@startuml
<style>
timingDiagram {
 .biba {
   LineColor red
   LineThickness 2
 }
}
</style>
binary "Electrode Closing Algorithm Done" as bool_0<<biba>>
binary "Electrode Closing Algorithm Execute" as bool_1<<biba>>
binary "STEP 1: ME Move to S1" as bool_2<<biba>>
binary "STEP 1: ME Move to S1 Complete" as bool_3<<biba>>
binary "STEP 2: ME Move to P2" as bool_4<<biba>>
binary "STEP 2: ME Move to P2 Complete" as bool_5<<biba>>
binary "STEP 3: ME Hold P2" as bool_6<<biba>>
binary "STEP 3: ME Hold P2 AND Condition Start Force Control" as bool_7<<biba>>
binary "STEP 4: ME Force Control" as bool_8<<biba>>
concise "Real data" as RD
concise "Client data" as CD
concise "Ideal data" as ID
@0.0
bool_0 is low
bool_1 is high
bool_2 is high
bool_3 is low
bool_4 is low
bool_5 is low
bool_6 is low
bool_7 is low
bool_8 is low
RD is closure #green
CD is closure
ID is closure #yellow
@191.0000090720132
bool_0 is high
bool_1 is low
RD is {-}
@106.5000050584785
bool_2 is low
bool_3 is low
bool_4 is high
@106.0000050347298
bool_3 is high
@157.5000074808485
bool_4 is low
bool_6 is high
@165.0000078370794
bool_6 is low
bool_7 is low
bool_8 is high
RD is {-}
@164.5000078133307
bool_7 is high
RD is compression #green
@165.0
CD is {-}
@166.0
CD is compression
@176.0
CD is {-}
@210.0
CD is opening
@300.0
CD is {-}
@18.32885128339674
ID is {-}
@18.42885128339674
ID is compression #yellow
@44.99013343875682
ID is {-}
@45.09013343875683
ID is opening #yellow
@91.75944699185315
ID is {-}
@enduml