# Option vlc2-localized-dribbling Parameters of that option:
Parameter | Measure | Range | Description
vlc2-localized-dribbling.destination-angle |  |  |
## State Machine ## State delocalized
If that state is active,
> | The basic behavior stand is executed.
> | These output symbols are set:
| head-control-mode | = | head-control-mode.search-for-landmarks
The decision tree:
Pseudo code of the decision tree:
if ( | time-of-state-execution < 700 | ) | //
{
transition-to-state(delocalized);
}
else if ( |
( | time-of-state-execution < 2500 | )
&& |
( | robot-pose.validity < 0.7 | )
| ) | //
{
transition-to-state(delocalized);
}
else
{
transition-to-state(relocalized);
}
## State relocalized
If that state is active,
> | The basic behavior stand is executed.
> | These output symbols are set:
| head-control-mode | = | head-control-mode.search-for-ball
The decision tree:
Pseudo code of the decision tree:
if ( | time-of-state-execution < 400 | ) | //
{
transition-to-state(relocalized);
}
else
{
transition-to-state(localized);
}
## State localized
This state is a target state.
If that state is active,
> | The option dribble-ball-vlc2 is executed. Parameters:
| dribble-ball-vlc2.destination-angle | = | ::vlc2-localized-dribbling.destination-angle ;
> | These output symbols are set:
| head-control-mode | = | head-control-mode.search-auto
The decision tree:
Pseudo code of the decision tree:
if ( | time-of-state-execution < 2500 | ) | //
{
transition-to-state(localized);
}
else if ( | robot-pose.validity < 0.6 | ) | //
{
transition-to-state(delocalized);
}
else if ( | time-of-state-execution > 6000 | ) | //
{
transition-to-state(delocalized);
}
else
{
transition-to-state(localized);
}