>xabsl
Behavior Documentation
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>Options
>> goalie_clear_ball_simple
>>> clear_ball
>>> kick_with_paw
>>> stop

Option goalie_clear_ball_simple

Try to clear the ball by running towards it and kick it sideways the the paw if necessary.

State Machine

State clear_ball

If that state is active,

The option go_to_point is executed. Parameters:

go_to_point.x

ball.position.field.x() ;

go_to_point.y

ball.position.field.y() ;

The decision tree:

Pseudo code of the decision tree:

/** ball reached */

if (

action_done

)

{

/** ball wasn't kicked away by our approach-movement */

if (

ball.distance() < 200

)

{

goto kick_with_paw;

}

else

{

goto stop;

}

else

{

stay;

}

State kick_with_paw

If that state is active,

The option special_action is executed. Parameters:

special_action.id

motion.special_action.left_paw ;

special_action.mirror

ball.position.robot.y() < 0 ;

The decision tree:

Pseudo code of the decision tree:

/** */

if (

action_done

)

{

goto stop;

}

else

{

stay;

}

State stop

This state is a target state.

If that state is active,

This enumerated output symbol is set:

motion.type

motion.type.stand

The decision tree:

Pseudo code of the decision tree:

stay;