# Simple Basic Behaviors Simple basic behaviors. ## Basic Behavior "new-go-to-ball" A behavior that walks to the ball
Parameter | Measure | Range | Description
new-go-to-ball.distance | mm | 0 ... | The distance to the ball at the end.
new-go-to-ball.max-speed | mm/s | 0 ... | The max speed in x direction.
new-go-to-ball.max-speed.y | mm/s | 0 ... | The max speed in y direction.
new-go-to-ball.max-turn-speed | turn/s | 0 ... | The max rotation speed.
new-go-to-ball.walk-type | integer value | integer value | The angle to the ball that is aimed for.
new-go-to-ball.y-offset | mm/s | 0 ... | y offset of robot w.r.t. the center of the ball
new-go-to-ball.angle-factor | integer value | 0 ... | The angle specifies a factor that is used to calculate the rotation speed from the angle difference
new-go-to-ball.slow-down-distance | mm | 0 ... | below this distance to the ball the robot will slow down
## Basic Behavior "go-to-ball" A behavior that walks to the ball
Parameter | Measure | Range | Description
go-to-ball.distance | mm | 0 ... | The distance to the ball at the end.
go-to-ball.max-speed | mm/s | 0 ... | The max speed in x direction.
go-to-ball.max-speed.y | mm/s | 0 ... | The max speed in y direction.
go-to-ball.max-turn-speed | turn/s | 0 ... | The max rotation speed.
go-to-ball.target-angle-to-ball | mm/s | 0 ... | The angle to the ball that is aimed for.
go-to-ball.walk-type | integer value | integer value | Specifies the used walking type.
go-to-ball.y-offset | mm/s | 0 ... | Doku
## Basic Behavior "go-to-point" Walks to a specified point on the field
Parameter | Measure | Range | Description
go-to-point.x | mm |  | X destination position
go-to-point.y | mm |  | Y of destination position
go-to-point.destination-angle | deg | -180 ... 180 | Destination angle (Angle when the robot is at the destination position)
go-to-point.distance-remain | mm |  | Distance remaining at which the robot can stop
go-to-point.angle-remain | mm |  | angle remaining at which the robot can stop
go-to-point.max-speed | mm/s | 0 ... | The max speed in x direction.
go-to-point.max-speed.y | mm/s | 0 ... | The max speed in y direction.
go-to-point.walk-type | integer value | integer value | Specifies the used walking type.
## Basic Behavior "go-to-relative-point" Walks to a specified point on the field without motion restrictor
Parameter | Measure | Range | Description
go-to-relative-point.x | mm |  | X destination position
go-to-relative-point.y | mm |  | Y of destination position
go-to-relative-point.destination-angle | deg | -180 ... 180 | Destination angle (Angle when the robot is at the destination position)
go-to-relative-point.distance-remain | mm |  | Distance remaining at which the robot can stop
go-to-relative-point.angle-remain | mm |  | angle remaining at which the robot can stop
go-to-relative-point.max-speed | mm/s | 0 ... | The max speed in x direction.
go-to-relative-point.max-speed.y | mm/s | 0 ... | The max speed in y direction.
go-to-relative-point.walk-type | integer value | integer value | Specifies the used walking type.
## Basic Behavior "go-to-point-fast" Walks to a specified point on the field without motion restrictor
Parameter | Measure | Range | Description
go-to-point-fast.x | mm |  | X destination position
go-to-point-fast.y | mm |  | Y of destination position
go-to-point-fast.destination-angle | deg | -180 ... 180 | Destination angle (Angle when the robot is at the destination position)
go-to-point-fast.distance-remain | mm |  | Distance remaining at which the robot can stop
go-to-point-fast.angle-remain | mm |  | angle remaining at which the robot can stop
go-to-point-fast.max-speed | mm/s | 0 ... | The max speed in x direction.
go-to-point-fast.max-speed.y | mm/s | 0 ... | The max speed in y direction.
go-to-point-fast.walk-type | integer value | integer value | Specifies the used walking type.
## Basic Behavior "go-to-interception-point" Walks to a the ball-interception-point on the field
Parameter | Measure | Range | Description
go-to-interception-point.interception-point.x | mm | 0 ... | The x-position of the interception point
go-to-interception-point.interception-point.y | mm | 0 ... | The y-position of the interception point
go-to-interception-point.distance | mm | 0 ... | The distance to the ball at the end.
go-to-interception-point.max-speed | mm/s | 0 ... | The max speed in x direction.
go-to-interception-point.max-speed.y | mm/s | 0 ... | The max speed in y direction.
go-to-interception-point.max-turn-speed | turn/s | 0 ... | The max rotation speed.
go-to-interception-point.walk-type | integer value | integer value | Specifies the used walking type.
go-to-interception-point.y-offset | mm/s | 0 ... | Doku
go-to-interception-point.angle-factor | integer value | 0 ... | The angle specifies a factor that is used to calculate the rotation speed from the angle difference
go-to-interception-point.slow-down-distance | mm | 0 ... | below this distance to the ball the robot will slow down
## Basic Behavior "go-to-ball-without-turning" go-to-ball without turning
Parameter | Measure | Range | Description
go-to-ball-without-turning.max-speed | mm/s | 0 ... | The max speed direction.
