Option grab_ball

State Machine

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State go_to_ball

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
false
 >  The option go_to_ball is executed.
 
The decision tree:
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Pseudo code of the decision tree:
 
/** */
if (
(ball.was_seen() )
&& 
(ball.distance() < 142)
&& 
(abs( ball.angle() ) < 10)
)
{
  
goto head_down;
}
else
{
  
stay;
}

State head_down

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.none
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.direct
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.neck_tilt  = 
-90
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
90
 >  This decimal output symbol is set:
    head.mouth  = 
0
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
motion.walk_type.normal
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
500
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 
The decision tree:
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Pseudo code of the decision tree:
 
/** */
if ( state_time > 300)
{
  
goto stop;
}
else
{
  
stay;
}

State stop

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
motion.walk_type.normal
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.none
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.direct
 >  This enumerated output symbol is set:
    head.pid_setting  = 
head.pid_setting.normal
 >  This decimal output symbol is set:
    head.neck_tilt  = 
-90
 >  This decimal output symbol is set:
    head.head_pan  = 
0
 >  This decimal output symbol is set:
    head.head_tilt  = 
60
 >  This decimal output symbol is set:
    head.mouth  = 
0
 
The decision tree:
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Pseudo code of the decision tree:
 
/** */
if ( state_time > 300)
{
  
goto grabbed;
}
else
{
  
stay;
}

State grabbed

This state is a target state.



If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
true
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.grab_ball
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
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Pseudo code of the decision tree:
 
/** */
if (
(sensor.time_since_something_was_in_front_of_chest() > 200)
|| 
(ball.was_seen() )
)
{
  
goto go_to_ball;
}
else
{
  
stay;
}