# Option vlc2-search-for-ball Searches for the ball on the field ## State Machine ## State walkBack
If that state is active,
> | The basic behavior walk is executed. Parameters:
| walk.type | = | walk-type.normal ;
| walk.speed-x | = | -200 ;
| walk.speed-y | = | 0 ;
| walk.rotation-speed | = | 0 ;
> | 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 > 700 | ) | //
{
transition-to-state(turn);
}
else
{
transition-to-state(walkBack);
}
## State turn
If that state is active,
> | The basic behavior walk is executed. Parameters:
| walk.type | = | walk-type.normal ;
| walk.speed-x | = | 0 ;
| walk.speed-y | = | 0 ;
| walk.rotation-speed | = | 150 ;
> | These output symbols are set:
| head-control-mode | = | head-control-mode.look-left
The decision tree:
Pseudo code of the decision tree:
if ( | time-of-state-execution > 3000 | ) | // state running more than 2 seconds
{
transition-to-state(walkBack);
}
else
{
transition-to-state(turn);
}