Build a Sumo Model robot

  1. Right-click on navigate and select New > Instance State Machine.

    sumo hw 4.1

  2. Right-click on steering and select New > Instance State Machine.

  3. Double-click on navigate to open its state machine canvas. Expand navigate in Model Explorer view.

  4. Use the State tool in the Palette to add the following states to the state machine canvas:

    • resting

    • attacking

    • retreating

    • targeting

      sumo hw 4.2

  5. Next we will create events. To create an event, right-click on a blank area of the canvas and select New > Event. Create the following events:

    • pop

    • line

  6. Use the Transtion tool in the Palette to draw a transition from resting to attacking. Right-click on this transition and select Assign Event…​. Use the wizard to select navigate1: pop.

  7. Add a transition from attacking to retreating. Assign it to navigate2: line.

  8. Add a transition from retreating to targeting. Assign it to navigat1: pop.

  9. Add a transition from targeting to attacking. Assign it to navigat1: pop.

  10. Double-click on steering class to open its state machine canvas. Expand steering in Model Explorer view.

  11. Use the State tool in the Palette to add the following states to the state machine canvas:

    • maintaining

    • lefting

    • righting

  12. Next we will create events. To create an event, right-click on a blank area of the canvas and select New > Event. Create the following events:

    • left

    • right

    • straight

  13. Use the Transtion tool in the Palette to draw a transition from maintaining to lefting. Right-click on this transition and select Assign Event…​. Use the wizard to select steering1: left.

  14. Add a transition from maintaining to righting. Assign it to steering2: right.

  15. Add a transition from righting to lefting. Assign it to steering1: left.

  16. Add a transition from lefting to righting. Assign it to steering2: right.

  17. Add a transition from lefting to maintaining. Assign it to steering3: straight.

  18. Add a transition from righting to maintaining. Assign it to steering3: straight.

Submitting your assignment

  • Take a screenshot of your navigate and steering state machines.

  • Open the BridgePoint support issue you created in homework 1.1.

  • Edit the issue, scroll down to the Edit field:

    • Change the Status to "Feedback"

    • Change the Assignee to "cstarrett"

    • Add a Note that this assignment is completed

    • Use the Choose Files button to attach your screenshots

  • Click the Submit button

You are now ready to proceed to the next step.

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