Hi, folks in Duckietown!
This figure below actually comes from the Duckietown materials issued by NCTU. I know a little bit about the role of cbSwitch in FSM but if can anyone elaborate it for me?

Plus, what does “cb” stand for (in cbSwitch)? I’ve seen many times the name of a function starting with “cb” but I have no idea what it actually indicates.
Thank you for your interest!

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Thanks for your kind description, Prof. Liam Paull!