="5.0,9995.3125!" height=0.5 width=1.93 fixedsize=true group="id_0899538f_9dc7_465d_bc88_02f064f6cce1" 
    label="s_esq > s_dir" tooltip="s_esq > s_dir" shape="diamond" fillcolor="#ffd166" color="#8f6400" fontcolor="black"]
  
  true_dummy_up_id_fabb328b_d446_4190_a08f_f0e2942c422a [pos="6.25,9995.3125!" shape=point width=0]
  false_dummy_up_id_fabb328b_d446_4190_a08f_f0e2942c422a [pos="2.5,9995.3125!" shape=point width=0]
  
  id_c945be6e_6a68_488f_b446_bf2a408ca480 [id="id_c945be6e_6a68_488f_b446_bf2a408ca480#Output" pos="6.25,9994.375!" height=0.4 width=2.0700000000000003 fixedsize=true group="id_9b25f989_6427_421b_8059_d2e4cccbefb0"    label="\"motor_dir = 9\"" tooltip="\"motor_dir = 9\"" shape="trapezium" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  id_3108e389_e385_4c10_b701_63ac10a22e5e [id="id_3108e389_e385_4c10_b701_63ac10a22e5e#If" pos="2.5,9994.375!" height=0.5 width=1.93 fixedsize=true group="id_ad24df56_3604_4a63_9c9b_c42209551358" 
    label="s_dir > s_esq" tooltip="s_dir > s_esq" shape="diamond" fillcolor="#ffd166" color="#8f6400" fontcolor="black"]
  
  true_dummy_up_id_3108e389_e385_4c10_b701_63ac10a22e5e [pos="3.75,9994.375!" shape=point width=0]
  false_dummy_up_id_3108e389_e385_4c10_b701_63ac10a22e5e [pos="1.25,9994.375!" shape=point width=0]
  
  id_14842925_d411_49da_bfe9_657af27ff13c [id="id_14842925_d411_49da_bfe9_657af27ff13c#Output" pos="3.75,9993.4375!" height=0.4 width=2.0700000000000003 fixedsize=true group="id_4fca78d8_b069_4ee0_a07e_182176c01741"    label="\"motor_esq = 9\"" tooltip="\"motor_esq = 9\"" shape="trapezium" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  id_042edb3f_9d20_4c5b_bd80_7a2448b5c139 [id="id_042edb3f_9d20_4c5b_bd80_7a2448b5c139#Output" pos="1.25,9993.4375!" height=0.4 width=2.0700000000000003 fixedsize=true group="id_fd86f4b9_9d15_45a8_90f1_03959e9ae86e"    label="\"motor_esq = 5\"" tooltip="\"motor_esq = 5\"" shape="trapezium" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  id_f4306aed_617a_4dcd_a49b_f3322bb83b06 [id="id_f4306aed_617a_4dcd_a49b_f3322bb83b06#Output" pos="1.25,9992.5!" height=0.4 width=2.0700000000000003 fixedsize=true group="id_fd86f4b9_9d15_45a8_90f1_03959e9ae86e"    label="\"motor_dir = 5\"" tooltip="\"motor_dir = 5\"" shape="trapezium" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  
  true_dummy_down_id_3108e389_e385_4c10_b701_63ac10a22e5e [ pos="3.75,9991.5625!" shape=point width=0]
  false_dummy_down_id_3108e389_e385_4c10_b701_63ac10a22e5e [ pos="1.25,9991.5625!" shape=point width=0]
  
  end_id_3108e389_e385_4c10_b701_63ac10a22e5e [id="end_id_3108e389_e385_4c10_b701_63ac10a22e5e#IfEnd" class="flowrun-not-selectable" pos="2.5,9991.5625!" group="id_ad24df56_3604_4a63_9c9b_c42209551358" fillcolor="#ffd166" color="#8f6400" fontcolor="black"
    label="" tooltip=" " shape="circle" fixedsize=true width=0.2 height=0.2]
  
  
  
  true_dummy_down_id_fabb328b_d446_4190_a08f_f0e2942c422a [ pos="6.25,9990.625!" shape=point width=0]
  false_dummy_down_id_fabb328b_d446_4190_a08f_f0e2942c422a [ pos="2.5,9990.625!" shape=point width=0]
  
  end_id_fabb328b_d446_4190_a08f_f0e2942c422a [id="end_id_fabb328b_d446_4190_a08f_f0e2942c422a#IfEnd" class="flowrun-not-selectable" pos="5.0,9990.625!" group="id_0899538f_9dc7_465d_bc88_02f064f6cce1" fillcolor="#ffd166" color="#8f6400" fontcolor="black"
    label="" tooltip=" " shape="circle" fixedsize=true width=0.2 height=0.2]
  
