the camera zooms ==> false ------------------------------------------------------------------------------- ------------------------------------------------------------------------------- SoarRobot starting at Thu Apr 24 16:58:49 CDT 2003 ------------------------------------------------------------------------------- ------------------------------------------------------------------------------- **************************SoarRobot cannot eval set g_newmoves =>WM: (2: S1 ^superstate nil) =>WM: (1: S1 ^type state) 0: ==>S: S1 Warning: A timer has reported zero. This is likely the result of poor system timer resolution. (This warning will not be repeated) --- Input Phase --- =>WM: (5: I1 ^output-link I3) =>WM: (4: I1 ^input-link I2) =>WM: (3: S1 ^io I1) =>WM: (6: I2 ^clock 1) =>WM: (7: I2 ^datacycle I4) =>WM: (8: I4 ^timestamp 1) =>WM: (9: I4 ^robot I5) =>WM: (10: I4 ^sonar I6) =>WM: (11: I4 ^vision I7) =>WM: (12: I5 ^|X| -3.87596) =>WM: (13: I5 ^|Y| 0.0178373) =>WM: (14: I5 ^|Th| -0.0878917) =>WM: (15: I5 ^|Vel| 0.) =>WM: (16: I5 ^|RotVel| 0.) =>WM: (17: I5 ^|RobotRadius| 250.) =>WM: (18: I5 ^|RobotDiagonal| 120.) =>WM: (19: I5 ^|BatteryVoltage| 12.3) =>WM: (20: I5 ^|LeftVel| 0.) =>WM: (21: I5 ^|RightVel| 0.) =>WM: (22: I5 ^|StallValue| 0) =>WM: (23: I5 ^|isLeftMotorStalled| false) =>WM: (24: I5 ^|isRightMotorStalled| false) =>WM: (25: I5 ^|Control| -0.175783) =>WM: (26: I5 ^|Flags| 3) =>WM: (27: I5 ^|areMotorsEnabled| true) =>WM: (28: I5 ^|areSonarsEnabled| true) =>WM: (29: I5 ^|MaxTransVel| 2200.) =>WM: (30: I5 ^|MaxRotVel| 500.) =>WM: (31: I5 ^|MoveDoneDist| 40.) =>WM: (32: I5 ^|DirMotPrecTime| 0.) =>WM: (33: I5 ^|FrontBump0| 0.) =>WM: (34: I5 ^|FrontBump1| 0.) =>WM: (35: I5 ^|FrontBump2| 0.) =>WM: (36: I5 ^|FrontBump3| 0.) =>WM: (37: I5 ^|FrontBump4| 0.) =>WM: (38: I5 ^|RearBump0| 0.) =>WM: (39: I5 ^|RearBump1| 0.) =>WM: (40: I5 ^|RearBump2| 0.) =>WM: (41: I5 ^|RearBump3| 0.) =>WM: (42: I5 ^|RearBump4| 0.) =>WM: (43: I6 ^sonar I8) =>WM: (44: I8 ^number 0) =>WM: (45: I8 ^reading 736) =>WM: (46: I8 ^new false) =>WM: (47: I6 ^sonar I9) =>WM: (48: I9 ^number 1) =>WM: (49: I9 ^reading 1882) =>WM: (50: I9 ^new false) =>WM: (51: I6 ^sonar I10) =>WM: (52: I10 ^number 2) =>WM: (53: I10 ^reading 1250) =>WM: (54: I10 ^new false) =>WM: (55: I6 ^sonar I11) =>WM: (56: I11 ^number 3) =>WM: (57: I11 ^reading 960) =>WM: (58: I11 ^new false) =>WM: (59: I6 ^sonar I12) =>WM: (60: I12 ^number 4) =>WM: (61: I12 ^reading 941) =>WM: (62: I12 ^new false) =>WM: (63: I6 ^sonar I13) =>WM: (64: I13 ^number 5) =>WM: (65: I13 ^reading 1103) =>WM: (66: I13 ^new false) =>WM: (67: I6 ^sonar I14) =>WM: (68: I14 ^number 6) =>WM: (69: I14 ^reading 1350) =>WM: (70: I14 ^new false) =>WM: (71: I6 ^sonar I15) =>WM: (72: I15 ^number 7) =>WM: (73: I15 ^reading 535) =>WM: (74: I15 ^new false) =>WM: (75: I6 ^sonar I16) =>WM: (76: I16 ^number 8) =>WM: (77: I16 ^reading 511) =>WM: (78: I16 ^new false) =>WM: (79: I6 ^sonar I17) =>WM: (80: I17 ^number 9) =>WM: (81: I17 ^reading 680) =>WM: (82: I17 ^new false) =>WM: (83: I6 ^sonar I18) =>WM: (84: I18 ^number 10) =>WM: (85: I18 ^reading 1187) =>WM: (86: I18 ^new false) =>WM: (87: I6 ^sonar I19) =>WM: (88: I19 ^number 11) =>WM: (89: I19 ^reading 2275) =>WM: (90: I19 ^new false) =>WM: (91: I6 ^sonar I20) =>WM: (92: I20 ^number 12) =>WM: (93: I20 ^reading 433) =>WM: (94: I20 ^new false) =>WM: (95: I6 ^sonar I21) =>WM: (96: I21 ^number 13) =>WM: (97: I21 ^reading 2367) =>WM: (98: I21 ^new false) =>WM: (99: I6 ^sonar I22) =>WM: (100: I22 ^number 14) =>WM: (101: I22 ^reading 850) =>WM: (102: I22 ^new false) =>WM: (103: I6 ^sonar I23) =>WM: (104: I23 ^number 15) =>WM: (105: I23 ^reading 747) =>WM: (106: I23 ^new false) =>WM: (107: I5 ^|isHeadingDone| true) =>WM: (108: I5 ^|isMoveDone| true) --- Proposal Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 1 +) Firing top-state*elaborate*timestamp --> Soar: Creating the timestamp (I2 ^run 4/24/103-16:58:511 +) Firing elaborate*init --> (S1 ^close-distance 800 +) --- Change Working Memory (IE) --- =>WM: (111: S1 ^close-distance 800) =>WM: (110: I2 ^run 4/24/103-16:58:511) =>WM: (109: I2 ^currentcycletime 1) --- Proposal Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I4 +) --- Change Working Memory (IE) --- =>WM: (112: I2 ^currentcycle I4) --- Proposal Phase --- --- Firing Productions (IE) --- Firing elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) Firing elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Firing elaborate*robot*stopped --> (S1 ^condition robot-stopped +) --- Change Working Memory (IE) --- =>WM: (115: S1 ^condition object-nearby-to-left) =>WM: (114: S1 ^condition object-nearby-to-right) =>WM: (113: S1 ^condition robot-stopped) --- Proposal Phase --- --- Firing Productions (IE) --- Firing propose*move*forward --> (O1 ^target-velocity 200 +) (O1 ^name move-forward +) (S1 ^operator O1 =) (S1 ^operator O1 +) Firing propose*move*forward --> (O2 ^target-velocity 200 +) (O2 ^name move-forward +) (S1 ^operator O2 =) (S1 ^operator O2 +) Firing propose*move*forward --> (O3 ^target-velocity 200 +) (O3 ^name move-forward +) (S1 ^operator O3 =) (S1 ^operator O3 +) Firing propose*move*forward --> (O4 ^target-velocity 200 +) (O4 ^name move-forward +) (S1 ^operator O4 =) (S1 ^operator O4 +) Firing propose*move*forward --> (O5 ^target-velocity 200 +) (O5 ^name move-forward +) (S1 ^operator O5 =) (S1 ^operator O5 +) Firing propose*move*forward --> (O6 ^target-velocity 200 +) (O6 ^name move-forward +) (S1 ^operator O6 =) (S1 ^operator O6 +) Firing propose*move*forward --> (O7 ^target-velocity 200 +) (O7 ^name move-forward +) (S1 ^operator O7 =) (S1 ^operator O7 +) --- Change Working Memory (IE) --- =>WM: (136: S1 ^operator O7 +) =>WM: (135: S1 ^operator O6 +) =>WM: (134: S1 ^operator O5 +) =>WM: (133: S1 ^operator O4 +) =>WM: (132: S1 ^operator O3 +) =>WM: (131: S1 ^operator O2 +) =>WM: (130: S1 ^operator O1 +) =>WM: (129: O7 ^target-velocity 200) =>WM: (128: O7 ^name move-forward) =>WM: (127: O6 ^target-velocity 200) =>WM: (126: O6 ^name move-forward) =>WM: (125: O5 ^target-velocity 