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