## Basic Behavior "turn-around-point" Turns around a given point facing to the point
Parameter | Measure | Range | Description
turn-around-point.x | mm | -3000..3000 | The x center of the turning movement
turn-around-point.y | mm | -2000..2000 | The y center of the turning movement
turn-around-point.radius | mm | 0..3000 | The desired radius to the center of the movement
turn-around-point.left-right | binary | any | If greater than 0, turn clockwise
turn-around-point.forward-component | mm | 0...max speed | The forward component of the motion that is garuanteed. Allows for transition from circular motion to spiral.
## Basic Behavior "turn-around-point-fast" Turns around a given point facing to the point
Parameter | Measure | Range | Description
turn-around-point-fast.x | mm | -3000..3000 | The x center of the turning movement
turn-around-point-fast.y | mm | -2000..2000 | The y center of the turning movement
turn-around-point-fast.radius | mm | 0..3000 | The desired radius to the center of the movement
turn-around-point-fast.left-right | binary | any | If greater than 0, turn clockwise
turn-around-point-fast.forward-component | mm | 0...max speed | The forward component of the motion that is garuanteed. Allows for transition from circular motion to spiral.
## Basic Behavior "turn-around-point-with-radius" Turns around a given point facing to the point and a given radius
Parameter | Measure | Range | Description
turn-around-point-with-radius.x | mm | -3000..3000 | The x center of the turning movement
turn-around-point-with-radius.y | mm | -2000..2000 | The y center of the turning movement
turn-around-point-with-radius.radius | mm | 0..3000 | The desired radius to the center of the movement
turn-around-point-with-radius.left-right | binary | any | If greater than 0, turn clockwise
turn-around-point-with-radius.forward-component | mm | 0...max speed | The forward component of the motion that is garuanteed. Allows for transition from circular motion to spiral.
## Basic Behavior "go-forward-to-point" Walks to a specified point on the field facing forward
Parameter | Measure | Range | Description
go-forward-to-point.x | mm |  | X destination position
go-forward-to-point.y | mm |  | Y of destination position
go-forward-to-point.max-speed | mm/s | 0 ... | The maximum walk speed
## Basic Behavior "go-to-point-and-avoid-obstacles" Walks to a specified point on the field and tries to avoid obstacles on the way there
Parameter | Measure | Range | Description
go-to-point-and-avoid-obstacles.x | mm |  | X destination position
go-to-point-and-avoid-obstacles.y | mm |  | Y of destination position
go-to-point-and-avoid-obstacles.max-speed | mm/s | 0 ... | The maximum walk speed
go-to-point-and-avoid-obstacles.avoidance-level | enum | 0,1,2 | avoidance level: 0 - low, 1 - mid, 2 - high
## Basic Behavior "dog-as-joystick" use a dog as joystick ## Basic Behavior "goalie-position" Positions the goalie inside the goal
Parameter | Measure | Range | Description
goalie-position.x | mm |  | X destination position
goalie-position.y | mm |  | Y of destination position
goalie-position.max-speed | mm/s | 0 ... | The maximum walk speed
goalie-position.destination-angle | deg | -180 ... 180 | Destination angle (Angle when the robot is at the destination position)
goalie-position.min-x-trans | mm/s | 0 ...200 | motion request lower than this value will be cut to 0
goalie-position.min-y-trans | mm/s | 0 ...200 | motion request lower than this value will be cut to 0
goalie-position.weight-pose |  | 0 ...1 | weight for robotPose
goalie-position.weight-odo |  | 0 ...1 | weight for odometryData
goalie-position.guard-direct-to-goal | mm | 0 ...400 | ? ball.x-distance < this : goalie goes back to groundline
goalie-position.guard-line | mm | -400 ...400 | specifies x-coord for line (guard-line,0)-(ball.x, ball.y)
goalie-position.cut-y | mm | 0 ...400 | max goaliePos.y (300: goalie stays always in the goal)
## Basic Behavior "goalie-position-return" Positions the goalie inside the goal
Parameter | Measure | Range | Description
goalie-position-return.x | mm |  | X destination position
goalie-position-return.y | mm |  | Y of destination position
goalie-position-return.max-speed | mm/s | 0 ... | The maximum walk speed
goalie-position-return.destination-angle | deg | -180 ... 180 | Destination angle (Angle when the robot is at the destination position)
## Basic Behavior "goalie-return-to-goal" Returns the goalie to the center of its goal
Parameter | Measure | Range | Description
goalie-return-to-goal.x | mm |  | X destination position
goalie-return-to-goal.y | mm |  | Y of destination position
goalie-return-to-goal.max-speed | mm/s | 0 ... | The maximum walk speed
## Basic Behavior "calc-wlan-bearing"
Parameter | Measure | Range | Description
calc-wlan-bearing.init |  | 0 ...1 | state, set 1 for initialization
## Basic Behavior "locate-max-green"
Parameter | Measure | Range | Description
locate-max-green.param |  | 0 ...1 |
## Basic Behavior "turn"
Parameter | Measure | Range | Description
turn.angle | deg | -180 ... 180 |
turn.radian | rad | -3.14159 ... 3.14159 |
turn.param |  | 0 ...1 |