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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| <BehaviourTree> | ||
| <Root id="Main"> | ||
| <Selector> | ||
| <UseRoot id="Front"/> | ||
| <UseRoot id="Behind"/> | ||
| <UseRoot id="Left"/> | ||
| <UseRoot id="Right"/> | ||
| <UseRoot id="Move"/> | ||
| </Selector> | ||
| </Root> | ||
|
|
||
| <Root id="Move"> | ||
| <Sequence> | ||
| <Action:SetWheelDirection direction_type="Forward" wheel_type="Both"/> | ||
| <Action:SetAngle angle="90" servo_type="FrontWheels"/> | ||
| <Action:SetSpeed speed="60" wheel_type="Both"/> | ||
| </Sequence> | ||
| </Root> | ||
|
|
||
| <Root id="Front"> | ||
| <Sequence> | ||
| <Condition:SuccessOnAverageNearbyScan min_angle="45" max_angle="135" cm="33"/> | ||
| <Action:SetWheelDirection direction_type="Backward" wheel_type="Both"/> | ||
| <Action:SetAngle angle="180" servo_type="FrontWheels"/> | ||
| <Action:SetSpeed speed="60" wheel_type="Both"/> | ||
| </Sequence> | ||
| </Root> | ||
|
|
||
| <Root id="Behind"> | ||
| <Sequence> | ||
| <Condition:SuccessOnAverageNearbyScan min_angle="225" max_angle="315" cm="33"/> | ||
| <Action:SetWheelDirection direction_type="Forward" wheel_type="Both"/> | ||
| <Action:SetAngle angle="90" servo_type="FrontWheels"/> | ||
| <Action:SetSpeed speed="100" wheel_type="Both"/> | ||
| </Sequence> | ||
| </Root> | ||
|
|
||
| <Root id="Left"> | ||
| <Sequence> | ||
| <Condition:SuccessOnAverageNearbyScan min_angle="0" max_angle="45" cm="33"/> | ||
| <Condition:SuccessOnAverageNearbyScan min_angle="315" max_angle="360" cm="33"/> | ||
| <Action:SetWheelDirection direction_type="Forward" wheel_type="Both"/> | ||
| <Action:SetAngle angle="180" servo_type="FrontWheels"/> | ||
| <Action:SetSpeed speed="60" wheel_type="Both"/> | ||
| </Sequence> | ||
| </Root> | ||
|
|
||
| <Root id="Right"> | ||
| <Sequence> | ||
| <Condition:SuccessOnAverageNearbyScan min_angle="135" max_angle="225" cm="33"/> | ||
| <Action:SetWheelDirection direction_type="Forward" wheel_type="Both"/> | ||
| <Action:SetAngle angle="0" servo_type="FrontWheels"/> | ||
| <Action:SetSpeed speed="60" wheel_type="Both"/> | ||
| </Sequence> | ||
| </Root> | ||
|
|
||
| </BehaviourTree> |