Understanding the Behaviour Tree - Versionsgeschichte

Roland: /* Prerequisites */

2018-05-27T20:59:01Z

‎Prerequisites

2018-05-27T20:55:46Z

‎A leaf is non blocking

2018-05-27T20:54:38Z

‎A leaf is non blocking

2018-05-27T20:54:07Z

‎A leaf is non blocking

2018-05-27T20:53:37Z

‎A leaf is non blocking

2018-05-27T20:53:27Z

‎A leaf is non blocking

2018-05-27T20:52:48Z

‎A leaf is non blocking

2018-05-27T20:52:14Z

‎A leaf is non blocking

2018-05-27T20:51:58Z

‎A leaf is non blocking

2018-05-27T20:51:19Z

‎A leaf is non blocking

@@ Zeile 14: / Zeile 14: @@
 To view the files of the BHT the following free software can be used:
-https://www.electronic-software-shop.com/index.php?seo_c=support%2F&seo=kostenlose-datei-viewer
+https://www.electronic-software-shop.com/support/kostenlose-datei-viewer/?language=en
 =Which nodes are used in the BHT=

@@ Zeile 106: / Zeile 106: @@
 If the node is called in the tree and is not in running state, the onInitialize will be called. The node sets the rotate direction depending on bb.flagForceRotateDirection and commands the motors to rotate the robot +/-380 degree.
 Then the onUpdate function is called. In this function will be checked if both coils are inside. If not, running will be returned. At the next run of the BHT onUpdate will be called without calling onInitialize. The function checks again if both coils inside. Remember, the mower is currently rotating because of the command  bb.motor.turnTo(). When both coils are inside, success will be returned. Then onTerminate will be called and the node has done it's job.
-So we will never use a code like:
   while(! (bb.perimeterSensoren.isLeftInside() && bb.perimeterSensoren.isRightInside())){
    //do nothing

@@ Zeile 105: / Zeile 105: @@
 If the node is called in the tree and is not in running state, the onInitialize will be called. The node sets the rotate direction depending on bb.flagForceRotateDirection and commands the motors to rotate the robot +/-380 degree.
-Then the onUpdate function is called. In this function will first be checked if both coils are inside. If not, running will be returned. At the next run of the BHT onUpdate will be called without calling onInitialize. The function checks again if both coils inside. Remember, the mower is currently rotating because of the command  bb.motor.turnTo(). When both coils are inside, success will be returned. Then onTerminate will be called and the node has done it's job.
+Then the onUpdate function is called. In this function will be checked if both coils are inside. If not, running will be returned. At the next run of the BHT onUpdate will be called without calling onInitialize. The function checks again if both coils inside. Remember, the mower is currently rotating because of the command  bb.motor.turnTo(). When both coils are inside, success will be returned. Then onTerminate will be called and the node has done it's job.
 So we will never use a code like:
   while(! (bb.perimeterSensoren.isLeftInside() && bb.perimeterSensoren.isRightInside())){

@@ Zeile 104: / Zeile 104: @@
-If the node is called in the tree and is not in running state, the onInitialize will be called. The node sets the rotate direction depending on bb.flagForceRotateDirection and commands the motors to rotate the robot 380 degree.
+If the node is called in the tree and is not in running state, the onInitialize will be called. The node sets the rotate direction depending on bb.flagForceRotateDirection and commands the motors to rotate the robot +/-380 degree.
 Then the onUpdate function is called. In this function will first be checked if both coils are inside. If not, running will be returned. At the next run of the BHT onUpdate will be called without calling onInitialize. The function checks again if both coils inside. Remember, the mower is currently rotating because of the command  bb.motor.turnTo(). When both coils are inside, success will be returned. Then onTerminate will be called and the node has done it's job.
 So we will never use a code like:

@@ Zeile 104: / Zeile 104: @@
-If the code is called in the tree and is not in running state, the onInitialize will be called. The node sets the rotate direction depending on bb.flagForceRotateDirection and commands the motors to rotate the robot 380 degree.
+If the node is called in the tree and is not in running state, the onInitialize will be called. The node sets the rotate direction depending on bb.flagForceRotateDirection and commands the motors to rotate the robot 380 degree.
 Then the onUpdate function is called. In this function will first be checked if both coils are inside. If not, running will be returned. At the next run of the BHT onUpdate will be called without calling onInitialize. The function checks again if both coils inside. Remember, the mower is currently rotating because of the command  bb.motor.turnTo(). When both coils are inside, success will be returned. Then onTerminate will be called and the node has done it's job.
 So we will never use a code like:

@@ Zeile 77: / Zeile 77: @@
 This means, that a leaf does not block the execution of the BHT (for example with delay). How does this work?
-See the folowing abbrevaited code:
+See the following abbrevaited code of TRotateBothCoilsInside:
   class TRotateBothCoilsInside : public Node

@@ Zeile 82: / Zeile 82: @@
+  {
   public:
          virtual void onInitialize(Blackboard& bb) {
                  bb.cruiseSpeed = bb.CRUISE_SPEED_OBSTACLE;

@@ Zeile 87: / Zeile 87: @@
                  if (bb.flagForceRotateDirection == FRD_CC) {
                          bb.motor.turnTo(-380, bb.cruiseSpeed);
+                 }
                   else {
                          bb.motor.turnTo(380, bb.cruiseSpeed);
+                   }
+           }

@@ Zeile 99: / Zeile 99: @@
+           }
         virtual NodeStatus onUpdate(Blackboard& bb) {
-                if (getTimeInNode() > 15000) {
+               if (bb.perimeterSensoren.isLeftInside() && bb.perimeterSensoren.isRightInside()) { // wenn beide coils innen dann weitermachen
-                       errorHandler.setError(F("!03,TRotateBothCoilsInside  too long in state\r\n"));
+                    return BH_SUCCESS;
-−
-                if (bb.motor.isPositionReached()) {
-                        errorHandler.setError("!03,TRotateBothCoilsInside not able to rotate both coils to inside\r\n");
+                 }
                  return BH_RUNNING;
@@ Zeile 112: / Zeile 109: @@
+         }
+  }
 =Behaviours of the BHT=