>xabsl 2
Behavior Documentation
>Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> vlc2-border
>>> at-border
>>> C
>>> D
>>> A
>>> B
>>> finished
>>> turn-left
>>> turn-right

Option vlc2-border

Parameters of that option:
Parameter Measure Range Description
vlc2-border.destination-angle for the ball to shoot
vlc2-border.left-right-border

State Machine

State at-border

If that state is active,

The basic behavior do-nothing is executed.

The decision tree:

Pseudo code of the decision tree:

if (

abs( robot-pose.y ) > abs( ball.known-or-near.y )

)

{

if (

robot-pose.x > ball.known-or-near.x

)

{

transition-to-state(A);

}

else

{

transition-to-state(B);

}

else

{

if (

robot-pose.x > ball.known-or-near.x

)

{

transition-to-state(D);

}

else

{

transition-to-state(C);

}

State C

If that state is active,

The basic behavior turn-around-point is executed. Parameters:

turn-around-point.x	=	ball.known-or-near.x ;
turn-around-point.y	=	ball.known-or-near.y ;
turn-around-point.radius	=	450 ;
turn-around-point.left-right	=	::vlc2-border.left-right-border ;
turn-around-point.forward-component	=	1 ;

The decision tree:

Pseudo code of the decision tree:

if (

abs( robot-pose.y ) > (abs( ball.known-or-near.y ) + 100)

)

{

transition-to-state(B);

}

else

{

transition-to-state(C);

}

State D

If that state is active,

The basic behavior turn-around-point is executed. Parameters:

turn-around-point.x	=	ball.known-or-near.x ;
turn-around-point.y	=	ball.known-or-near.y ;
turn-around-point.radius	=	450 ;
turn-around-point.left-right	=	(-1 * ::vlc2-border.left-right-border) ;
turn-around-point.forward-component	=	1 ;

The decision tree:

Pseudo code of the decision tree:

if (

abs( robot-pose.y ) > (abs( ball.known-or-near.y ) + 100)

)

{

transition-to-state(A);

}

else

{

transition-to-state(D);

}

State A

If that state is active,

The option grab-ball-with-head is executed.

The decision tree:

Pseudo code of the decision tree:

if (

subsequent-option-reached-target-state

)

{

transition-to-state(turn-left);

}

else

{

transition-to-state(A);

}

State B

If that state is active,

The basic behavior do-nothing is executed.

The decision tree:

Pseudo code of the decision tree:

transition-to-state(finished);

State finished

This state is a target state.

If that state is active,

The option dribble-ball-vlc2 is executed. Parameters:

dribble-ball-vlc2.destination-angle

angle.best-angle-to-opponent-goal ;

The decision tree:

Pseudo code of the decision tree:

transition-to-state(finished);

State turn-left

If that state is active,

The basic behavior walk is executed. Parameters:

walk.type	=	walk-type.walk-with-ball ;
walk.speed-x	=	0 ;
walk.speed-y	=	0 ;
walk.rotation-speed	=	(120 * ::vlc2-border.left-right-border) ;

These output symbols are set:

head-control-mode

head-control-mode.hold-ball

The decision tree:

Pseudo code of the decision tree:

if (

abs( angle.best-angle-to-opponent-goal ) < 20

)

{

transition-to-state(finished);

}

else

{

transition-to-state(turn-left);

}

State turn-right

If that state is active,

The basic behavior walk is executed. Parameters:

walk.type	=	walk-type.walk-with-ball ;
walk.speed-x	=	0 ;
walk.speed-y	=	0 ;
walk.rotation-speed	=	(-120 * ::vlc2-border.left-right-border) ;

These output symbols are set:

head-control-mode

head-control-mode.hold-ball

The decision tree:

Pseudo code of the decision tree:

if (

abs( angle.best-angle-to-opponent-goal ) < 20

)

{

transition-to-state(finished);

}

else

{

transition-to-state(turn-right);

}