>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  joystick-controlled
        >>>  initial
        >>>  ready
        >>>  set
        >>>  playing
        >>>  penalized
        >>>  finished

Option joystick-controlled

Root option of the joystick controlled behavior

State Machine

This browser can't display the SVG file svg/option_joystick-controlled.svg.



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

State initial

This state is a target state.
If that state is active,
 >  The option joystick-head-control is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.initial
    leds.back-front-white  =  back-front-white.lloo
    leds.back-middle-white  =  back-middle-white.lloo
    leds.back-rear-white  =  back-rear-white.lloo
 
The decision tree:
  This browser can't display the SVG file svg/option_joystick-controlled_state_initial.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 (game.own-team-scored)   // own team scored
{
  
transition-to-state(ready);
}
else if (game.opponent-team-scored)   // opponent team scored
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.initial)
)   // initial message received
{
  
transition-to-state(initial);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.ready)
)   // ready message received
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.set)
)   // set message received
{
  
transition-to-state(set);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.penalized)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.finished)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.playing)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (another-player-is-in-ready-state)   // another player is in ready state yet
{
  
transition-to-state(ready);
}
else if (time-of-state-execution < 1000)   // state running less than 1 second
{
  
transition-to-state(initial);
}
else if (robot-state.head-button-pressed-short)   // head pressed short
{
  
transition-to-state(ready);
}
else
{
  
transition-to-state(initial);
}
}

State ready

If that state is active,
 >  The option joystick-head-control is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.ready
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.oooo
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_joystick-controlled_state_ready.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 (game.own-team-scored)   // own team scored
{
  
transition-to-state(ready);
}
else if (game.opponent-team-scored)   // opponent team scored
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.initial)
)   // initial message received
{
  
transition-to-state(initial);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.ready)
)   // ready message received
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.set)
)   // set message received
{
  
transition-to-state(set);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.penalized)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.finished)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.playing)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (subsequent-option-reached-target-state)   // ready is in target state
{
  
transition-to-state(set);
}
else if (time-of-state-execution < 1000)   // state running less than 1 second
{
  
transition-to-state(ready);
}
else if (robot-state.head-button-pressed-short)   // head pressed short
{
  
transition-to-state(set);
}
else
{
  
transition-to-state(ready);
}
}

State set

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.set
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.lloo
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_joystick-controlled_state_set.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 (game.own-team-scored)   // own team scored
{
  
transition-to-state(ready);
}
else if (game.opponent-team-scored)   // opponent team scored
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.initial)
)   // initial message received
{
  
transition-to-state(initial);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.ready)
)   // ready message received
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.set)
)   // set message received
{
  
transition-to-state(set);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.penalized)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.finished)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.playing)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (time-of-state-execution < 1000)   // state running less than 1 second
{
  
transition-to-state(set);
}
else if (robot-state.head-button-pressed-short)   // head pressed short
{
  
transition-to-state(playing);
}
else
{
  
transition-to-state(set);
}
}

State playing

If that state is active,
 >  The option joystick-head-control is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.playing
 
The decision tree:
  This browser can't display the SVG file svg/option_joystick-controlled_state_playing.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 (game.own-team-scored)   // own team scored
{
  
transition-to-state(ready);
}
else if (game.opponent-team-scored)   // opponent team scored
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.initial)
)   // initial message received
{
  
transition-to-state(initial);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.ready)
)   // ready message received
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.set)
)   // set message received
{
  
transition-to-state(set);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.penalized)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.finished)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (time-of-state-execution < 1000)   // state running less than 1 second
{
  
transition-to-state(playing);
}
else if (robot-state.any-back-button-pressed-for-one-second)   // back pressed long
{
  
transition-to-state(penalized);
}
else
{
  
transition-to-state(playing);
}
}

State penalized

If that state is active,
 >  The option penalized is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.penalized
 
The decision tree:
  This browser can't display the SVG file svg/option_joystick-controlled_state_penalized.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 (game.own-team-scored)   // own team scored
{
  
transition-to-state(ready);
}
else if (game.opponent-team-scored)   // opponent team scored
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.initial)
)   // initial message received
{
  
transition-to-state(initial);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.ready)
)   // ready message received
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.set)
)   // set message received
{
  
transition-to-state(set);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.penalized)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.finished)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.playing)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (time-of-state-execution < 1000)   // state running less than 1 second
{
  
transition-to-state(penalized);
}
else if (robot-state.head-button-pressed-for-three-seconds)   // head pressed long
{
  
transition-to-state(initial);
}
else if (robot-state.any-back-button-pressed-short-and-released)   // head pressed short
{
  
transition-to-state(playing);
}
else
{
  
transition-to-state(penalized);
}
}

State finished

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.finished
 
The decision tree:
  This browser can't display the SVG file svg/option_joystick-controlled_state_finished.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 (game.own-team-scored)   // own team scored
{
  
transition-to-state(ready);
}
else if (game.opponent-team-scored)   // opponent team scored
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.initial)
)   // initial message received
{
  
transition-to-state(initial);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.ready)
)   // ready message received
{
  
transition-to-state(ready);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.set)
)   // set message received
{
  
transition-to-state(set);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.penalized)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.finished)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (
(game.time-since-last-message < 1000)
&& 
(game.state == game.state.playing)
)   // playing message received
{
  
transition-to-state(playing);
}
else
{
  
transition-to-state(finished);
}
}