>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  playing-goalie
        >>>  return
        >>>  clear-ball
        >>>  clear-ball-courageous
        >>>  position
        >>>  block-far-left
        >>>  block-far-right
        >>>  block-left
        >>>  block-right
        >>>  block-middle
        >>>  head-back
        >>>  head-back-from-border

Option playing-goalie

The goalie playing

State Machine

This browser can't display the SVG file svg/option_playing-goalie.svg.



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

State return

If that state is active,
 >  The basic behavior goalie-return-to-goal is executed. Parameters:
 
    goalie-return-to-goal.x  =  (field.own-groundline.x + 100) ;
    goalie-return-to-goal.y  =  0 ;
    goalie-return-to-goal.max-speed  =  300 ;
 
 >  These output symbols are set:
 
    leds.back-middle-white  =  back-middle-white.llll
    leds.back-rear-white  =  back-rear-white.llll
    head-control-mode  =  head-control-mode.search-auto
 
The decision tree:
  This browser can't display the SVG file svg/option_playing-goalie_state_return.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.seen.distance-to-own-penalty-area < -100)
&& 
(ball.just-seen)
)   // ball seen near or inside the penalty area
{
  
transition-to-state(position);
}
else if (robot-pose.distance-to-own-penalty-area < -100)   // goalie near to the own penalty area
{
  
transition-to-state(position);
}
else
{
  
transition-to-state(return);
}

State clear-ball

If that state is active,
 >  The option goalie-clear-ball is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    leds.back-front-white  =  back-front-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_playing-goalie_state_clear-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 (strategy.ball-is-handled-at-the-moment)   // ball is handled
{
  
transition-to-state(clear-ball);
}
else if (
(ball.time-since-last-seen > 2000)
&& 
(abs( robot-pose.y ) > 300)
)   // ball was not seen for 2 seconds and robot is not in front of goal
{
  
transition-to-state(head-back-from-border);
}
else if (ball.time-since-last-seen > 2000)   // ball was not seen for 2 seconds
{
  
transition-to-state(head-back);
}
else if (ball.seen.distance-to-own-penalty-area > -100)   // ball not near or inside the penalty area
{
  
transition-to-state(position);
}
else
{
  
transition-to-state(clear-ball);
}

State clear-ball-courageous

If that state is active,
 >  The option goalie-clear-ball is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_playing-goalie_state_clear-ball-courageous.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 (strategy.ball-is-handled-at-the-moment)   // ball is handled
{
  
transition-to-state(clear-ball-courageous);
}
else if (
(ball.time-since-last-seen > 2000)
&& 
(abs( robot-pose.y ) > 300)
)   // ball was not seen for 2 seconds and robot is not in front of goal
{
  
transition-to-state(head-back-from-border);
}
else if (ball.time-since-last-seen > 2000)   // ball was not seen for 2 seconds
{
  
transition-to-state(head-back);
}
else if (ball.seen.distance-to-own-penalty-area > 70)   // ball not near or inside the penalty area
{
  
transition-to-state(return);
}
else
{
  
transition-to-state(clear-ball-courageous);
}

State position

If that state is active,
 >  The option goalie-position is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    sound-request  =  sound-request.none
 
The decision tree:
  This browser can't display the SVG file svg/option_playing-goalie_state_position.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 > 3000)
&& 
(ball.time-since-last-seen < 3500)
&& 
(abs( robot-pose.y ) > 300)
)   // ball was not seen for 3 seconds but in last 3.5 seconds and goalie is not in front of goal
{
  
transition-to-state(head-back-from-border);
}
else if (
(ball.time-since-last-seen > 3000)
&& 
(ball.time-since-last-seen < 3500)
)   // ball was not seen for 3 seconds but in last 3.5 seconds
{
  
transition-to-state(head-back);
}
else if (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 350)
)   // block
{
  
if (ball.rolls-by-left)   // ball rolls left
{
  
transition-to-state(block-left);
}
else if (ball.rolls-by-right)   // ball rolls right
{
  
