Difference between revisions of "DockingAI"
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| Line 16: | Line 16: | ||
EXIT = (); | EXIT = (); | ||
UPDATE = ();}; | UPDATE = ();}; | ||
| − | + | : | |
| + | |||
ABORT = { | ABORT = { | ||
ENTER = (abortDocking, "setSpeedFactorTo: 0.0", setDestinationToDockingAbort, "setDesiredRangeTo: 500.0", performFaceDestination); | ENTER = (abortDocking, "setSpeedFactorTo: 0.0", setDestinationToDockingAbort, "setDesiredRangeTo: 500.0", performFaceDestination); | ||
| Line 36: | Line 37: | ||
"WAYPOINT_SET" = ("setDesiredRangeTo: 50.0", checkCourseToDestination); | "WAYPOINT_SET" = ("setDesiredRangeTo: 50.0", checkCourseToDestination); | ||
"DESIRED_RANGE_ACHIEVED" = ("setStateTo: GO_TO_STATION"); | "DESIRED_RANGE_ACHIEVED" = ("setStateTo: GO_TO_STATION"); | ||
| − | + | EXIT = (); | |
| − | + | UPDATE = (); }; | |
"GO_TO_START" = { | "GO_TO_START" = { | ||
| Line 65: | Line 66: | ||
"EXIT_SYSTEM" = {ENTER = (performDocking, exitAI); EXIT = (); UPDATE = (); }; | "EXIT_SYSTEM" = {ENTER = (performDocking, exitAI); EXIT = (); UPDATE = (); }; | ||
| + | |||
| + | '''[[AI|BACK]]''' | ||
Revision as of 21:22, 23 January 2006
An extremely complex JobAI.
States: ABORT, AWAIT_COORDS, EXIT_SYSTEM, GLOBAL, GO_TO_WAYPOINT, GO_TO_START, GO_TO_COORDS.
{
"AWAIT_COORDS" = {
"APPROACH_START" = ("setStateTo: GO_TO_START");
"APPROACH_COORDINATES" = ("setStateTo: GO_TO_COORDS");
"HOLD_POSITION" = (performIdle, "pauseAI: 10.0", "setStateTo: GLOBAL");
"DOCKING_ABORTED" = ("setStateTo: ABORT");
"TRY_AGAIN_LATER" = ("pauseAI: 30.0", "setStateTo: ABORT");
"COLLISION" = ("setStateTo: ABORT");
"RESTART_DOCKING" = ("setStateTo: GLOBAL");
DOCKED = ("setStateTo: EXIT_SYSTEM");
ENTER = ();
EXIT = ();
UPDATE = ();};
ABORT = {
ENTER = (abortDocking, "setSpeedFactorTo: 0.0", setDestinationToDockingAbort, "setDesiredRangeTo: 500.0", performFaceDestination);
"FACING_DESTINATION" = ("setSpeedFactorTo: 1.0", "setDesiredRangeTo: 500.0", performFlyToRangeFromDestination);
EXIT = ();
"RESTART_DOCKING" = ("setStateTo: GLOBAL");
"REACHED_SAFETY" = (performIdle, "setStateTo: GLOBAL");
"DESIRED_RANGE_ACHIEVED" = (performIdle, "setStateTo: GLOBAL");
UPDATE = (); };
GLOBAL = {
ENTER = ("setSpeedTo: 0.0", "setDesiredRangeTo: 5.0", requestDockingCoordinates, "setStateTo: AWAIT_COORDS");
EXIT = ();
UPDATE = (); };
"GO_TO_WAYPOINT" = {
ENTER = ("setDesiredRangeTo: 50.0", checkCourseToDestination);
"COURSE_OK" = ("setSpeedFactorTo: 0.85", performFlyToRangeFromDestination);
"WAYPOINT_SET" = ("setDesiredRangeTo: 50.0", checkCourseToDestination);
"DESIRED_RANGE_ACHIEVED" = ("setStateTo: GO_TO_STATION");
EXIT = ();
UPDATE = (); };
"GO_TO_START" = {
ENTER = ("setSpeedFactorTo: 0.05", setDestinationFromCoordinates,
checkCourseToDestination);
"WAYPOINT_SET" = ("setStateTo: GO_TO_WAYPOINT");
"COURSE_OK" = ("setSpeedFactorTo: 0.25", performFaceDestination);
"FACING_DESTINATION" = ("setDesiredRangeTo: 50.0", "setSpeedFactorTo: 0.85",
performFlyToRangeFromDestination);
"DESIRED_RANGE_ACHIEVED" = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS");
"DOCKING_ABORTED" = ("setStateTo: ABORT");
"COLLISION" = ("setStateTo: ABORT");
"RESTART_DOCKING" = ("setStateTo: GLOBAL");
EXIT = ();
UPDATE = (); };
"GO_TO_COORDS" = {
ENTER = (performFaceDestination);
FRUSTRATED = (performIdle, "pauseAI: 5.0", performFaceDestination);
"FACING_DESTINATION" = (recallDockingInstructions, performFlyToRangeFromDestination);
"DESIRED_RANGE_ACHIEVED" = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS");
"DOCKING_ABORTED" = ("setStateTo: ABORT");
"COLLISION" = ("setStateTo: ABORT");
"RESTART_DOCKING" = ("setStateTo: GLOBAL");
EXIT = ();
UPDATE = (); }; }
"EXIT_SYSTEM" = {ENTER = (performDocking, exitAI); EXIT = (); UPDATE = (); };
