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MarijaGolubovicMarijaGolubovic
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Strategy last attempt (#301)
* pickap three stack and put in one plenter * calibrate robot * change start field * fix strategy * fix putting in plenter down * fix puting in plenter up * add alternative for detection on panel * fix alternative for blue strategy * add simple strategy for yellow side * add simple strategy for yellow side - fix * try to implement alternative for yellow side * fix approuch point for plenter * fix pots picking * add homologation strategy and fix points for panels * fix blue * calibrate robot * add simple safe strategy for yellow side and fix point for yellow strategy * pull out side gripper * pull out side gripper and fix fallback for side plenter * fix existing strategy * add agresive strategy * delete SIMA from chinch * start with new strategy
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‎mep3_behavior/strategies/blue_new_a.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<root BTCPP_format="4">
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<BehaviorTree ID="blue_new_a">
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<Sequence>
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<ScoreboardTask points="0"
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task="INIT_DISPLAY"/>
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<SubTree ID="new_init"
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_autoremap="true"/>
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<WaitMatchStart state="2"/>
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<ForceSuccess>
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<Timeout msec="100000">
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<ForceSuccess>
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<Sequence>
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<ForceSuccess>
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<Timeout msec="89000">
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<Sequence>
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<SubTree ID="blue_new_base_a"
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_autoremap="true"/>
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<Sleep msec="120000"/>
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</Sequence>
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</Timeout>
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</ForceSuccess>
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<SubTree ID="go_home_new_a"
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_skipIf="is_in_home==true"
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_autoremap="true"/>
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<JointPosition instance="m2"
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max_effort="0"
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max_velocity="180"
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position="78"
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tolerance="10"
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feedback_effort="{feedback_effort}"
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feedback_position="{feedback_position}"
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result="{result}"/>
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<JointPosition instance="m3"
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max_effort="0"
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max_velocity="220"
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position="220"
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tolerance="10"
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feedback_effort="{feedback_effort}"
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feedback_position="{feedback_position}"
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result="{result}"/>
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<JointPosition instance="m15"
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max_effort="0"
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max_velocity="220"
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position="299"
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tolerance="10"
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feedback_effort="{feedback_effort}"
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feedback_position="{feedback_position}"
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result="{result}"/>
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<ScoreboardTask points="10"
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task="FINISH"/>
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<Sleep msec="120000"/>
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</Sequence>
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</ForceSuccess>
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</Timeout>
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</ForceSuccess>
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</Sequence>
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</BehaviorTree>
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<!-- Description of Node Models (used by Groot) -->
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<TreeNodesModel>
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<Action ID="JointPosition"
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editable="true">
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<input_port name="instance"/>
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<input_port name="max_effort"
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default="0"/>
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<input_port name="max_velocity"
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default="180"/>
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<input_port name="position"/>
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<input_port name="tolerance"
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default="10"/>
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<output_port name="feedback_effort"
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default="{feedback_effort}"/>
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<output_port name="feedback_position"
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default="{feedback_position}"/>
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<output_port name="result"
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default="{result}"/>
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</Action>
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<Action ID="ScoreboardTask"
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editable="true">
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<input_port name="points"
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default="0">points scored, can be negative</input_port>
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<input_port name="task"
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default="store_sample_to_work_shed">unique task name</input_port>
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</Action>
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<Action ID="WaitMatchStart"
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editable="true">
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<input_port name="state"
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default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
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</Action>
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</TreeNodesModel>
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</root>

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