transition-to-state(block-right);
}
else if (ball.rolls-towards-robot)   // ball rolls middle
{
  
transition-to-state(block-middle);
}
else if (ball.rolls-far-by-left)   // ball rolls far by left
{
  
transition-to-state(block-far-left);
}
else if (ball.rolls-far-by-right)   // ball rolls far by right
{
  
transition-to-state(block-far-right);
}
else
{
  
transition-to-state(position);
}
}
else if (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 1000)
&& 
(ball.rolls-far-by-left)
)   // block far left
{
  
transition-to-state(block-far-left);
}
else if (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 1000)
&& 
(ball.rolls-far-by-right)
)   // block far right
{
  
transition-to-state(block-far-right);
}
else if (
(ball.just-seen)
&& 
(abs( ball.seen.y ) > 300)
&& 
(ball.seen.distance-to-own-penalty-area < -100)
)   // ball near border and inside the penalty area
{
  
transition-to-state(clear-ball);
}
else if (
(ball.just-seen)
&& 
(ball.seen.distance-to-own-penalty-area < -200)
)   // ball inside the penalty area
{
  
transition-to-state(clear-ball);
}
else if (
(ball.just-seen)
&& 
(ball.seen.distance-to-own-penalty-area < 0)
&& 
(
!(obstacles.close)
)
&& 
(abs( ball.seen.y ) < 400)
&& 
(ball.consecutively-seen-time > 2000)
)   // ball near or inside the penalty area
{
  
transition-to-state(clear-ball-courageous);
}
else if (
(ball.just-seen)
&& 
(abs( ball.seen.y ) > 300)
&& 
(ball.seen.distance-to-own-penalty-area < 50)
&& 
(ball.consecutively-seen-time > 2000)
)   // ball near border and inside or near the penalty area
{
  
transition-to-state(clear-ball-courageous);
}
else if (robot-pose.distance-to-own-penalty-area > 70)   // goalie far outside the own penalty area
{
  
transition-to-state(return);
}
else
{
  
transition-to-state(position);
}

State block-far-left

If that state is active,
 >  The basic behavior go-to-point-fast is executed. Parameters:
 
    go-to-point-fast.x  =  robot-pose.x ;
    go-to-point-fast.y  =  350 ;
    go-to-point-fast.destination-angle  =  robot-pose.angle ;
    go-to-point-fast.distance-remain  =  15 ;
    go-to-point-fast.angle-remain  =  10 ;
    go-to-point-fast.max-speed  =  600 ;
    go-to-point-fast.max-speed.y  =  600 ;
    go-to-point-fast.walk-type  =  walk-type.normal ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    sound-request  =  sound-request.bark2
 
The decision tree:
  This browser can't display the SVG file svg/option_playing-goalie_state_block-far-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 (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 350)
)   // block
{
  
if (ball.rolls-by-left)   // ball rolls left
{
  
transition-to-state(block-left);
}
else if (ball.rolls-by-right)   // ball rolls right
{
  
transition-to-state(block-right);
}
else if (ball.rolls-towards-robot)   // ball rolls middle
{
  
transition-to-state(block-middle);
}
else
{
  
transition-to-state(position);
}
}
else if (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 1000)
&& 
(ball.rolls-far-by-left)
)   // go left
{
  
transition-to-state(block-far-left);
}
else if (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 1000)
&& 
(ball.rolls-far-by-right)
)   // go right
{
  
transition-to-state(block-far-right);
}
else
{
  
transition-to-state(position);
}

State block-far-right

If that state is active,
 >  The basic behavior go-to-point-fast is executed. Parameters:
 
    go-to-point-fast.x  =  robot-pose.x ;
    go-to-point-fast.y  =  -350 ;
    go-to-point-fast.destination-angle  =  robot-pose.angle ;
    go-to-point-fast.distance-remain  =  15 ;
    go-to-point-fast.angle-remain  =  10 ;
    go-to-point-fast.max-speed  =  600 ;
    go-to-point-fast.max-speed.y  =  600 ;
    go-to-point-fast.walk-type  =  walk-type.normal ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-for-ball
    sound-request  =  sound-request.bark3
 
