>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  kicklogger-walkandkick
        >>>  set-before
        >>>  goto-ball
        >>>  goto-ball-near
        >>>  set-execute
        >>>  execute-kick
        >>>  wait-until-ball-stopped
        >>>  wait-until-ball-stop-confirmed
        >>>  set-after
        >>>  done

Option kicklogger-walkandkick

State Machine

This browser can't display the SVG file svg/option_kicklogger-walkandkick.svg.



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

State set-before

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    leds.top-red  =  top.both-fast-blink
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_set-before.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 (kicklogger.set-before-state)   // call successful
{
  
transition-to-state(goto-ball);
}
else
{
  
transition-to-state(set-before);
}

State goto-ball

If that state is active,
 >  The basic behavior go-forward-to-point is executed. Parameters:
 
    go-forward-to-point.x  =  kicklogger.walktoTargetX ;
    go-forward-to-point.y  =  kicklogger.walktoTargetY ;
    go-forward-to-point.max-speed  =  450 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    leds.top-red  =  top.both-on
    sound-request  =  sound-request.okay
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_goto-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 ((kicklogger.ball-relative.x - 200) < kicklogger.trigger-relative.x)   // kick is set
{
  
transition-to-state(goto-ball-near);
}
else
{
  
transition-to-state(goto-ball);
}

State goto-ball-near

If that state is active,
 >  The basic behavior go-forward-to-point is executed. Parameters:
 
    go-forward-to-point.x  =  kicklogger.walktoTargetX ;
    go-forward-to-point.y  =  kicklogger.walktoTargetY ;
    go-forward-to-point.max-speed  =  350 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    leds.top-red  =  top.both-on
    sound-request  =  sound-request.okay
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_goto-ball-near.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 (kicklogger.ball-relative.x < kicklogger.trigger-relative.x)   // kick is set
{
  
transition-to-state(set-execute);
}
else if ((kicklogger.ball-relative.x - 300) > kicklogger.trigger-relative.x)   //
{
  
transition-to-state(goto-ball);
}
else
{
  
transition-to-state(goto-ball-near);
}

State set-execute

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    leds.bottom-red  =  bottom.both-fast-blink
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_set-execute.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 (kicklogger.setExecuteState)   // state is running more than 0.5s and ball is seen
{
  
transition-to-state(execute-kick);
}
else
{
  
transition-to-state(set-execute);
}

State execute-kick

If that state is active,
 >  The basic behavior special-action is executed. Parameters:
 
    special-action-id  =  kicklogger.kick ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    leds.top-red  =  top.both-on
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_execute-kick.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 > 700)   // state is running more than 0.5s
{
  
transition-to-state(wait-until-ball-stopped);
}
else
{
  
transition-to-state(execute-kick);
}

State wait-until-ball-stopped

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-to-stars
    leds.bottom-red  =  bottom.left
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_wait-until-ball-stopped.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 (kicklogger.ball-has-stopped)   // state is running more than 5s
{
  
transition-to-state(wait-until-ball-stop-confirmed);
}
else
{
  
transition-to-state(wait-until-ball-stopped);
}

State wait-until-ball-stop-confirmed

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-to-stars
    leds.bottom-red  =  bottom.left
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_wait-until-ball-stop-confirmed.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 > 1000)   // state is running more than 5s
{
  
transition-to-state(set-after);
}
else if (
!(kicklogger.ball-has-stopped)
)   // Ball running again
{
  
transition-to-state(wait-until-ball-stopped);
}
else
{
  
transition-to-state(wait-until-ball-stop-confirmed);
}

State set-after

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    leds.bottom-red  =  bottom.both-fast-blink
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_set-after.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 (kicklogger.setAfterStateAndCommit)   // state is running more than 0.5s and ball is seen
{
  
transition-to-state(done);
}
else
{
  
transition-to-state(set-after);
}

State done

This state is a target state.
If that state is active,
 >  The basic behavior stand is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_kicklogger-walkandkick_state_done.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:
 
transition-to-state(done);