>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  walk_demo
        >>>  stand
        >>>  walk_x
        >>>  walk_x_back
        >>>  walk_y
        >>>  walk_y_back
        >>>  turn_left
        >>>  turn_right

Option walk_demo

State Machine

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



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

State stand

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_walk_demo_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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto walk_x;
}
else
{
  
stay;
}
}

State walk_x

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:
    leds.back_front_white  = 
leds.blink.llll
 >  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  = 
250
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_demo_state_walk_x.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 stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto walk_x_back;
}
else
{
  
stay;
}
}

State walk_x_back

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:
    leds.back_front_white  = 
leds.blink.lolo
 >  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  = 
-250
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
0
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_demo_state_walk_x_back.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 stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto walk_y;
}
else
{
  
stay;
}
}

State walk_y

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:
    leds.back_front_white  = 
leds.blink.llll
 >  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  = 
200
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_demo_state_walk_y.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 stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto walk_y_back;
}
else
{
  
stay;
}
}

State walk_y_back

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:
    leds.back_front_white  = 
leds.blink.lolo
 >  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  = 
-200
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
0
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_demo_state_walk_y_back.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 stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto turn_left;
}
else
{
  
stay;
}
}

State turn_left

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:
    leds.back_front_white  = 
leds.blink.llll
 >  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 decimal output symbol is set:
    motion.walk_speed.rot  = 
100
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_demo_state_turn_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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto turn_right;
}
else
{
  
stay;
}
}

State turn_right

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:
    leds.back_front_white  = 
leds.blink.lolo
 >  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 decimal output symbol is set:
    motion.walk_speed.rot  = 
-100
 >  This enumerated output symbol is set:
    head.motion_type  = 
head.motion_type.stay_as_forced
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_demo_state_turn_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 (
(switch.hind_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
/** */
if (
(switch.fore_back_button_pressed() )
&& 
(state_time > 1000)
)
{
  
goto stand;
}
else
{
  
stay;
}
}