200) =>WM: (124: O5 ^name move-forward) =>WM: (123: O4 ^target-velocity 200) =>WM: (122: O4 ^name move-forward) =>WM: (121: O3 ^target-velocity 200) =>WM: (120: O3 ^name move-forward) =>WM: (119: O2 ^target-velocity 200) =>WM: (118: O2 ^name move-forward) =>WM: (117: O1 ^target-velocity 200) =>WM: (116: O1 ^name move-forward) --- Proposal Phase --- --- Decision Phase --- =>WM: (137: S1 ^operator O2) 1: O: O2 (move-forward) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*move*forward --> (O8 ^target-velocity 200 +) (O8 ^name move-forward +) (S1 ^operator O8 =) (S1 ^operator O8 +) --- Change Working Memory (IE) --- =>WM: (140: S1 ^operator O8 +) =>WM: (139: O8 ^target-velocity 200) =>WM: (138: O8 ^name move-forward) --- Application Phase --- --- Firing Productions (PE) --- Firing apply*move*forward --> (C1 ^param1 200 + :O ) (C1 ^name |setVel| + :O ) (I3 ^command C1 + :O ) (S1 ^action moving-forward + :O ) --- Change Working Memory (PE) --- =>WM: (144: C1 ^param1 200) =>WM: (143: C1 ^name |setVel|) =>WM: (142: I3 ^command C1) =>WM: (141: S1 ^action moving-forward) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*move*forward --> (O7 ^target-velocity 200 +) (O7 ^name move-forward +) (S1 ^operator O7 =) (S1 ^operator O7 +) Retracting propose*move*forward --> (O6 ^target-velocity 200 +) (O6 ^name move-forward +) (S1 ^operator O6 =) (S1 ^operator O6 +) Retracting propose*move*forward --> (O5 ^target-velocity 200 +) (O5 ^name move-forward +) (S1 ^operator O5 =) (S1 ^operator O5 +) Retracting propose*move*forward --> (O4 ^target-velocity 200 +) (O4 ^name move-forward +) (S1 ^operator O4 =) (S1 ^operator O4 +) Retracting propose*move*forward --> (O3 ^target-velocity 200 +) (O3 ^name move-forward +) (S1 ^operator O3 =) (S1 ^operator O3 +) Retracting propose*move*forward --> (O2 ^target-velocity 200 +) (O2 ^name move-forward +) (S1 ^operator O2 =) (S1 ^operator O2 +) Retracting propose*move*forward --> (O1 ^target-velocity 200 +) (O1 ^name move-forward +) (S1 ^operator O1 =) (S1 ^operator O1 +) Retracting propose*move*forward --> (O8 ^target-velocity 200 +) (O8 ^name move-forward +) (S1 ^operator O8 =) (S1 ^operator O8 +) --- Change Working Memory (IE) --- <=WM: (130: S1 ^operator O1 +) <=WM: (131: S1 ^operator O2 +) <=WM: (137: S1 ^operator O2) <=WM: (132: S1 ^operator O3 +) <=WM: (133: S1 ^operator O4 +) <=WM: (134: S1 ^operator O5 +) <=WM: (135: S1 ^operator O6 +) <=WM: (136: S1 ^operator O7 +) <=WM: (140: S1 ^operator O8 +) <=WM: (129: O7 ^target-velocity 200) <=WM: (128: O7 ^name move-forward) <=WM: (127: O6 ^target-velocity 200) <=WM: (126: O6 ^name move-forward) <=WM: (125: O5 ^target-velocity 200) <=WM: (124: O5 ^name move-forward) <=WM: (123: O4 ^target-velocity 200) <=WM: (122: O4 ^name move-forward) <=WM: (121: O3 ^target-velocity 200) <=WM: (120: O3 ^name move-forward) <=WM: (119: O2 ^target-velocity 200) <=WM: (118: O2 ^name move-forward) <=WM: (117: O1 ^target-velocity 200) <=WM: (116: O1 ^name move-forward) <=WM: (139: O8 ^target-velocity 200) <=WM: (138: O8 ^name move-forward) --- Application Phase --- --- Firing Productions (IE) --- --- Change Working Memory (IE) --- --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (150: S2 ^quiescence t) =>WM: (149: S2 ^choices none) =>WM: (148: S2 ^impasse no-change) =>WM: (147: S2 ^attribute state) =>WM: (146: S2 ^superstate S1) =>WM: (145: S2 ^type state) 2: ==>S: S2 (state no-change) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O9 ^name wait +) (S2 ^operator O9 +) --- Change Working Memory (IE) --- =>WM: (152: S2 ^operator O9 +) =>WM: (151: O9 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (153: S2 ^operator O9) 3: O: O9 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O9 ^name wait +) (S2 ^operator O9 +) --- Change Working Memory (IE) --- <=WM: (152: S2 ^operator O9 +) <=WM: (153: S2 ^operator O9) <=WM: (151: O9 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O10 ^name wait +) (S2 ^operator O10 +) --- Change Working Memory (IE) --- =>WM: (155: S2 ^operator O10 +) =>WM: (154: O10 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (156: S2 ^operator O10) 4: O: O10 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O10 ^name wait +) (S2 ^operator O10 +) --- Change Working Memory (IE) --- <=WM: (155: S2 ^operator O10 +) <=WM: (156: S2 ^operator O10) <=WM: (154: O10 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O11 ^name wait +) (S2 ^operator O11 +) --- Change Working Memory (IE) --- =>WM: (158: S2 ^operator O11 +) =>WM: (157: O11 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (159: S2 ^operator O11) 5: O: O11 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O11 ^name wait +) (S2 ^operator O11 +) --- Change Working Memory (IE) --- <=WM: (158: S2 ^operator O11 +) <=WM: (159: S2 ^operator O11) <=WM: (157: O11 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O12 ^name wait +) (S2 ^operator O12 +) --- Change Working Memory (IE) --- =>WM: (161: S2 ^operator O12 +) =>WM: (160: O12 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (162: S2 ^operator O12) 6: O: O12 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O12 ^name wait +) (S2 ^operator O12 +) --- Change Working Memory (IE) --- <=WM: (161: S2 ^operator O12 +) <=WM: (162: S2 ^operator O12) <=WM: (160: O12 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O13 ^name wait +) (S2 ^operator O13 +) --- Change Working Memory (IE) --- =>WM: (164: S2 ^operator O13 +) =>WM: (163: O13 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (165: S2 ^operator O13) 7: O: O13 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O13 ^name wait +) (S2 ^operator O13 +) --- Change Working Memory (IE) --- <=WM: (164: S2 ^operator O13 +) <=WM: (165: S2 ^operator O13) <=WM: (163: O13 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O14 ^name wait +) (S2 ^operator O14 +) --- Change Working Memory (IE) --- =>WM: (167: S2 ^operator O14 +) =>WM: (166: O14 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (168: S2 ^operator O14) 8: O: O14 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O14 ^name wait +) (S2 ^operator O14 +) --- Change Working Memory (IE) --- <=WM: (167: S2 ^operator O14 +) <=WM: (168: S2 ^operator O14) <=WM: (166: O14 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O15 ^name wait +) (S2 ^operator O15 +) --- Change Working Memory (IE) --- =>WM: (170: S2 ^operator O15 +) =>WM: (169: O15 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (171: S2 ^operator O15) 9: O: O15 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O15 ^name wait +) (S2 ^operator O15 +) --- Change Working Memory (IE) --- <=WM: (170: S2 ^operator O15 +) <=WM: (171: S2 ^operator O15) <=WM: (169: O15 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O16 ^name wait +) (S2 ^operator O16 +) --- Change Working Memory (IE) --- =>WM: (173: S2 ^operator O16 +) =>WM: (172: O16 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (174: S2 ^operator O16) 10: O: O16 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O16 ^name wait +) (S2 ^operator O16 +) --- Change Working Memory (IE) --- <=WM: (173: S2 ^operator O16 +) <=WM: (174: S2 ^operator O16) <=WM: (172: O16 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O17 ^name wait +) (S2 ^operator O17 +) --- Change Working Memory (IE) --- =>WM: (176: S2 ^operator O17 +) =>WM: (175: O17 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (177: S2 ^operator O17) 11: O: O17 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O17 ^name wait +) (S2 ^operator O17 +) --- Change Working Memory (IE) --- <=WM: (176: S2 ^operator O17 +) <=WM: (177: S2 ^operator O17) <=WM: (175: O17 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O18 ^name wait +) (S2 ^operator O18 +) --- Change Working Memory (IE) --- =>WM: (179: S2 ^operator O18 +) =>WM: (178: O18 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (180: S2 ^operator O18) 12: O: O18 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O18 ^name wait +) (S2 ^operator O18 +) --- Change Working Memory (IE) --- <=WM: (179: S2 ^operator O18 +) <=WM: (180: S2 ^operator O18) <=WM: (178: O18 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O19 ^name wait +) (S2 ^operator O19 +) --- Change Working Memory (IE) --- =>WM: (182: S2 ^operator O19 +) =>WM: (181: O19 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (183: S2 ^operator O19) 13: O: O19 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O19 ^name wait +) (S2 ^operator O19 +) --- Change Working Memory (IE) --- <=WM: (182: S2 ^operator O19 +) <=WM: (183: S2 ^operator O19) <=WM: (181: O19 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O20 ^name wait +) (S2 ^operator O20 +) --- Change Working Memory (IE) --- =>WM: (185: S2 ^operator O20 +) =>WM: (184: O20 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (186: S2 ^operator O20) 14: O: O20 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O20 ^name wait +) (S2 ^operator O20 +) --- Change Working Memory (IE) --- <=WM: (185: S2 ^operator O20 +) <=WM: (186: S2 ^operator O20) <=WM: (184: O20 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O21 ^name wait +) (S2 ^operator O21 +) --- Change Working Memory (IE) --- =>WM: (188: S2 ^operator O21 +) =>WM: (187: O21 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (189: S2 ^operator O21) 15: O: O21 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O21 ^name wait +) (S2 ^operator O21 +) --- Change Working Memory (IE) --- <=WM: (188: S2 ^operator O21 +) <=WM: (189: S2 ^operator O21) <=WM: (187: O21 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O22 ^name wait +) (S2 ^operator O22 +) --- Change Working Memory (IE) --- =>WM: (191: S2 ^operator O22 +) =>WM: (190: O22 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (192: S2 ^operator O22) 16: O: O22 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O22 ^name wait +) (S2 ^operator O22 +) --- Change Working Memory (IE) --- <=WM: (191: S2 ^operator O22 +) <=WM: (192: S2 ^operator O22) <=WM: (190: O22 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O23 ^name wait +) (S2 ^operator O23 +) --- Change Working Memory (IE) --- =>WM: (194: S2 ^operator O23 +) =>WM: (193: O23 ^name wait) --- Application Phase --- --- Output Phase --- =>WM: (195: C1 ^status complete) --- Input Phase --- =>WM: (196: I2 ^datacycle I24) =>WM: (197: I24 ^timestamp 186) =>WM: (198: I24 ^robot I25) =>WM: (199: I24 ^sonar I26) =>WM: (200: I24 ^vision I27) =>WM: (201: I25 ^|X| -3.87596) =>WM: (202: I25 ^|Y| 0.0178373) =>WM: (203: I25 ^|Th| -0.0878917) =>WM: (204: I25 ^|Vel| 0.) =>WM: (205: I25 ^|RotVel| 0.) =>WM: (206: I25 ^|RobotRadius| 250.) =>WM: (207: I25 ^|RobotDiagonal| 120.) =>WM: (208: I25 ^|BatteryVoltage| 12.3) =>WM: (209: I25 ^|LeftVel| 0.) =>WM: (210: I25 ^|RightVel| 0.) =>WM: (211: I25 ^|StallValue| 0) =>WM: (212: I25 ^|isLeftMotorStalled| false) =>WM: (213: I25 ^|isRightMotorStalled| false) =>WM: (214: I25 ^|Control| -0.175783) =>WM: (215: I25 ^|Flags| 3) =>WM: (216: I25 ^|areMotorsEnabled| true) =>WM: (217: I25 ^|areSonarsEnabled| true) =>WM: (218: I25 ^|MaxTransVel| 2200.) =>WM: (219: I25 ^|MaxRotVel| 500.) =>WM: (220: I25 ^|MoveDoneDist| 40.) =>WM: (221: I25 ^|DirMotPrecTime| 0.) =>WM: (222: I25 ^|FrontBump0| 0.) =>WM: (223: I25 ^|FrontBump1| 0.) =>WM: (224: I25 ^|FrontBump2| 0.) =>WM: (225: I25 ^|FrontBump3| 0.) =>WM: (226: I25 ^|FrontBump4| 0.) =>WM: (227: I25 ^|RearBump0| 0.) =>WM: (228: I25 ^|RearBump1| 0.) =>WM: (229: I25 ^|RearBump2| 0.) =>WM: (230: I25 ^|RearBump3| 0.) =>WM: (231: I25 ^|RearBump4| 0.) =>WM: (232: I26 ^sonar I28) =>WM: (233: I28 ^number 0) =>WM: (234: I28 ^reading 736) =>WM: (235: I28 ^new false) =>WM: (236: I26 ^sonar I29) =>WM: (237: I29 ^number 1) =>WM: (238: I29 ^reading 1883) =>WM: (239: I29 ^new false) =>WM: (240: I26 ^sonar I30) =>WM: (241: I30 ^number 2) =>WM: (242: I30 ^reading 1250) =>WM: (243: I30 ^new false) =>WM: (244: I26 ^sonar I31) =>WM: (245: I31 ^number 3) =>WM: (246: I31 ^reading 960) =>WM: (247: I31 ^new false) =>WM: (248: I26 ^sonar I32) =>WM: (249: I32 ^number 4) =>WM: (250: I32 ^reading 939) =>WM: (251: I32 ^new false) =>WM: (252: I26 ^sonar I33) =>WM: (253: I33 ^number 5) =>WM: (254: I33 ^reading 1103) =>WM: (255: I33 ^new false) =>WM: (256: I26 ^sonar I34) =>WM: (257: I34 ^number 6) =>WM: (258: I34 ^reading 1350) =>WM: (259: I34 ^new false) =>WM: (260: I26 ^sonar I35) =>WM: (261: I35 ^number 7) =>WM: (262: I35 ^reading 535) =>WM: (263: I35 ^new false) =>WM: (264: I26 ^sonar I36) =>WM: (265: I36 ^number 8) =>WM: (266: I36 ^reading 512) =>WM: (267: I36 ^new false) =>WM: (268: I26 ^sonar I37) =>WM: (269: I37 ^number 9) =>WM: (270: I37 ^reading 680) =>WM: (271: I37 ^new false) =>WM: (272: I26 ^sonar I38) =>WM: (273: I38 ^number 10) =>WM: (274: I38 ^reading 1187) =>WM: (275: I38 ^new false) =>WM: (276: I26 ^sonar I39) =>WM: (277: I39 ^number 11) =>WM: (278: I39 ^reading 2275) =>WM: (279: I39 ^new false) =>WM: (280: I26 ^sonar I40) =>WM: (281: I40 ^number 12) =>WM: (282: I40 ^reading 433) =>WM: (283: I40 ^new false) =>WM: (284: I26 ^sonar I41) =>WM: (285: I41 ^number 13) =>WM: (286: I41 ^reading 2361) =>WM: (287: I41 ^new false) =>WM: (288: I26 ^sonar I42) =>WM: (289: I42 ^number 14) =>WM: (290: I42 ^reading 850) =>WM: (291: I42 ^new false) =>WM: (292: I26 ^sonar I43) =>WM: (293: I43 ^number 15) =>WM: (294: I43 ^reading 747) =>WM: (295: I43 ^new false) =>WM: (296: I25 ^|isHeadingDone| true) =>WM: (297: I25 ^|isMoveDone| true) --- Proposal Phase --- --- Decision Phase --- =>WM: (298: S2 ^operator O23) 17: O: O23 (wait) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 186 +) Retracting elaborate*current-cycle-time --> (I2 ^currentcycletime 1 +) --- Change Working Memory (IE) --- =>WM: (299: I2 ^currentcycletime 186) <=WM: (109: I2 ^currentcycletime 1) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I24 +) Retracting elaborate*current-cycle --> (I2 ^currentcycle I4 +) --- Change Working Memory (IE) --- =>WM: (300: I2 ^currentcycle I24) <=WM: (112: I2 ^currentcycle I4) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) Firing elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Firing elaborate*robot*stopped --> (S1 ^condition robot-stopped +) Retracting elaborate*robot*stopped --> (S1 ^condition robot-stopped +) Retracting elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Retracting elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) --- Change Working Memory (IE) --- --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O23 ^name wait +) (S2 ^operator O23 +) --- Change Working Memory (IE) --- <=WM: (194: S2 ^operator O23 +) <=WM: (298: S2 ^operator O23) <=WM: (193: O23 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O24 ^name wait +) (S2 ^operator O24 +) --- Change Working Memory (IE) --- =>WM: (302: S2 ^operator O24 +) =>WM: (301: O24 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (303: S2 ^operator O24) 18: O: O24 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O24 ^name wait +) (S2 ^operator O24 +) --- Change Working Memory (IE) --- <=WM: (302: S2 ^operator O24 +) <=WM: (303: S2 ^operator O24) <=WM: (301: O24 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O25 ^name wait +) (S2 ^operator O25 +) --- Change Working Memory (IE) --- =>WM: (305: S2 ^operator O25 +) =>WM: (304: O25 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (306: S2 ^operator O25) 19: O: O25 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O25 ^name wait +) (S2 ^operator O25 +) --- Change Working Memory (IE) --- <=WM: (305: S2 ^operator O25 +) <=WM: (306: S2 ^operator O25) <=WM: (304: O25 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O26 ^name wait +) (S2 ^operator O26 +) --- Change Working Memory (IE) --- =>WM: (308: S2 ^operator O26 +) =>WM: (307: O26 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (309: S2 ^operator O26) 20: O: O26 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O26 ^name wait +) (S2 ^operator O26 +) --- Change Working Memory (IE) --- <=WM: (308: S2 ^operator O26 +) <=WM: (309: S2 ^operator O26) <=WM: (307: O26 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O27 ^name wait +) (S2 ^operator O27 +) --- Change Working Memory (IE) --- =>WM: (311: S2 ^operator O27 +) =>WM: (310: O27 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (312: S2 ^operator O27) 21: O: O27 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O27 ^name wait +) (S2 ^operator O27 +) --- Change Working Memory (IE) --- <=WM: (311: S2 ^operator O27 +) <=WM: (312: S2 ^operator O27) <=WM: (310: O27 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O28 ^name wait +) (S2 ^operator O28 +) --- Change Working Memory (IE) --- =>WM: (314: S2 ^operator O28 +) =>WM: (313: O28 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (315: S2 ^operator O28) 22: O: O28 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O28 ^name wait +) (S2 ^operator O28 +) --- Change Working Memory (IE) --- <=WM: (314: S2 ^operator O28 +) <=WM: (315: S2 ^operator O28) <=WM: (313: O28 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O29 ^name wait +) (S2 ^operator O29 +) --- Change Working Memory (IE) --- =>WM: (317: S2 ^operator O29 +) =>WM: (316: O29 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (318: S2 ^operator O29) 23: O: O29 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O29 ^name wait +) (S2 ^operator O29 +) --- Change Working Memory (IE) --- <=WM: (317: S2 ^operator O29 +) <=WM: (318: S2 ^operator O29) <=WM: (316: O29 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O30 ^name wait +) (S2 ^operator O30 +) --- Change Working Memory (IE) --- =>WM: (320: S2 ^operator O30 +) =>WM: (319: O30 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (321: S2 ^operator O30) 24: O: O30 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O30 ^name wait +) (S2 ^operator O30 +) --- Change Working Memory (IE) --- <=WM: (320: S2 ^operator O30 +) <=WM: (321: S2 ^operator O30) <=WM: (319: O30 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O31 ^name wait +) (S2 ^operator O31 +) --- Change Working Memory (IE) --- =>WM: (323: S2 ^operator O31 +) =>WM: (322: O31 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (324: S2 ^operator O31) 25: O: O31 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O31 ^name wait +) (S2 ^operator O31 +) --- Change Working Memory (IE) --- <=WM: (323: S2 ^operator O31 +) <=WM: (324: S2 ^operator O31) <=WM: (322: O31 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O32 ^name wait +) (S2 ^operator O32 +) --- Change Working Memory (IE) --- =>WM: (326: S2 ^operator O32 +) =>WM: (325: O32 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (327: S2 ^operator O32) 26: O: O32 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O32 ^name wait +) (S2 ^operator O32 +) --- Change Working Memory (IE) --- <=WM: (326: S2 ^operator O32 +) <=WM: (327: S2 ^operator O32) <=WM: (325: O32 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O33 ^name wait +) (S2 ^operator O33 +) --- Change Working Memory (IE) --- =>WM: (329: S2 ^operator O33 +) =>WM: (328: O33 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (330: S2 ^operator O33) 27: O: O33 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O33 ^name wait +) (S2 ^operator O33 +) --- Change Working Memory (IE) --- <=WM: (329: S2 ^operator O33 +) <=WM: (330: S2 ^operator O33) <=WM: (328: O33 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O34 ^name wait +) (S2 ^operator O34 +) --- Change Working Memory (IE) --- =>WM: (332: S2 ^operator O34 +) =>WM: (331: O34 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (333: S2 ^operator O34) 28: O: O34 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O34 ^name wait +) (S2 ^operator O34 +) --- Change Working Memory (IE) --- <=WM: (332: S2 ^operator O34 +) <=WM: (333: S2 ^operator O34) <=WM: (331: O34 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O35 ^name wait +) (S2 ^operator O35 +) --- Change Working Memory (IE) --- =>WM: (335: S2 ^operator O35 +) =>WM: (334: O35 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (336: S2 ^operator O35) 29: O: O35 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O35 ^name wait +) (S2 ^operator O35 +) --- Change Working Memory (IE) --- <=WM: (335: S2 ^operator O35 +) <=WM: (336: S2 ^operator O35) <=WM: (334: O35 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O36 ^name wait +) (S2 ^operator O36 +) --- Change Working Memory (IE) --- =>WM: (338: S2 ^operator O36 +) =>WM: (337: O36 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (339: S2 ^operator O36) 30: O: O36 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O36 ^name wait +) (S2 ^operator O36 +) --- Change Working Memory (IE) --- <=WM: (338: S2 ^operator O36 +) <=WM: (339: S2 ^operator O36) <=WM: (337: O36 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O37 ^name wait +) (S2 ^operator O37 +) --- Change Working Memory (IE) --- =>WM: (341: S2 ^operator O37 +) =>WM: (340: O37 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (342: S2 ^operator O37) 31: O: O37 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O37 ^name wait +) (S2 ^operator O37 +) --- Change Working Memory (IE) --- <=WM: (341: S2 ^operator O37 +) <=WM: (342: S2 ^operator O37) <=WM: (340: O37 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O38 ^name wait +) (S2 ^operator O38 +) --- Change Working Memory (IE) --- =>WM: (344: S2 ^operator O38 +) =>WM: (343: O38 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (345: S2 ^operator O38) 32: O: O38 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O38 ^name wait +) (S2 ^operator O38 +) --- Change Working Memory (IE) --- <=WM: (344: S2 ^operator O38 +) <=WM: (345: S2 ^operator O38) <=WM: (343: O38 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O39 ^name wait +) (S2 ^operator O39 +) --- Change Working Memory (IE) --- =>WM: (347: S2 ^operator O39 +) =>WM: (346: O39 ^name wait) --- Application Phase --- --- Output Phase --- =>WM: (348: C1 ^status complete) --- Input Phase --- =>WM: (349: I2 ^datacycle I44) =>WM: (350: I44 ^timestamp 345) =>WM: (351: I44 ^robot I45) =>WM: (352: I44 ^sonar I46) =>WM: (353: I44 ^vision I47) =>WM: (354: I45 ^|X| -3.87596) =>WM: (355: I45 ^|Y| 0.0178373) =>WM: (356: I45 ^|Th| -0.0878917) =>WM: (357: I45 ^|Vel| 0.) =>WM: (358: I45 ^|RotVel| 0.) =>WM: (359: I45 ^|RobotRadius| 250.) =>WM: (360: I45 ^|RobotDiagonal| 120.) =>WM: (361: I45 ^|BatteryVoltage| 12.3) =>WM: (362: I45 ^|LeftVel| 0.) =>WM: (363: I45 ^|RightVel| 0.) =>WM: (364: I45 ^|StallValue| 0) =>WM: (365: I45 ^|isLeftMotorStalled| false) =>WM: (366: I45 ^|isRightMotorStalled| false) =>WM: (367: I45 ^|Control| -0.175783) =>WM: (368: I45 ^|Flags| 3) =>WM: (369: I45 ^|areMotorsEnabled| true) =>WM: (370: I45 ^|areSonarsEnabled| true) =>WM: (371: I45 ^|MaxTransVel| 2200.) =>WM: (372: I45 ^|MaxRotVel| 500.) =>WM: (373: I45 ^|MoveDoneDist| 40.) =>WM: (374: I45 ^|DirMotPrecTime| 0.) =>WM: (375: I45 ^|FrontBump0| 0.) =>WM: (376: I45 ^|FrontBump1| 0.) =>WM: (377: I45 ^|FrontBump2| 0.) =>WM: (378: I45 ^|FrontBump3| 0.) =>WM: (379: I45 ^|FrontBump4| 0.) =>WM: (380: I45 ^|RearBump0| 0.) =>WM: (381: I45 ^|RearBump1| 0.) =>WM: (382: I45 ^|RearBump2| 0.) =>WM: (383: I45 ^|RearBump3| 0.) =>WM: (384: I45 ^|RearBump4| 0.) =>WM: (385: I46 ^sonar I48) =>WM: (386: I48 ^number 0) =>WM: (387: I48 ^reading 736) =>WM: (388: I48 ^new false) =>WM: (389: I46 ^sonar I49) =>WM: (390: I49 ^number 1) =>WM: (391: I49 ^reading 2138) =>WM: (392: I49 ^new false) =>WM: (393: I46 ^sonar I50) =>WM: (394: I50 ^number 2) =>WM: (395: I50 ^reading 1250) =>WM: (396: I50 ^new false) =>WM: (397: I46 ^sonar I51) =>WM: (398: I51 ^number 3) =>WM: (399: I51 ^reading 959) =>WM: (400: I51 ^new false) =>WM: (401: I46 ^sonar I52) =>WM: (402: I52 ^number 4) =>WM: (403: I52 ^reading 939) =>WM: (404: I52 ^new false) =>WM: (405: I46 ^sonar I53) =>WM: (406: I53 ^number 5) =>WM: (407: I53 ^reading 1103) =>WM: (408: I53 ^new false) =>WM: (409: I46 ^sonar I54) =>WM: (410: I54 ^number 6) =>WM: (411: I54 ^reading 1346) =>WM: (412: I54 ^new false) =>WM: (413: I46 ^sonar I55) =>WM: (414: I55 ^number 7) =>WM: (415: I55 ^reading 536) =>WM: (416: I55 ^new false) =>WM: (417: I46 ^sonar I56) =>WM: (418: I56 ^number 8) =>WM: (419: I56 ^reading 512) =>WM: (420: I56 ^new false) =>WM: (421: I46 ^sonar I57) =>WM: (422: I57 ^number 9) =>WM: (423: I57 ^reading 686) =>WM: (424: I57 ^new false) =>WM: (425: I46 ^sonar I58) =>WM: (426: I58 ^number 10) =>WM: (427: I58 ^reading 1187) =>WM: (428: I58 ^new false) =>WM: (429: I46 ^sonar I59) =>WM: (430: I59 ^number 11) =>WM: (431: I59 ^reading 459) =>WM: (432: I59 ^new false) =>WM: (433: I46 ^sonar I60) =>WM: (434: I60 ^number 12) =>WM: (435: I60 ^reading 433) =>WM: (436: I60 ^new false) =>WM: (437: I46 ^sonar I61) =>WM: (438: I61 ^number 13) =>WM: (439: I61 ^reading 2210) =>WM: (440: I61 ^new false) =>WM: (441: I46 ^sonar I62) =>WM: (442: I62 ^number 14) =>WM: (443: I62 ^reading 837) =>WM: (444: I62 ^new false) =>WM: (445: I46 ^sonar I63) =>WM: (446: I63 ^number 15) =>WM: (447: I63 ^reading 747) =>WM: (448: I63 ^new false) =>WM: (449: I45 ^|isHeadingDone| true) =>WM: (450: I45 ^|isMoveDone| true) --- Proposal Phase --- --- Decision Phase --- =>WM: (451: S2 ^operator O39) 33: O: O39 (wait) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 345 +) Retracting elaborate*current-cycle-time --> (I2 ^currentcycletime 186 +) --- Change Working Memory (IE) --- =>WM: (452: I2 ^currentcycletime 345) <=WM: (299: I2 ^currentcycletime 186) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I44 +) Retracting elaborate*current-cycle --> (I2 ^currentcycle I24 +) --- Change Working Memory (IE) --- =>WM: (453: I2 ^currentcycle I44) <=WM: (300: I2 ^currentcycle I24) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) Firing elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Firing elaborate*robot*stopped --> (S1 ^condition robot-stopped +) Retracting elaborate*robot*stopped --> (S1 ^condition robot-stopped +) Retracting elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Retracting elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) --- Change Working Memory (IE) --- --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O39 ^name wait +) (S2 ^operator O39 +) --- Change Working Memory (IE) --- <=WM: (347: S2 ^operator O39 +) <=WM: (451: S2 ^operator O39) <=WM: (346: O39 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O40 ^name wait +) (S2 ^operator O40 +) --- Change Working Memory (IE) --- =>WM: (455: S2 ^operator O40 +) =>WM: (454: O40 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (456: S2 ^operator O40) 34: O: O40 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O40 ^name wait +) (S2 ^operator O40 +) --- Change Working Memory (IE) --- <=WM: (455: S2 ^operator O40 +) <=WM: (456: S2 ^operator O40) <=WM: (454: O40 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O41 ^name wait +) (S2 ^operator O41 +) --- Change Working Memory (IE) --- =>WM: (458: S2 ^operator O41 +) =>WM: (457: O41 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (459: S2 ^operator O41) 35: O: O41 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O41 ^name wait +) (S2 ^operator O41 +) --- Change Working Memory (IE) --- <=WM: (458: S2 ^operator O41 +) <=WM: (459: S2 ^operator O41) <=WM: (457: O41 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O42 ^name wait +) (S2 ^operator O42 +) --- Change Working Memory (IE) --- =>WM: (461: S2 ^operator O42 +) =>WM: (460: O42 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (462: S2 ^operator O42) 36: O: O42 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O42 ^name wait +) (S2 ^operator O42 +) --- Change Working Memory (IE) --- <=WM: (461: S2 ^operator O42 +) <=WM: (462: S2 ^operator O42) <=WM: (460: O42 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O43 ^name wait +) (S2 ^operator O43 +) --- Change Working Memory (IE) --- =>WM: (464: S2 ^operator O43 +) =>WM: (463: O43 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (465: S2 ^operator O43) 37: O: O43 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O43 ^name wait +) (S2 ^operator O43 +) --- Change Working Memory (IE) --- <=WM: (464: S2 ^operator O43 +) <=WM: (465: S2 ^operator O43) <=WM: (463: O43 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O44 ^name wait +) (S2 ^operator O44 +) --- Change Working Memory (IE) --- =>WM: (467: S2 ^operator O44 +) =>WM: (466: O44 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (468: S2 ^operator O44) 38: O: O44 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O44 ^name wait +) (S2 ^operator O44 +) --- Change Working Memory (IE) --- <=WM: (467: S2 ^operator O44 +) <=WM: (468: S2 ^operator O44) <=WM: (466: O44 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O45 ^name wait +) (S2 ^operator O45 +) --- Change Working Memory (IE) --- =>WM: (470: S2 ^operator O45 +) =>WM: (469: O45 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (471: S2 ^operator O45) 39: O: O45 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O45 ^name wait +) (S2 ^operator O45 +) --- Change Working Memory (IE) --- <=WM: (470: S2 ^operator O45 +) <=WM: (471: S2 ^operator O45) <=WM: (469: O45 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O46 ^name wait +) (S2 ^operator O46 +) --- Change Working Memory (IE) --- =>WM: (473: S2 ^operator O46 +) =>WM: (472: O46 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (474: S2 ^operator O46) 40: O: O46 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O46 ^name wait +) (S2 ^operator O46 +) --- Change Working Memory (IE) --- <=WM: (473: S2 ^operator O46 +) <=WM: (474: S2 ^operator O46) <=WM: (472: O46 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O47 ^name wait +) (S2 ^operator O47 +) --- Change Working Memory (IE) --- =>WM: (476: S2 ^operator O47 +) =>WM: (475: O47 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (477: S2 ^operator O47) 41: O: O47 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O47 ^name wait +) (S2 ^operator O47 +) --- Change Working Memory (IE) --- <=WM: (476: S2 ^operator O47 +) <=WM: (477: S2 ^operator O47) <=WM: (475: O47 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O48 ^name wait +) (S2 ^operator O48 +) --- Change Working Memory (IE) --- =>WM: (479: S2 ^operator O48 +) =>WM: (478: O48 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (480: S2 ^operator O48) 42: O: O48 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O48 ^name wait +) (S2 ^operator O48 +) --- Change