>xabsl
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  walk_test
        >>>  turn
        >>>  walk
        >>>  battery_low
        >>>  goto_start_point

Option walk_test

Option for testing walk request without leaving the field. * Automatically turns towards the center of the field when robot is not in the middle of the field.

Parameters of that option:
ParameterTypeMeasureRangeDescription
walk_test.speed_xdecimalmm/s...X Speed.
walk_test.speed_ydecimalmm/s...Y Speed.
walk_test.rotation_speeddecimaldeg/s...Rotational speed.
walk_test.moving_angledecimaldeg-180..180Expected angle of robot movement.
walk_test.start_xdecimalmm...x_coordinate of starting point
walk_test.start_ydecimalmm...y_coordinate of starting point
walk_test.typeenumeratedmotion.walk_typeSpecifies the used walking type.
walk_test.turn_typeenumeratedmotion.walk_typeSpecifies the used walking type for turning.

State Machine

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



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

State turn

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.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  = 
normalize( (selfloc.angle_to( @walk_test.start_x , @walk_test.start_y ) - @walk_test.moving_angle) )
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_test_state_turn.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 ( debug.remaining_capacity() < 40)
{
  
goto battery_low;
}
else
{
  
/** */
if ( abs( normalize( (selfloc.angle_to( @walk_test.start_x , @walk_test.start_y ) - @walk_test.moving_angle) ) ) > 15)
{
  
stay;
}
else
{
  
goto walk;
}
}

State walk

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.walk
 >  This enumerated output symbol is set:
    motion.walk_type  = 
@walk_test.type
 >  This decimal output symbol is set:
    motion.walk_speed.x  = 
@walk_test.speed_x
 >  This decimal output symbol is set:
    motion.walk_speed.y  = 
@walk_test.speed_y
 >  This decimal output symbol is set:
    motion.walk_speed.rot  = 
@walk_test.rotation_speed
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_test_state_walk.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 ( debug.remaining_capacity() < 40)
{
  
goto battery_low;
}
else
{
  
/** */
if ( abs( normalize( (selfloc.angle_to( @walk_test.start_x , @walk_test.start_y ) - @walk_test.moving_angle) ) ) < 20)
{
  
stay;
}
else
{
  
/** */
if (
(abs( (robot_pose.x() - @walk_test.start_x) ) > 1500)
|| 
(abs( (robot_pose.y() - @walk_test.start_y) ) > 1000)
)
{
  
/** */
if ( state_time < 1500)
{
  
goto goto_start_point;
}
else
{
  
goto turn;
}
}
else
{
  
stay;
}
}
}

State battery_low

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.look_down
 >  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_test_state_battery_low.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:
 
stay;

State goto_start_point

If that state is active,
 >  This enumerated output symbol is set:
    head.control_mode  = 
head.control_mode.search_for_landmarks
 >  The option go_to_point_forward is executed. Parameters:
    go_to_point_forward.x  =  @walk_test.start_x ;
    go_to_point_forward.y  =  @walk_test.start_y ;
 
The decision tree:
  This browser can't display the SVG file svg/option_walk_test_state_goto_start_point.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 (
(abs( (robot_pose.x() - @walk_test.start_x) ) < 500)
&& 
(abs( (robot_pose.y() - @walk_test.start_y) ) < 500)
)
{
  
goto walk;
}
else
{
  
stay;
}