>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  play_straight_ahead
        >>>  go_to_ball
        >>>  at_ball
        >>>  stand

Option play_straight_ahead

State Machine

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



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

State go_to_ball

If that state is active,
 >  The option go_to_ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_play_straight_ahead_state_go_to_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 (
(ball.was_seen() )
&& 
(ball.distance() < 250)
)
{
  
goto at_ball;
}
else
{
  
stay;
}

State at_ball

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
false
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  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  = 
( abs( ball.angle() ) > 45 ? 0 : 500 )
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
ball.angle()
 >  This enumerated output symbol is set:
    leds.face1  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face2  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face3  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face4  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face13  = 
leds.blink.llll
 >  This enumerated output symbol is set:
    leds.face14  = 
leds.blink.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_play_straight_ahead_state_at_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 ( ball.distance() > 300)
{
  
goto go_to_ball;
}
else
{
  
/** */
if ( ball.time_since_last_seen() > 600)
{
  
goto stand;
}
else
{
  
stay;
}
}

State stand

If that state is active,
 >  This boolean output symbol is set:
    strategy.ball_is_grabbed  = 
false
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_ball
 >  This enumerated output symbol is set:
    motion.type  = 
motion.type.stand
 
The decision tree:
  This browser can't display the SVG file svg/option_play_straight_ahead_state_stand.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 ( ball.was_seen() )
{
  
goto at_ball;
}
else
{
  
stay;
}