  
  id_b51c5ba1_0513_4626_8e64_e5f9c2daa6ad [id="id_b51c5ba1_0513_4626_8e64_e5f9c2daa6ad#Output" pos="-1.25,9995.3125!" height=0.4 width=2.0700000000000003 fixedsize=true group="id_b4a538b5_2656_49db_82fc_cb088747ce8a"    label="\"motor_esq = 2\"" tooltip="\"motor_esq = 2\"" shape="trapezium" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  id_3819adcf_10a6_421a_a721_f2b909009f2f [id="id_3819adcf_10a6_421a_a721_f2b909009f2f#Output" pos="-1.25,9994.375!" height=0.4 width=2.0700000000000003 fixedsize=true group="id_b4a538b5_2656_49db_82fc_cb088747ce8a"    label="\"motor_dir = 2\"" tooltip="\"motor_dir = 2\"" shape="trapezium" fillcolor="#015692" color="#002a3a" fontcolor="white"] 
  
  true_dummy_down_id_b61bfc97_0e19_45db_83c4_ff497b82085f [ pos="5.0,9989.6875!" shape=point width=0]
  false_dummy_down_id_b61bfc97_0e19_45db_83c4_ff497b82085f [ pos="-1.25,9989.6875!" shape=point width=0]
  
  end_id_b61bfc97_0e19_45db_83c4_ff497b82085f [id="end_id_b61bfc97_0e19_45db_83c4_ff497b82085f#IfEnd" class="flowrun-not-selectable" pos="0.0,9989.6875!" group="fun-main" fillcolor="#ffd166" color="#8f6400" fontcolor="black"
    label="" tooltip=" " shape="circle" fixedsize=true width=0.2 height=0.2]
  
  
  id_47f20500_ff3f_497f_aa5e_cbb78521b8b8 [id="id_47f20500_ff3f_497f_aa5e_cbb78521b8b8#Return" pos="0.0,9988.75!" height=0.4 width=1.0 fixedsize=true group="fun-main"    label="End" tooltip="End" shape="ellipse" fillcolor="#8de4ff" color="#00799e" fontcolor="#982b13"] 

#########
# EDGES #
#########
  id_4efd1402_104f_46e3_822a_6bb65e4c6999:s -> id_8be415ef_6a5b_404e_ae83_14a9f9297a7a:n [id="id_4efd1402_104f_46e3_822a_6bb65e4c6999@fun-main" tailtooltip=" " edgetooltip=" "]
  id_8be415ef_6a5b_404e_ae83_14a9f9297a7a:s -> id_b749681b_2123_454f_bd39_2805bebaf278:n [id="id_8be415ef_6a5b_404e_ae83_14a9f9297a7a@fun-main" tailtooltip=" " edgetooltip=" "]
  id_b749681b_2123_454f_bd39_2805bebaf278:s -> id_a48c53dd_0a67_4ddd_9294_bc3aa05100c3:n [id="id_b749681b_2123_454f_bd39_2805bebaf278@fun-main" tailtooltip=" " edgetooltip=" "]
  id_a48c53dd_0a67_4ddd_9294_bc3aa05100c3:s -> id_b61bfc97_0e19_45db_83c4_ff497b82085f:n [id="id_a48c53dd_0a67_4ddd_9294_bc3aa05100c3@fun-main" tailtooltip=" " edgetooltip=" "]
  ## IF-TRUE
  id_b61bfc97_0e19_45db_83c4_ff497b82085f:e -> true_dummy_up_id_b61bfc97_0e19_45db_83c4_ff497b82085f [id="id_b61bfc97_0e19_45db_83c4_ff497b82085f@id_0899538f_9dc7_465d_bc88_02f064f6cce1" tailtooltip=" " edgetooltip=" " arrowhead=none taillabel="true" fontcolor="forestgreen"]
  true_dummy_up_id_b61bfc97_0e19_45db_83c4_ff497b82085f -> id_fabb328b_d446_4190_a08f_f0e2942c422a:n [id="id_b61bfc97_0e19_45db_83c4_ff497b82085f@id_0899538f_9dc7_465d_bc88_02f064f6cce1" tailtooltip=" " edgetooltip=" "]
  
