class Readying : public Sequence {
public:
  Readying(std::string name, Sequencer& seq) : Sequence(name, seq) {setNonBlocking();}
 
    int action() {
      cs.setMaxSpeed(1.0);             // we assume that the control system offers some speed limitation
      cs.pathPlanner.move(ready_pos);  // we assume that the control system comprises of a path planner
    }
 
    bool checkExitCondition() {
      bool end = cs->pathPlanner.endReached();
      if (end) safetySystem->triggerEvent(safetyProperties->readyDone);
      return end;
    }
};