code:

enum State {waitingForDoggo, loweringBasket, doggoIsEating, raisingBasket, waitingForReload};

State currentState = waitingForDoggo; // this is our starting state
int timer = 0;

void UpdateFSM()
{	
	switch(currentState)
	{
		waitingForDoggo:
			// wait until doggo is detected then start lowering the basket
			if(doggoDetected)
			{
				StartLoweringBasket();
				timer = 0;
				currentState = loweringBasket;
			}
			break;

		loweringBasket:
			// lower the basket for five seconds, then stop
			if(timer > 5seconds)
			{
				StopBasket();
				timer = 0;
				currentState = doggoIsEating;
			}
			else { timer++; }
			break;

		doggoIsEating:
			// let doggo eat for 10 seconds, then raise basket
			if(timer > 10seconds)
			{
				StartRaisingBasket();
				timer = 0;
				currentState = raisingBasket;
			}
			else { timer++; }
			break;

		raisingBasket:
			// raise basket for 5 seconds 
			if(timer > 5seconds)
			{
				StopBasket();
				currentState = waitingForReload;
			}
			else { timer++; }
			break;

		waitingForReload:
			// wait for user to reload a bone in the basket and push the 'reloaded' button
			if(userPushedReloadButton)
			{
				currentState = waitingForDoggo;
			}
			break;

		default:
			Error! We should never get here!
	} // switch
}