>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  approach-and-turn
        >>>  approach-ball
        >>>  turn-right
        >>>  turn-left
        >>>  go-on
        >>>  find-ball-again
        >>>  find-ball-again-left
        >>>  find-ball-again-right
        >>>  go-to-ball-without-turning

Option approach-and-turn

Approaches the ball and turns to accelerate the ball to the right direction

Parameters of that option:
ParameterMeasureRangeDescription
approach-and-turn.angledeg-180..180The angle where to kick relative to the robot
approach-and-turn.y-offsetmm-1000..1000The offset the robot is approaching the ball with.

State Machine

This browser can't display the SVG file svg/option_approach-and-turn.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html

State approach-ball

If that state is active,
 >  The option approach-ball is executed. Parameters:
 
    approach-ball.look-at-ball-distance  =  500 ;
    approach-ball.slow-down-distance  =  ( ball.play-ball-precisely ? 400 : 300 ) ;
    approach-ball.slow-speed  =  ( ball.play-ball-precisely ? 150 : 160 ) ;
    approach-ball.y-offset  =  ::approach-and-turn.y-offset ;
 
 >  These output symbols are set:
 
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_approach-and-turn_state_approach-ball.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(ball.consecutively-seen-time > 100)
&& 
(ball.seen.distance < 150)
&& 
(
(ball.seen.angle > 50)
|| 
(ball.seen.angle < -50)
)
&& 
(ball.seen.angle < (::approach-and-turn.angle + 30))
&& 
(ball.seen.angle > (::approach-and-turn.angle - 30))
)   // ball is close, angle is bigger then 50 degress, ball on line with angle
{
  
transition-to-state(go-to-ball-without-turning);
}
else if (
(ball.time-since-last-seen-consecutively < 100)
&& 
(ball.consecutively-seen-time > 100)
&& 
(ball.seen.distance < 150)
&& 
(ball.seen.angle < 50)
&& 
(ball.seen.angle > -50)
)   // near ball
{
  
if (::approach-and-turn.angle < -30)   // turn right is better
{
  
transition-to-state(turn-right);
}
else if (::approach-and-turn.angle > 30)   // turn left is better
{
  
transition-to-state(turn-left);
}
else
{
  
transition-to-state(go-on);
}
}
else
{
  
transition-to-state(approach-ball);
}

State turn-right

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.turn-kick ;
    walk.speed-x  =  230 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  -100 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    leds.back-middle-white  =  back-middle-white.llll
    strategy.ball-handling  =  handling-the-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_approach-and-turn_state_turn-right.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (time-of-state-execution > 500)   // state running long enough
{
  
if (ball.just-seen)   // ball seen
{
  
transition-to-state(approach-ball);
}
else
{
  
transition-to-state(find-ball-again-right);
}
}
else
{
  
transition-to-state(turn-right);
}

State turn-left

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.turn-kick ;
    walk.speed-x  =  230 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  100 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    leds.back-middle-white  =  back-middle-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_approach-and-turn_state_turn-left.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (time-of-state-execution > 500)   // state running long enough
{
  
if (ball.just-seen)   // ball seen
{
  
transition-to-state(approach-ball);
}
else
{
  
transition-to-state(find-ball-again-left);
}
}
else
{
  
transition-to-state(turn-left);
}

State go-on

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  390 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    strategy.ball-handling  =  dribble-the-ball
    leds.back-front-white  =  back-front-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_approach-and-turn_state_go-on.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (time-of-state-execution > 250)   // state running long enough
{
  
if (ball.just-seen)   // ball seen
{
  
transition-to-state(approach-ball);
}
else
{
  
transition-to-state(find-ball-again);
}
}
else
{
  
transition-to-state(go-on);
}

State find-ball-again

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  50 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_approach-and-turn_state_find-ball-again.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (time-of-state-execution > 500)   // state running long enough
{
  
transition-to-state(approach-ball);
}
else if (ball.just-seen)   // ball seen again
{
  
transition-to-state(approach-ball);
}
else
{
  
transition-to-state(find-ball-again);
}

State find-ball-again-left

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  50 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball-left
    leds.back-middle-orange  =  back-middle-orange.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_approach-and-turn_state_find-ball-again-left.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (time-of-state-execution > 500)   // state running long enough
{
  
transition-to-state(approach-ball);
}
else if (ball.just-seen)   // ball seen again
{
  
transition-to-state(approach-ball);
}
else
{
  
transition-to-state(find-ball-again-left);
}

State find-ball-again-right

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  50 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball-right
    leds.back-front-blue  =  back-front-blue.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_approach-and-turn_state_find-ball-again-right.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (time-of-state-execution > 500)   // state running long enough
{
  
transition-to-state(approach-ball);
}
else if (ball.just-seen)   // ball seen again
{
  
transition-to-state(approach-ball);
}
else
{
  
transition-to-state(find-ball-again-right);
}

State go-to-ball-without-turning

If that state is active,
 >  The basic behavior go-to-ball-without-turning is executed. Parameters:
 
    go-to-ball-without-turning.max-speed  =  600 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
 
The decision tree:
  This browser can't display the SVG file svg/option_approach-and-turn_state_go-to-ball-without-turning.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (ball.time-since-last-seen-consecutively > 100)   // ball not seen
{
  
transition-to-state(approach-ball);
}
else if (time-of-state-execution > 500)   // state running for long time
{
  
transition-to-state(approach-ball);
}
else if (
(ball.seen.distance > 200)
|| 
(
(ball.seen.angle < 40)
&& 
(ball.seen.angle > -40)
)
)   // ball is in front of robot or further away
{
  
transition-to-state(approach-ball);
}
else if (
(ball.seen.angle > (::approach-and-turn.angle + 35))
&& 
(ball.seen.angle < (::approach-and-turn.angle - 35))
)   // ball not on line with angle
{
  
transition-to-state(approach-ball);
}
else
{
  
transition-to-state(go-to-ball-without-turning);
}