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| # API Documentation | ||
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| ## `BehaviourTree` | ||
| The primary node used to configure the Behaviour Tree and to store all the nodes inside of it. | ||
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| ```xml | ||
| <!-- cycle_limit of 0 is unlimited --> | ||
| <BehaviourTree cycle_limit="0"> | ||
| <!-- Child nodes here --> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Root` | ||
| The 'functions' of the Behaviour Tree. Any Root with id "Main" will always be the starting point; otherwise, the topmost Root node is used. | ||
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| If you want more than one child node in the Root, please look at Sequence / Selector nodes. | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <!-- Child nodes here --> | ||
| </Root> | ||
| <Root id="Other"> | ||
| <!-- Child nodes here --> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `UseRoot` | ||
| Calls the specified Root node by id. | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <UseRoot id="Other"/> | ||
| </Root> | ||
| <Root id="Other"> | ||
| <!-- Child nodes here --> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Selector` | ||
| Composite node. | ||
| Goes through each child node sequentially and returns if any node returns SUCCESS. | ||
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| Returns SUCCESS if it is returned early; otherwise, it will return FAILURE. | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Selector> | ||
| <Action:Print text="1"/> | ||
| <Action:Print text="2"/> | ||
| <Action:Print text="3"/> | ||
| </Selector> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Output: | ||
| 1 | ||
| --> | ||
| ``` | ||
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| ### `Sequence` | ||
| Composite node. | ||
| Goes through each child node sequentially and returns if any node returns FAILURE. | ||
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| Returns SUCCESS if it executes all of the child nodes; otherwise, it will return FAILURE when exited early. | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Sequence> | ||
| <Action:Print text="1"/> | ||
| <Action:Print text="2"/> | ||
| <Action:Print text="3"/> | ||
| </Sequence> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Output: | ||
| 1 | ||
| 2 | ||
| 3 | ||
| --> | ||
| ``` | ||
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| ### `Random` | ||
| Composite node. | ||
| Randomly chooses one of its child nodes. | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Random> | ||
| <Action:Print text="1"/> | ||
| <Action:Print text="2"/> | ||
| <Action:Print text="3"/> | ||
| </Random> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Output: | ||
| 2 | ||
| --> | ||
| ``` | ||
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| ### `Invert` | ||
| Decorator node. | ||
| Inverts the status returned by its child node. | ||
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| - SUCCESS => FAILURE | ||
| - FAILURE => SUCCESS | ||
| - RUNNING => RUNNING | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Invert> | ||
| <Succeed/> | ||
| </Invert> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Returns: | ||
| FAILURE | ||
| --> | ||
| ``` | ||
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| ### `Repeat` | ||
| Decorator node. | ||
| Repeats running the child node 'count' times and can 'break_on_fail'. | ||
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| - `count`: integer | ||
| - `break_on_fail`: "true" | "false" | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Repeat count="3" break_on_fail="true"> | ||
| <Action:Print text="Hello World"/> | ||
| </Repeat> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Outputs: | ||
| Hello World | ||
| Hello World | ||
| Hello World | ||
| --> | ||
| ``` | ||
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| ### `Fail` | ||
| Returns FAILURE. | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Fail/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Returns: | ||
| FAILURE | ||
| --> | ||
| ``` | ||
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| ### `Succeed` | ||
| Returns SUCCESS. | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Succeed/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Returns: | ||
| SUCCESS | ||
| --> | ||
| ``` | ||
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| ### `Blackboard:ChangeInteger` | ||
| Able to use the Blackboard to store and change variables. | ||
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| - `variable_name`: string | ||
| - `value`: integer | ||
| - `integer_change_type`: "Set" | "Add" | "Subtract" | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Sequence> | ||
| <Blackboard:ChangeInteger variable_name="test" value="42" integer_change_type="Set"/> | ||
| <Blackboard:ChangeInteger variable_name="test" value="1" integer_change_type="Add"/> | ||
| <Blackboard:ChangeInteger variable_name="test" value="40" integer_change_type="Subtract"/> | ||
| </Sequence> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Initializes variable called 'test' with value 42. | ||