The decision tree:
  This browser can't display the SVG file svg/option_playing-goalie_state_block-far-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 (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 350)
)   // block
{
  
if (ball.rolls-by-left)   // ball rolls left
{
  
transition-to-state(block-left);
}
else if (ball.rolls-by-right)   // ball rolls right
{
  
transition-to-state(block-right);
}
else if (ball.rolls-towards-robot)   // ball rolls middle
{
  
transition-to-state(block-middle);
}
else
{
  
transition-to-state(position);
}
}
else if (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 1000)
&& 
(ball.rolls-far-by-left)
)   // go left
{
  
transition-to-state(block-far-left);
}
else if (
(ball.just-seen)
&& 
(ball.time-until-ball-crosses-y-axis < 1000)
&& 
(ball.rolls-far-by-right)
)   // go right
{
  
transition-to-state(block-far-right);
}
else
{
  
transition-to-state(position);
}

State block-left

If that state is active,
 >  The option do-special-action is executed. Parameters:
 
    do-special-action.special-action-id  =  special-action.block-left ;
 
 >  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_playing-goalie_state_block-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 (
!(subsequent-option-reached-target-state)
)   // executing block
{
  
transition-to-state(block-left);
}
else
{
  
transition-to-state(position);
}

State block-right

If that state is active,
 >  The option do-special-action is executed. Parameters:
 
    do-special-action.special-action-id  =  special-action.block-right ;
 
 >  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_playing-goalie_state_block-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 (
!(subsequent-option-reached-target-state)
)   // executing block
{
  
transition-to-state(block-right);
}
else
{
  
transition-to-state(position);
}

State block-middle

If that state is active,
 >  The option do-special-action is executed. Parameters:
 
    do-special-action.special-action-id  =  special-action.block ;
 
 >  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_playing-goalie_state_block-middle.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 (
!(subsequent-option-reached-target-state)
)   // executing block
{
  
transition-to-state(block-middle);
}
else
{
  
transition-to-state(position);
}

State head-back

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.max-speed  =  200 ;
    go-to-point.x  =  field.own-groundline.x ;
    go-to-point.y  =  0 ;
    go-to-point.destination-angle  =  0 ;
    go-to-point.distance-remain  =  80 ;
    go-to-point.angle-remain  =  10 ;
 
 >  These output symbols are set:
 
    leds.back-middle-white  =  back-middle-white.llll
    head-control-mode  =  head-control-mode.search-auto
 
The decision tree:
  This browser can't display the SVG file svg/option_playing-goalie_state_head-back.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.just-seen)   // ball just seen
{
  
transition-to-state(position);
}
else if (time-of-state-execution > 4000)   // 4 seconds in that state
{
  
transition-to-state(position);
}
else
{
  
transition-to-state(head-back);
}

State head-back-from-border

If that state is active,
 >  The basic behavior go-to-point is executed. Parameters:
 
    go-to-point.max-speed  =  200 ;
    go-to-point.x  =  (field.own-groundline.x + 200) ;
    go-to-point.y  =  0 ;
    go-to-point.destination-angle  =  0 ;
    go-to-point.distance-remain  =  80 ;
    go-to-point.angle-remain  =  10 ;
 
 >  These output symbols are set:
 
    leds.back-front-white  =  back-front-white.llll
    leds.back-rear-white  =  back-rear-white.llll
    head-control-mode  =  head-control-mode.search-auto
 
The decision tree:
  This browser can't display the SVG file svg/option_playing-goalie_state_head-back-from-border.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.just-seen)   // ball just seen
{
  
transition-to-state(position);
}
else if (ball.time-since-last-seen > 1000)   // ball was not seen for 1 seconds
{
  
transition-to-state(head-back);
}
else
{
  
transition-to-state(head-back-from-border);
}