What would be state diagram of robot controller?
Your state diagram is correct.  The input available (IA) is used to gate the commands.  The output available (OA) signal is used to tell the robot to grab the code being sent. The clock (CP) is used to synchronize the state changes in conjunction with the command inputs (C0,C1). A signal code (000,001,...)is transmitted when the OA signal is activated.  The OA signal is deactivated while the CP activates the next signal code. Sequence repeats.