# Option dbg-wlan-bearing gives better control for debugging purposes over internat states ## State Machine ## State wlan-bearing-init
If that state is active,
> | The basic behavior calc-wlan-bearing is executed. Parameters:
| calc-wlan-bearing.init | = | 0 ;
The decision tree:
Pseudo code of the decision tree:
if ( | time-of-state-execution < 100 | ) | //
{
transition-to-state(wlan-bearing-init);
}
else
{
transition-to-state(do-wlan-bearing);
}
## State do-wlan-bearing
If that state is active,
> | The basic behavior calc-wlan-bearing is executed. Parameters:
| calc-wlan-bearing.init | = | 1 ;
The decision tree:
Pseudo code of the decision tree:
if ( |
!( | challenge-slam.wlan-bearing-finished | )
| ) | //
{
transition-to-state(do-wlan-bearing);
}
else
{
transition-to-state(end);
}
## State end
If that state is active,
> | The basic behavior calc-wlan-bearing is executed. Parameters:
| calc-wlan-bearing.init | = | 2 ;
The decision tree:
Pseudo code of the decision tree:
if ( | robot-state.head-button-pressed-short-and-released | ) | //
{
transition-to-state(wlan-bearing-init);
}
else
{
transition-to-state(end);
}