goinghome:
- actionRule:
    code: Sleep
  moveRule:
    code: DirectTowardsMarker
    name: _HOME_
    rotateCode: TowardsTarget
    rotateValue: '360'
    value: '0'
  name: goinghome
  transitions:
  - code: NearMarker
    name: _HOME_
    toState: goinghome_end
    value: '1.5'
  - code: ReceivedDamage
    toState: goinghome_end
  updates:
  - name: minSpeed
    value: '10'
  - name: maxSpeed
    value: '10'
- actionRule:
    code: Sleep
  moveRule:
    code: Loiter
  name: goinghome_end
  resets:
  - name: minSpeed
  - name: maxSpeed
  transitions:
  - code: Auto
    toState: initial
goinghome_shielded:
- actionRule:
    code: Sleep
  events:
  - code: StartEffect
    name: Shielded
    value: '1.0'
  moveRule:
    code: DirectTowardsMarker
    name: _HOME_
    rotateCode: TowardsTarget
    rotateValue: '360'
    value: '0'
  name: goinghome_shielded
  transitions:
  - code: NearMarker
    name: _HOME_
    toState: goinghome_end
    value: '1.5'
  - code: ReceivedDamage
    toState: goinghome_end
  updates:
  - name: minSpeed
    value: '10'
  - name: maxSpeed
    value: '10'
- actionRule:
    code: Sleep
  events:
  - code: StopEffect
    name: Shielded
    value: '1.0'
  moveRule:
    code: Loiter
  name: goinghome_end
  resets:
  - name: minSpeed
  - name: maxSpeed
  transitions:
  - code: Auto
    toState: initial