1. Building Complex Behaviors: Actions and States

2. How do we get…
From This
To This

3. Roll Camera…Action!
One way to start thinking about this is to figure about a way for our robot to do actions
We program:
A rule for what to do (behavior)
A rule for when to stop (stop condition)
Examples of Actions:
Baking a cake, Doing homework, Erasing a chalkboard, and pretty much anything else you can think of!

4. What does a behavior look like in code?

5. Without a stopping condition
Do it Forever
Turn Left if the Color is White
Turn Right if the Color is Black

6. With a stopping condition
Turn Left if the Color is White
Turn Right if the Color is Black
Stop Looping if you see a different color

7. What behaviors/stopping conditions could we try?
Follow line
Turn Left
Turn Right
Move Block
Stopping Conditions:
See Color that isn’t Black or White
See Red
Time
Distance
See Red or Green

8. Then we can combine them!
Follow Line
See Red
Turn Left
See Black
Behavior
Stopping Condition
Behavior
Stopping Condition

9. Drive until you see Green
So we could do this
Drive until you see Red
Clear Block
Drive until you see Green

11. Take Advantage of Patterns
Instead of deciding when to stop, we decide what to do next
Then we just keep doing that, forever
What Action am I supposed to be doing
Do a little bit of that behavior
Write down what to do next
What we write down is a STATE and this process is called a STATE MACHINE

12. State Machine Pick next State Behavior 1 What State am I in?