diff --git a/robot_high_level_control/scripts/state_machine.py b/robot_high_level_control/scripts/state_machine.py
new file mode 100644
index 0000000..f602242
--- /dev/null
+++ b/robot_high_level_control/scripts/state_machine.py
@@ -0,0 +1,55 @@
+
+class HighLevelController:
+    def __init__(self, starting_state = "idle"):
+        # Initialize current state to the starting state
+        self.current_state = starting_state
+
+        self.p0 = [0,0]
+        self.p1 = [0,0]
+        self.p2 = [3,3]
+        self.p3 = [0,0]
+
+        self.publishers = {}
+        self.state_vars = {}
+
+    def process_state_changes(self):
+        # Check for any control commands, loss of localization, etc.
+        return
+
+    def advance_state(self):
+        # Considering the curren state and other info (such as elapsed time), advance to the correct next state
+        return
+
+    def run_state(self):
+        return
+
+    ## TODO DEFINE BEHAVIORS FOR EACH STATE ##
+    def state_idle(self):
+        return
+
+    def state_localizing(self):
+        return
+
+    def state_drive_to_P0(self):
+        return
+
+    def state_drive_to_P1(self):
+        return
+
+    def state_drive_to_P2(self):
+        return
+
+    def state_drive_to_P3(self):
+        return
+
+    def state_teleop_control(self):
+        return
+
+    def state_mine_gravel(self):
+        return
+
+    def state_approach_bin(self):
+        return
+
+    def state_deposit_gravel(self):
+        return
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