| Adds 1 to the variable 'test' resulting in value 43. | ||
| Subtracts 40 from the variable 'test' resulting in value 3. | ||
| --> | ||
| ``` | ||
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| ### `Blackboard:IntegerCondition` | ||
| Returns the relevant status based on its specified 'condition_operator_type'. | ||
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| - `variable_name`: string | ||
| - `value`: integer | ||
| - `condition_operator_type`: "=" | "!=" | "<" | ">" | ">=" | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Sequence> | ||
| <Blackboard:ChangeInteger variable_name="test" value="42" integer_change_type="Set"/> | ||
| <Blackboard:IntegerCondition variable_name="test" value="42" condition_operator_type="="/> | ||
| </Sequence> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Initializes variable called 'test' with value 42. | ||
| Returns SUCCESS as the 'test' variable is 42. | ||
| --> | ||
| ``` | ||
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| ### `Action:PauseExecution` | ||
| Returns status RUNNING until the specified 'ms' has passed. | ||
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| - `ms`: integer | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Sequence> | ||
| <Action:PauseExecution ms="1000"/> | ||
| <Action:Print text="Success"/> | ||
| </Sequence> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Waits 1 second | ||
| Outputs: | ||
| Success | ||
| --> | ||
| ``` | ||
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| ### `Action:Print` | ||
| Outputs 'text' to the console. | ||
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| - `text`: string | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Action:Print text="Hello World"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| <!-- | ||
| Output: | ||
| Hello World | ||
| --> | ||
| ``` | ||
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| ### `Action:Drive` | ||
| Controls driving actions. | ||
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| - `speed`: integer (range 0-100) | ||
| - `direction_type`: "Forward" | "Backward" | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Action:Drive speed="50" direction_type="Forward"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Action:Turn` | ||
| Controls turning actions. | ||
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| - `angle`: integer (range 0-180) | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Action:Turn angle="90"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Action:SetAngle` | ||
| Sets the angle for a servo. | ||
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| - `servo_type`: "FrontWheels" | "CameraServo1" | "CameraServo2" | ||
| - `angle`: integer (range 0-180) | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Action:SetAngle servo_type="FrontWheels" angle="90"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Action:SetSpeed` | ||
| Sets the speed for a wheel. | ||
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| - `wheel_type`: "Left" | "Right" | "Both" | ||
| - `speed`: integer (range 0-100) | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Action:SetSpeed wheel_type="Both" speed="75"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Action:SetWheelDirection` | ||
| Sets the direction for a wheel. | ||
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| - `wheel_type`: "Left" | "Right" | "Both" | ||
| - `direction_type`: "Forward" | "Backward" | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Action:SetWheelDirection wheel_type="Both" direction_type="Backward"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Condition:SucceedOnAverageNearbyScan` | ||
| Succeeds based on the average of nearby scans. | ||
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| - `min_angle`: integer (range 0-360) | ||
| - `max_angle`: integer (range 0-360) | ||
| - `cm`: integer | ||
| - `smallest_measure_amount_used`: integer | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Condition:SucceedOnAverageNearbyScan min_angle="0" max_angle="180" cm="10" smallest_measure_amount_used="5"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Condition:SucceedOnAnyNearbyScan` | ||
| Succeeds if any nearby scan meets the criteria. | ||
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| - `min_angle`: integer (range 0-360) | ||
| - `max_angle`: integer (range 0-360) | ||
| - `cm`: integer | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Condition:SucceedOnAnyNearbyScan min_angle="0" max_angle="180" cm="10"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` | ||
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| ### `Condition:SucceedOnAverageColour` | ||
| Succeeds based on the average colour detected. | ||
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| - `hex_colour`: string (hexadecimal colour code) | ||
| - `tolerance`: integer (range 0-100) | ||
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| ```xml | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Condition:SucceedOnAverageColour hex_colour="#FFFFFF" tolerance="10"/> | ||
| </Root> | ||
| </BehaviourTree> | ||
| ``` |