>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  vlc-search-for-ball
        >>>  choose-side
        >>>  go-to-right-side
        >>>  turn-at-right-side
        >>>  go-to-left-side
        >>>  turn-at-left-side

Option vlc-search-for-ball

Searches for the ball on the field

State Machine

This browser can't display the SVG file svg/option_vlc-search-for-ball.svg.



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

State choose-side

If that state is active,
 >  The basic behavior do-nothing is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-search-for-ball_state_choose-side.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-pose.y > 0)   // robot is at the left side
{
  
transition-to-state(go-to-right-side);
}
else
{
  
transition-to-state(go-to-left-side);
}

State go-to-right-side

If that state is active,
 >  The option get-to-position-and-avoid-obstacles is executed. Parameters:
 
    get-to-position-and-avoid-obstacles.x  =  search-ball.x ;
    get-to-position-and-avoid-obstacles.y  =  -1000 ;
    get-to-position-and-avoid-obstacles.destination-angle  =  -90 ;
    get-to-position-and-avoid-obstacles.max-speed  =  350 ;
    get-to-position-and-avoid-obstacles.no-obstacle-avoidance-distance  =  400 ;
    get-to-position-and-avoid-obstacles.avoid-penalty-areas  =  1 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-search-for-ball_state_go-to-right-side.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 > 2000)   // state running more than 2 seconds
{
  
transition-to-state(turn-at-right-side);
}
else if (subsequent-option-reached-target-state)   // arrived at right side
{
  
transition-to-state(turn-at-right-side);
}
else
{
  
transition-to-state(go-to-right-side);
}

State turn-at-right-side

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.rotation-speed  =  -45 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-left
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-search-for-ball_state_turn-at-right-side.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 > 2000)   // state running more than 2 seconds
{
  
transition-to-state(go-to-left-side);
}
else
{
  
transition-to-state(turn-at-right-side);
}

State go-to-left-side

If that state is active,
 >  The option get-to-position-and-avoid-obstacles is executed. Parameters:
 
    get-to-position-and-avoid-obstacles.x  =  search-ball.x ;
    get-to-position-and-avoid-obstacles.y  =  1000 ;
    get-to-position-and-avoid-obstacles.destination-angle  =  90 ;
    get-to-position-and-avoid-obstacles.max-speed  =  350 ;
    get-to-position-and-avoid-obstacles.no-obstacle-avoidance-distance  =  400 ;
    get-to-position-and-avoid-obstacles.avoid-penalty-areas  =  1 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-search-for-ball_state_go-to-left-side.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 > 2000)   // state running more than 2 seconds
{
  
transition-to-state(turn-at-left-side);
}
else if (subsequent-option-reached-target-state)   // arrived at left side
{
  
transition-to-state(turn-at-left-side);
}
else
{
  
transition-to-state(go-to-left-side);
}

State turn-at-left-side

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.rotation-speed  =  45 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-left
 
The decision tree:
  This browser can't display the SVG file svg/option_vlc-search-for-ball_state_turn-at-left-side.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 > 2000)   // state running more than 2 seconds
{
  
transition-to-state(go-to-right-side);
}
else
{
  
transition-to-state(turn-at-left-side);
}