>xabsl 2
Behavior Documentation
>Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> walk-calibration
>>> initial
>>> measure
>>> reposition
>>> interaction
>>> done
>>> done2

Option walk-calibration

Walk Calibration

Parameters of that option:
Parameter Measure Range Description
walk-calibration.rotation deg/s -300..300 the requested rotation component for the calibartion run

State Machine

State initial

If that state is active,

The basic behavior walk-calibration is executed. Parameters:

	walk-calibration.initialize	=	1 ;
	walk-calibration.rotation	=	::walk-calibration.rotation ;

These output symbols are set:

head-control-mode

head-control-mode.look-straight-ahead

The decision tree:

Pseudo code of the decision tree:

if (

walk-calibration.result != walk-calibration.result.ready

)

// initialization needed ??

{

transition-to-state(initial);

}

else

{

transition-to-state(measure);

}

State measure

If that state is active,

The basic behavior walk-calibration is executed.

These output symbols are set:

	sound-request	=	sound-request.none
	head-control-mode	=	head-control-mode.look-straight-ahead

The decision tree:

Pseudo code of the decision tree:

if (

walk-calibration.result == walk-calibration.result.unready

)

// calibration is done

{

transition-to-state(done);

}

else if (

walk-calibration.result == walk-calibration.result.reposition

)

// auto reposition is required

{

transition-to-state(reposition);

}

else if (

walk-calibration.result == walk-calibration.result.interaction

)

// manual reposition is required

{

transition-to-state(interaction);

}

else

{

transition-to-state(measure);

}

State reposition

If that state is active,

The option walk-omnidirectional is executed. Parameters:

walk-omnidirectional.x	=	walk-calibration.start.x ;
walk-omnidirectional.y	=	walk-calibration.start.y ;
walk-omnidirectional.angle	=	walk-calibration.start.angle ;

These output symbols are set:

	head-control-mode	=	head-control-mode.look-straight-ahead
	sound-request	=	sound-request.bark1

The decision tree:

Pseudo code of the decision tree:

if (

subsequent-option-reached-target-state

)

{

transition-to-state(measure);

}

else

{

transition-to-state(reposition);

}

State interaction

If that state is active,

The basic behavior stand is executed.

These output symbols are set:

	sound-request	=	sound-request.howl
	head-control-mode	=	head-control-mode.look-straight-ahead

The decision tree:

Pseudo code of the decision tree:

if (

robot-state.head-button-pressed-short

)

{

transition-to-state(measure);

}

else

{

transition-to-state(interaction);

}

State done

If that state is active,

The basic behavior stand is executed.

These output symbols are set:

	head-control-mode	=	head-control-mode.look-straight-ahead
	sound-request	=	sound-request.ring

The decision tree:

Pseudo code of the decision tree:

if (

time-of-state-execution > 2500

)

{

transition-to-state(done2);

}

else

{

transition-to-state(done);

}

State done2

If that state is active,

The basic behavior stand is executed.

These output symbols are set:

	head-control-mode	=	head-control-mode.look-straight-ahead
	sound-request	=	sound-request.none

The decision tree:

Pseudo code of the decision tree:

if (

time-of-state-execution > 2500

)

{

transition-to-state(done);

}

else

{

transition-to-state(done2);

}