>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  vlc2-search-for-ball
        >>>  walkBack
        >>>  turn

Option vlc2-search-for-ball

Searches for the ball on the field

State Machine

This browser can't display the SVG file svg/option_vlc2-search-for-ball.svg.



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

State walkBack

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  -200 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  0 ;
 
 >  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_vlc2-search-for-ball_state_walkBack.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)   //
{
  
transition-to-state(turn);
}
else
{
  
transition-to-state(walkBack);
}

State turn

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  150 ;
 
 >  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_vlc2-search-for-ball_state_turn.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 > 3000)   // state running more than 2 seconds
{
  
transition-to-state(walkBack);
}
else
{
  
transition-to-state(turn);
}