>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  ball_recognition_demo
        >>>  look_straight_ahead
        >>>  search_for_ball

Option ball_recognition_demo

State Machine

This browser can't display the SVG file svg/option_ball_recognition_demo.svg.



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

State look_straight_ahead

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.look_straight_ahead
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_ball_recognition_demo_state_look_straight_ahead.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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto search_for_ball;
}
else
{
  
stay;
}
}

State search_for_ball

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  This enumerated output symbol is set:
    leds.back_front_white  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_ball_recognition_demo_state_search_for_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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto look_straight_ahead;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto look_straight_ahead;
}
else
{
  
stay;
}
}