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Behavior Documentation


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>Basic Behaviors
>Options
   >>  defender_head_control
        >>>  decide_mode
        >>>  middle_left
        >>>  middle_right
        >>>  wide_scan_left
        >>>  wide_scan_right
        >>>  back_to_middle

Option defender_head_control

A special head-control mode for the defensive defender which does scan for landmarks but will concentrate on the middle, left or right.

State Machine

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



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

State decide_mode

If that state is active,
 
The decision tree:
  This browser can't display the SVG file svg/option_defender_head_control_state_decide_mode.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 ( head.position_reached() )
{
  
/** */
if ( ball.angle() > 30)
{
  
goto wide_scan_left;
}
else
{
  
/** */
if ( ball.angle() < -30)
{
  
goto wide_scan_right;
}
else
{
  
goto middle_left;
}
}
}
else
{
  
stay;
}

State middle_left

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
30
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_defender_head_control_state_middle_left.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 ( head.position_reached() )
{
  
goto middle_right;
}
else
{
  
stay;
}

State middle_right

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
-30
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_defender_head_control_state_middle_right.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 ( head.position_reached() )
{
  
goto decide_mode;
}
else
{
  
stay;
}

State wide_scan_left

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
90
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_defender_head_control_state_wide_scan_left.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 ( head.position_reached() )
{
  
goto back_to_middle;
}
else
{
  
stay;
}

State wide_scan_right

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
-90
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_defender_head_control_state_wide_scan_right.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 ( head.position_reached() )
{
  
goto back_to_middle;
}
else
{
  
stay;
}

State back_to_middle

If that state is active,
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.move_to_point
 >  This decimal output symbol is set:
    head.neck_tilt  = 
0
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
0
 >  This decimal output symbol is set:
    head.speed  = 
300
 
The decision tree:
  This browser can't display the SVG file svg/option_defender_head_control_state_back_to_middle.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 ( head.position_reached() )
{
  
goto decide_mode;
}
else
{
  
stay;
}