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type incoming_msg = 
  | Clock  of Rosgraph_msgs.clock
  | Sensor of Sensor_msgs.laserScan
  
type outgoing_msg =
  | Twist of Geometry_msgs.twist

type direction = CW | CCW 

type mode = Driving | Turning

type state =
  { mode : mode
  ; min_range : int option
  ; direction : direction option
  ; incoming  : incoming_msg option
  ; outgoing  : outgoing_msg option 
  }