private void CreateSubMachine()
{
workingSubFSM = new StateMachineEngine(true);
// Perceptions
detectCar = workingSubFSM.CreatePerception <DetectCar>(new DetectCar(gameObject, pointToLook));
Perception carOverSpeed = workingSubFSM.CreatePerception <ValuePerception>(() => detectCar.GetCarSpeed() > 20);
Perception carOnSpeed = workingSubFSM.CreatePerception <ValuePerception>(() => detectCar.GetCarSpeed() <= 20);
Perception overSpeedLimit = workingSubFSM.CreateAndPerception <AndPerception>(detectCar, carOverSpeed);
Perception onSpeedLimit = workingSubFSM.CreateAndPerception <AndPerception>(detectCar, carOnSpeed);
Perception timeout = workingSubFSM.CreatePerception <TimerPerception>(2);
// States
State waitingForCarState = workingSubFSM.CreateEntryState("Waiting for car", OnWaitingForCar);
State speedingState = workingSubFSM.CreateState("Speeding", OnSpeeding);
State correctSpeedState = workingSubFSM.CreateState("Correct speed", OnCorrectSpeed);
// Transitions
workingSubFSM.CreateTransition("Car over speed limit", waitingForCarState, overSpeedLimit, speedingState);
workingSubFSM.CreateTransition("Car on speed limit", waitingForCarState, onSpeedLimit, correctSpeedState);
workingSubFSM.CreateTransition("To waiting for next bad car", speedingState, timeout, waitingForCarState);
workingSubFSM.CreateTransition("To waiting for next good car", correctSpeedState, timeout, waitingForCarState);
}