# Option position-striker-when-ball-in-own-penalty-area Positions the stiker near the own penalty area when the ball is inside the own penalty area ## State Machine ## State position
If that state is active,
> | The basic behavior potential-field-support is executed. Parameters:
| potential-field-support.x | = | (field.own-penalty-area.x + 600) ;
| potential-field-support.y | = | (sgn( robot-pose.y ) * 500) ;
| potential-field-support.max-speed | = | 450 ;
> | These output symbols are set:
| head-control-mode | = | head-control-mode.search-auto
The decision tree:
Pseudo code of the decision tree:
if ( | ball.time-since-last-known > 3000 | ) | // ball not seen or known
{
transition-to-state(ball-not-seen-or-known);
}
else
{
transition-to-state(position);
}

## State ball-not-seen-or-known

If that state is active,
> | The option turn-for-ball is executed.
The decision tree:
Pseudo code of the decision tree:
if ( | ball.time-since-last-known > 3000 | ) | // ball not seen or known
{
transition-to-state(ball-not-seen-or-known);
}
else
{
transition-to-state(position);
}