  ## IF-TRUE
  id_fabb328b_d446_4190_a08f_f0e2942c422a:e -> true_dummy_up_id_fabb328b_d446_4190_a08f_f0e2942c422a [id="id_fabb328b_d446_4190_a08f_f0e2942c422a@id_9b25f989_6427_421b_8059_d2e4cccbefb0" tailtooltip=" " edgetooltip=" " arrowhead=none taillabel="true" fontcolor="forestgreen"]
  true_dummy_up_id_fabb328b_d446_4190_a08f_f0e2942c422a -> id_c945be6e_6a68_488f_b446_bf2a408ca480:n [id="id_fabb328b_d446_4190_a08f_f0e2942c422a@id_9b25f989_6427_421b_8059_d2e4cccbefb0" tailtooltip=" " edgetooltip=" "]
  
  id_c945be6e_6a68_488f_b446_bf2a408ca480:s -> true_dummy_down_id_fabb328b_d446_4190_a08f_f0e2942c422a:n [id="id_c945be6e_6a68_488f_b446_bf2a408ca480@id_9b25f989_6427_421b_8059_d2e4cccbefb0" tailtooltip=" " edgetooltip=" " arrowhead=none]
  
  true_dummy_down_id_fabb328b_d446_4190_a08f_f0e2942c422a -> end_id_fabb328b_d446_4190_a08f_f0e2942c422a [id="id_c945be6e_6a68_488f_b446_bf2a408ca480@id_9b25f989_6427_421b_8059_d2e4cccbefb0" tailtooltip=" " edgetooltip=" "]
  
  
  ## IF-FALSE
  id_fabb328b_d446_4190_a08f_f0e2942c422a:w -> false_dummy_up_id_fabb328b_d446_4190_a08f_f0e2942c422a [id="id_fabb328b_d446_4190_a08f_f0e2942c422a@id_ad24df56_3604_4a63_9c9b_c42209551358" tailtooltip=" " edgetooltip=" " arrowhead=none taillabel="false" fontcolor="red"]
  false_dummy_up_id_fabb328b_d446_4190_a08f_f0e2942c422a -> id_3108e389_e385_4c10_b701_63ac10a22e5e:n [id="id_fabb328b_d446_4190_a08f_f0e2942c422a@id_ad24df56_3604_4a63_9c9b_c42209551358" tailtooltip=" " edgetooltip=" "]
  
  ## IF-TRUE
  id_3108e389_e385_4c10_b701_63ac10a22e5e:e -> true_dummy_up_id_3108e389_e385_4c10_b701_63ac10a22e5e [id="id_3108e389_e385_4c10_b701_63ac10a22e5e@id_4fca78d8_b069_4ee0_a07e_182176c01741" tailtooltip=" " edgetooltip=" " arrowhead=none taillabel="true" fontcolor="forestgreen"]
  true_dummy_up_id_3108e389_e385_4c10_b701_63ac10a22e5e -> id_14842925_d411_49da_bfe9_657af27ff13c:n [id="id_3108e389_e385_4c10_b701_63ac10a22e5e@id_4fca78d8_b069_4ee0_a07e_182176c01741" tailtooltip=" " edgetooltip=" "]
  
  id_14842925_d411_49da_bfe9_657af27ff13c:s -> true_dummy_down_id_3108e389_e385_4c10_b701_63ac10a22e5e:n [id="id_14842925_d411_49da_bfe9_657af27ff13c@id_4fca78d8_b069_4ee0_a07e_182176c01741" tailtooltip=" " edgetooltip=" " arrowhead=none]
  
  true_dummy_down_id_3108e389_e385_4c10_b701_63ac10a22e5e -> end_id_3108e389_e385_4c10_b701_63ac10a22e5e [id="id_14842925_d411_49da_bfe9_657af27ff13c@id_4fca78d8_b069_4ee0_a07e_182176c01741" tailtooltip=" " edgetooltip=" "]
  
  
  ## IF-FALSE
  id_3108e389_e385_4c10_b701_63ac10a22e5e:w -> false_dummy_up_id_3108e389_e385_4c10_b701_63ac10a22e5e [id="id_3108e389_e385_4c10_b701_63ac10a22e5e@id_fd86f4b9_9d15_45a8_90f1_03959e9ae86e" tailtooltip=" " edgetooltip=" " arrowhead=none taillabel="false" fontcolor="red"]
  false_dummy_up_id_3108e389_e385_4c10_b701_63ac10a22e5e -> id_042edb3f_9d20_4c5b_bd80_7a2448b5c139:n [id="id_3108e389_e385_4c10_b701_63ac10a22e5e@id_fd86f4b9_9d15_45a8_90f1_03959e9ae86e" tailtooltip=" " edgetooltip=" "]
  
