>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  play-slam
        >>>  play-slam
        >>>  learn-flags
        >>>  wait-for-second-part
        >>>  use-new-flags
        >>>  finished

Option play-slam

Implements normale slam behaviour and button reaction.

State Machine

This browser can't display the SVG file svg/option_play-slam.svg.



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

State play-slam

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    leds.head-white  =  head-white.lloo
    challenge-slam.state  =  challenge-slam.state.slam-start
    sound-request  =  sound-request.none
    head-control-mode  =  head-control-mode.look-between-feet
 
The decision tree:
  This browser can't display the SVG file svg/option_play-slam_state_play-slam.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 (robot-state.head-button-pressed-short)   //
{
  
transition-to-state(use-new-flags);
}
else
{
  
transition-to-state(play-slam);
}

State learn-flags

If that state is active,
 >  The option handle-with-old-flags is executed.
 
 >  These output symbols are set:
 
    leds.head-white  =  head-white.oooo
    challenge-slam.state  =  challenge-slam.state.learn-new-flags
 
The decision tree:
  This browser can't display the SVG file svg/option_play-slam_state_learn-flags.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 < 60000)   //
{
  
transition-to-state(learn-flags);
}
else
{
  
transition-to-state(wait-for-second-part);
}

State wait-for-second-part

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    leds.head-white  =  head-white.lloo
    challenge-slam.state  =  challenge-slam.state.slam-start
    sound-request  =  sound-request.none
    head-control-mode  =  head-control-mode.look-between-feet
 
The decision tree:
  This browser can't display the SVG file svg/option_play-slam_state_wait-for-second-part.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 (robot-state.head-button-pressed-short)   //
{
  
transition-to-state(use-new-flags);
}
else
{
  
transition-to-state(wait-for-second-part);
}

State use-new-flags

If that state is active,
 >  The option handle-with-new-flags is executed.
 
 >  These output symbols are set:
 
    leds.head-white  =  head-white.oooo
    challenge-slam.state  =  challenge-slam.state.use-new-flags
    sound-request  =  sound-request.klick
 
The decision tree:
  This browser can't display the SVG file svg/option_play-slam_state_use-new-flags.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(use-new-flags);

State finished

If that state is active,
 >  The basic behavior special-action is executed. Parameters:
 
    special-action-id  =  special-action.cheer-happy1 ;
 
The decision tree:
  This browser can't display the SVG file svg/option_play-slam_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:
 
transition-to-state(finished);