ER1 User Guide 3-7
Behavior Error and Logging
again until the specified time has elapsed. You can specify the minimum run interval in
seconds.
Specifying that behaviors can run more than once also allows you to create looping
sequences. Again, consider the behavior sequence:
Behavior 1: If see teddy bear or after behavior 4 Then play a sound file
teddy.wav.
Behavior 2: If hear the word email Then send an email to user@ISP.com
.
Behavior 3: If after Behavior 1 Then move forward 10 feet.
Behavior 4: If after Behavior 3 Then move backward 10 feet.
(All behaviors set to run more than once).
The only difference between this sequence and the sequence in the first example is that
Behavior 1 also has the sequence condition after Behavior 4. This condition causes this
sequence to run in a continuous loop even if the teddy bear is only seen once. In this
example, once this sequence gets started, Behavior 2 will never be executed because the
sequence will run in a continuous loop.
Note that if multiple behaviors are triggered at the same time by the same condition, only
the right-most behavior in the behavior tab sequence will be triggered. For example, if
behaviors 13 and 17 have a sound level condition set to volume level 1 and 3, respectively,
and the sound volume 4 is detected, satisfying both, only behavior 17 (the right-most
behavior) will be triggered. If behavior 17 is set to run only once, then the next time the
sound condition is triggered for both, behavior 13 will be triggered, because behavior 17
has already run and cannot be triggered again.
Behavior Error and Logging
The software enables logging of events during behavior execution by default and displays
the last few lines of the log at the bottom of the application. Logging can be turned on or
off by clicking on the Settings button at the top left of the application and then selecting
the Log tab. The generated log file is named
er1.log, and resides in the same directory as
the ER1 RCC software. During the course of executing the task, the robot might encounter
an error condition that will cause it to abort the current behavior or the entire task.
Examples of this include encountering obstacles during motion, low laptop battery, etc. If
the behavior has to abort due to some error condition, it will log the error if the logging
option is selected. If something unexpected occurs during behavior execution, you can
look at the log window or check the
er1.log file to see the cause.
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