  id_042edb3f_9d20_4c5b_bd80_7a2448b5c139:s -> id_f4306aed_617a_4dcd_a49b_f3322bb83b06:n [id="id_042edb3f_9d20_4c5b_bd80_7a2448b5c139@id_fd86f4b9_9d15_45a8_90f1_03959e9ae86e" tailtooltip=" " edgetooltip=" "]
  id_f4306aed_617a_4dcd_a49b_f3322bb83b06:s -> false_dummy_down_id_3108e389_e385_4c10_b701_63ac10a22e5e:n [id="id_f4306aed_617a_4dcd_a49b_f3322bb83b06@id_fd86f4b9_9d15_45a8_90f1_03959e9ae86e" tailtooltip=" " edgetooltip=" " arrowhead=none]
  
  false_dummy_down_id_3108e389_e385_4c10_b701_63ac10a22e5e -> end_id_3108e389_e385_4c10_b701_63ac10a22e5e [id="id_f4306aed_617a_4dcd_a49b_f3322bb83b06@id_fd86f4b9_9d15_45a8_90f1_03959e9ae86e" tailtooltip=" " edgetooltip=" "]
  
  ## IF-END
  end_id_3108e389_e385_4c10_b701_63ac10a22e5e:s -> false_dummy_down_id_fabb328b_d446_4190_a08f_f0e2942c422a:n [id="end_id_3108e389_e385_4c10_b701_63ac10a22e5e@id_ad24df56_3604_4a63_9c9b_c42209551358" tailtooltip=" " edgetooltip=" " arrowhead=none]
  
  
  
  false_dummy_down_id_fabb328b_d446_4190_a08f_f0e2942c422a -> end_id_fabb328b_d446_4190_a08f_f0e2942c422a [id="id_3108e389_e385_4c10_b701_63ac10a22e5e@id_ad24df56_3604_4a63_9c9b_c42209551358" tailtooltip=" " edgetooltip=" "]
  
  ## IF-END
  end_id_fabb328b_d446_4190_a08f_f0e2942c422a:s -> true_dummy_down_id_b61bfc97_0e19_45db_83c4_ff497b82085f:n [id="end_id_fabb328b_d446_4190_a08f_f0e2942c422a@id_0899538f_9dc7_465d_bc88_02f064f6cce1" tailtooltip=" " edgetooltip=" " arrowhead=none]
  
  
  
  true_dummy_down_id_b61bfc97_0e19_45db_83c4_ff497b82085f -> end_id_b61bfc97_0e19_45db_83c4_ff497b82085f [id="id_fabb328b_d446_4190_a08f_f0e2942c422a@id_0899538f_9dc7_465d_bc88_02f064f6cce1" tailtooltip=" " edgetooltip=" "]
  
  
  ## IF-FALSE
  id_b61bfc97_0e19_45db_83c4_ff497b82085f:w -> false_dummy_up_id_b61bfc97_0e19_45db_83c4_ff497b82085f [id="id_b61bfc97_0e19_45db_83c4_ff497b82085f@id_b4a538b5_2656_49db_82fc_cb088747ce8a" tailtooltip=" " edgetooltip=" " arrowhead=none taillabel="false" fontcolor="red"]
  false_dummy_up_id_b61bfc97_0e19_45db_83c4_ff497b82085f -> id_b51c5ba1_0513_4626_8e64_e5f9c2daa6ad:n [id="id_b61bfc97_0e19_45db_83c4_ff497b82085f@id_b4a538b5_2656_49db_82fc_cb088747ce8a" tailtooltip=" " edgetooltip=" "]
  
  id_b51c5ba1_0513_4626_8e64_e5f9c2daa6ad:s -> id_3819adcf_10a6_421a_a721_f2b909009f2f:n [id="id_b51c5ba1_0513_4626_8e64_e5f9c2daa6ad@id_b4a538b5_2656_49db_82fc_cb088747ce8a" tailtooltip=" " edgetooltip=" "]
  id_3819adcf_10a6_421a_a721_f2b909009f2f:s -> false_dummy_down_id_b61bfc97_0e19_45db_83c4_ff497b82085f:n [id="id_3819adcf_10a6_421a_a721_f2b909009f2f@id_b4a538b5_2656_49db_82fc_cb088747ce8a" tailtooltip=" " edgetooltip=" " arrowhead=none]
  
  false_dummy_down_id_b61bfc97_0e19_45db_83c4_ff497b82085f -> end_id_b61bfc97_0e19_45db_83c4_ff497b82085f [id="id_3819adcf_10a6_421a_a721_f2b909009f2f@id_b4a538b5_2656_49db_82fc_cb088747ce8a" tailtooltip=" " edgetooltip=" "]
  
  ## IF-END
  end_id_b61bfc97_0e19_45db_83c4_ff497b82085f:s -> id_47f20500_ff3f_497f_aa5e_cbb78521b8b8:n [id="end_id_b61bfc97_0e19_45db_83c4_ff497b82085f@fun-main" tailtooltip=" " edgetooltip=" "]
  

}