1. modes
1.1. passive
1.1.1. speaks
1.1.2. motor runs
1.1.3. light is on
1.1.4. change command parameters
1.2. cleaning
1.2.1. not starting cleaning
1.3. docking
1.3.1. can`t identify docking station
1.3.2. stops before finding docking station
1.4. active/ full control
1.4.1. stops when detecting cliff
1.4.2. don't move
1.5. save mode
1.5.1. not stopping when detecting cliff
1.5.2. not stopping when detecting wheel drop
1.5.3. not stopping when charger is inside
2. Situations
2.1. Start
2.1.1. Not in passive mode
2.1.1.1. other user changed mode
2.1.1.2. No start, robot was only "sleeping"
2.1.2. Starts moving
2.1.2.1. Invalid mode
2.1.2.2. Stop moving command was not finished
2.2. Moving
2.2.1. Left
2.2.1.1. passive, cleaning, docking mode
2.2.1.1.1. moving
2.2.1.1.2. not moving
2.2.1.2. active/full or safe mode
2.2.1.2.1. moving
2.2.1.2.2. not moving
2.2.1.2.3. safe mode
2.2.2. Right
2.2.3. Towards
2.2.4. Turn around
2.3. Toot
2.3.1. passive, cleaning, docking mode
2.3.2. active/full or save mode
2.4. User logging in
2.4.1. Another user logged in
2.4.2. Single user