Working Memory (IE) --- <=WM: (479: S2 ^operator O48 +) <=WM: (480: S2 ^operator O48) <=WM: (478: O48 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O49 ^name wait +) (S2 ^operator O49 +) --- Change Working Memory (IE) --- =>WM: (482: S2 ^operator O49 +) =>WM: (481: O49 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (483: S2 ^operator O49) 43: O: O49 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O49 ^name wait +) (S2 ^operator O49 +) --- Change Working Memory (IE) --- <=WM: (482: S2 ^operator O49 +) <=WM: (483: S2 ^operator O49) <=WM: (481: O49 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O50 ^name wait +) (S2 ^operator O50 +) --- Change Working Memory (IE) --- =>WM: (485: S2 ^operator O50 +) =>WM: (484: O50 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (486: S2 ^operator O50) 44: O: O50 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O50 ^name wait +) (S2 ^operator O50 +) --- Change Working Memory (IE) --- <=WM: (485: S2 ^operator O50 +) <=WM: (486: S2 ^operator O50) <=WM: (484: O50 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O51 ^name wait +) (S2 ^operator O51 +) --- Change Working Memory (IE) --- =>WM: (488: S2 ^operator O51 +) =>WM: (487: O51 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (489: S2 ^operator O51) 45: O: O51 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O51 ^name wait +) (S2 ^operator O51 +) --- Change Working Memory (IE) --- <=WM: (488: S2 ^operator O51 +) <=WM: (489: S2 ^operator O51) <=WM: (487: O51 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O52 ^name wait +) (S2 ^operator O52 +) --- Change Working Memory (IE) --- =>WM: (491: S2 ^operator O52 +) =>WM: (490: O52 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (492: S2 ^operator O52) 46: O: O52 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O52 ^name wait +) (S2 ^operator O52 +) --- Change Working Memory (IE) --- <=WM: (491: S2 ^operator O52 +) <=WM: (492: S2 ^operator O52) <=WM: (490: O52 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O53 ^name wait +) (S2 ^operator O53 +) --- Change Working Memory (IE) --- =>WM: (494: S2 ^operator O53 +) =>WM: (493: O53 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (495: S2 ^operator O53) 47: O: O53 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O53 ^name wait +) (S2 ^operator O53 +) --- Change Working Memory (IE) --- <=WM: (494: S2 ^operator O53 +) <=WM: (495: S2 ^operator O53) <=WM: (493: O53 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O54 ^name wait +) (S2 ^operator O54 +) --- Change Working Memory (IE) --- =>WM: (497: S2 ^operator O54 +) =>WM: (496: O54 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (498: S2 ^operator O54) 48: O: O54 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O54 ^name wait +) (S2 ^operator O54 +) --- Change Working Memory (IE) --- <=WM: (497: S2 ^operator O54 +) <=WM: (498: S2 ^operator O54) <=WM: (496: O54 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O55 ^name wait +) (S2 ^operator O55 +) --- Change Working Memory (IE) --- =>WM: (500: S2 ^operator O55 +) =>WM: (499: O55 ^name wait) --- Application Phase --- --- Output Phase --- =>WM: (501: C1 ^status complete) --- Input Phase --- =>WM: (502: I2 ^datacycle I64) =>WM: (503: I64 ^timestamp 515) =>WM: (504: I64 ^robot I65) =>WM: (505: I64 ^sonar I66) =>WM: (506: I64 ^vision I67) =>WM: (507: I65 ^|X| -3.87596) =>WM: (508: I65 ^|Y| 0.0178373) =>WM: (509: I65 ^|Th| -0.0878917) =>WM: (510: I65 ^|Vel| 1.) =>WM: (511: I65 ^|RotVel| 0.) =>WM: (512: I65 ^|RobotRadius| 250.) =>WM: (513: I65 ^|RobotDiagonal| 120.) =>WM: (514: I65 ^|BatteryVoltage| 12.3) =>WM: (515: I65 ^|LeftVel| 1.) =>WM: (516: I65 ^|RightVel| 1.) =>WM: (517: I65 ^|StallValue| 0) =>WM: (518: I65 ^|isLeftMotorStalled| false) =>WM: (519: I65 ^|isRightMotorStalled| false) =>WM: (520: I65 ^|Control| 0.) =>WM: (521: I65 ^|Flags| 3) =>WM: (522: I65 ^|areMotorsEnabled| true) =>WM: (523: I65 ^|areSonarsEnabled| true) =>WM: (524: I65 ^|MaxTransVel| 2200.) =>WM: (525: I65 ^|MaxRotVel| 500.) =>WM: (526: I65 ^|MoveDoneDist| 40.) =>WM: (527: I65 ^|DirMotPrecTime| 0.) =>WM: (528: I65 ^|FrontBump0| 0.) =>WM: (529: I65 ^|FrontBump1| 0.) =>WM: (530: I65 ^|FrontBump2| 0.) =>WM: (531: I65 ^|FrontBump3| 0.) =>WM: (532: I65 ^|FrontBump4| 0.) =>WM: (533: I65 ^|RearBump0| 0.) =>WM: (534: I65 ^|RearBump1| 0.) =>WM: (535: I65 ^|RearBump2| 0.) =>WM: (536: I65 ^|RearBump3| 0.) =>WM: (537: I65 ^|RearBump4| 0.) =>WM: (538: I66 ^sonar I68) =>WM: (539: I68 ^number 0) =>WM: (540: I68 ^reading 736) =>WM: (541: I68 ^new false) =>WM: (542: I66 ^sonar I69) =>WM: (543: I69 ^number 1) =>WM: (544: I69 ^reading 2138) =>WM: (545: I69 ^new false) =>WM: (546: I66 ^sonar I70) =>WM: (547: I70 ^number 2) =>WM: (548: I70 ^reading 1250) =>WM: (549: I70 ^new false) =>WM: (550: I66 ^sonar I71) =>WM: (551: I71 ^number 3) =>WM: (552: I71 ^reading 959) =>WM: (553: I71 ^new false) =>WM: (554: I66 ^sonar I72) =>WM: (555: I72 ^number 4) =>WM: (556: I72 ^reading 939) =>WM: (557: I72 ^new false) =>WM: (558: I66 ^sonar I73) =>WM: (559: I73 ^number 5) =>WM: (560: I73 ^reading 1103) =>WM: (561: I73 ^new false) =>WM: (562: I66 ^sonar I74) =>WM: (563: I74 ^number 6) =>WM: (564: I74 ^reading 1346) =>WM: (565: I74 ^new false) =>WM: (566: I66 ^sonar I75) =>WM: (567: I75 ^number 7) =>WM: (568: I75 ^reading 536) =>WM: (569: I75 ^new false) =>WM: (570: I66 ^sonar I76) =>WM: (571: I76 ^number 8) =>WM: (572: I76 ^reading 516) =>WM: (573: I76 ^new false) =>WM: (574: I66 ^sonar I77) =>WM: (575: I77 ^number 9) =>WM: (576: I77 ^reading 686) =>WM: (577: I77 ^new false) =>WM: (578: I66 ^sonar I78) =>WM: (579: I78 ^number 10) =>WM: (580: I78 ^reading 1186) =>WM: (581: I78 ^new false) =>WM: (582: I66 ^sonar I79) =>WM: (583: I79 ^number 11) =>WM: (584: I79 ^reading 459) =>WM: (585: I79 ^new false) =>WM: (586: I66 ^sonar I80) =>WM: (587: I80 ^number 12) =>WM: (588: I80 ^reading 434) =>WM: (589: I80 ^new false) =>WM: (590: I66 ^sonar I81) =>WM: (591: I81 ^number 13) =>WM: (592: I81 ^reading 2210) =>WM: (593: I81 ^new false) =>WM: (594: I66 ^sonar I82) =>WM: (595: I82 ^number 14) =>WM: (596: I82 ^reading 837) =>WM: (597: I82 ^new false) =>WM: (598: I66 ^sonar I83) =>WM: (599: I83 ^number 15) =>WM: (600: I83 ^reading 747) =>WM: (601: I83 ^new false) =>WM: (602: I65 ^|isHeadingDone| true) =>WM: (603: I65 ^|isMoveDone| true) --- Proposal Phase --- --- Decision Phase --- =>WM: (604: S2 ^operator O55) 49: O: O55 (wait) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 515 +) Retracting elaborate*current-cycle-time --> (I2 ^currentcycletime 345 +) --- Change Working Memory (IE) --- =>WM: (605: I2 ^currentcycletime 515) <=WM: (452: I2 ^currentcycletime 345) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I64 +) Retracting elaborate*current-cycle --> (I2 ^currentcycle I44 +) --- Change Working Memory (IE) --- =>WM: (606: I2 ^currentcycle I64) <=WM: (453: I2 ^currentcycle I44) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) Firing elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Firing elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*robot*stopped --> (S1 ^condition robot-stopped +) Retracting elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Retracting elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) --- Change Working Memory (IE) --- =>WM: (607: S1 ^condition robot-moving) <=WM: (113: S1 ^condition robot-stopped) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O55 ^name wait +) (S2 ^operator O55 +) --- Change Working Memory (IE) --- <=WM: (500: S2 ^operator O55 +) <=WM: (604: S2 ^operator O55) <=WM: (499: O55 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O56 ^name wait +) (S2 ^operator O56 +) --- Change Working Memory (IE) --- =>WM: (609: S2 ^operator O56 +) =>WM: (608: O56 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (610: S2 ^operator O56) 50: O: O56 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O56 ^name wait +) (S2 ^operator O56 +) --- Change Working Memory (IE) --- <=WM: (609: S2 ^operator O56 +) <=WM: (610: S2 ^operator O56) <=WM: (608: O56 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O57 ^name wait +) (S2 ^operator O57 +) --- Change Working Memory (IE) --- =>WM: (612: S2 ^operator O57 +) =>WM: (611: O57 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (613: S2 ^operator O57) 51: O: O57 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O57 ^name wait +) (S2 ^operator O57 +) --- Change Working Memory (IE) --- <=WM: (612: S2 ^operator O57 +) <=WM: (613: S2 ^operator O57) <=WM: (611: O57 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O58 ^name wait +) (S2 ^operator O58 +) --- Change Working Memory (IE) --- =>WM: (615: S2 ^operator O58 +) =>WM: (614: O58 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (616: S2 ^operator O58) 52: O: O58 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O58 ^name wait +) (S2 ^operator O58 +) --- Change Working Memory (IE) --- <=WM: (615: S2 ^operator O58 +) <=WM: (616: S2 ^operator O58) <=WM: (614: O58 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O59 ^name wait +) (S2 ^operator O59 +) --- Change Working Memory (IE) --- =>WM: (618: S2 ^operator O59 +) =>WM: (617: O59 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (619: S2 ^operator O59) 53: O: O59 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O59 ^name wait +) (S2 ^operator O59 +) --- Change Working Memory (IE) --- <=WM: (618: S2 ^operator O59 +) <=WM: (619: S2 ^operator O59) <=WM: (617: O59 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O60 ^name wait +) (S2 ^operator O60 +) --- Change Working Memory (IE) --- =>WM: (621: S2 ^operator O60 +) =>WM: (620: O60 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (622: S2 ^operator O60) 54: O: O60 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O60 ^name wait +) (S2 ^operator O60 +) --- Change Working Memory (IE) --- <=WM: (621: S2 ^operator O60 +) <=WM: (622: S2 ^operator O60) <=WM: (620: O60 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O61 ^name wait +) (S2 ^operator O61 +) --- Change Working Memory (IE) --- =>WM: (624: S2 ^operator O61 +) =>WM: (623: O61 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (625: S2 ^operator O61) 55: O: O61 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O61 ^name wait +) (S2 ^operator O61 +) --- Change Working Memory (IE) --- <=WM: (624: S2 ^operator O61 +) <=WM: (625: S2 ^operator O61) <=WM: (623: O61 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O62 ^name wait +) (S2 ^operator O62 +) --- Change Working Memory (IE) --- =>WM: (627: S2 ^operator O62 +) =>WM: (626: O62 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (628: S2 ^operator O62) 56: O: O62 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O62 ^name wait +) (S2 ^operator O62 +) --- Change Working Memory (IE) --- <=WM: (627: S2 ^operator O62 +) <=WM: (628: S2 ^operator O62) <=WM: (626: O62 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O63 ^name wait +) (S2 ^operator O63 +) --- Change Working Memory (IE) --- =>WM: (630: S2 ^operator O63 +) =>WM: (629: O63 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (631: S2 ^operator O63) 57: O: O63 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O63 ^name wait +) (S2 ^operator O63 +) --- Change Working Memory (IE) --- <=WM: (630: S2 ^operator O63 +) <=WM: (631: S2 ^operator O63) <=WM: (629: O63 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O64 ^name wait +) (S2 ^operator O64 +) --- Change Working Memory (IE) --- =>WM: (633: S2 ^operator O64 +) =>WM: (632: O64 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (634: S2 ^operator O64) 58: O: O64 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O64 ^name wait +) (S2 ^operator O64 +) --- Change Working Memory (IE) --- <=WM: (633: S2 ^operator O64 +) <=WM: (634: S2 ^operator O64) <=WM: (632: O64 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O65 ^name wait +) (S2 ^operator O65 +) --- Change Working Memory (IE) --- =>WM: (636: S2 ^operator O65 +) =>WM: (635: O65 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (637: S2 ^operator O65) 59: O: O65 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O65 ^name wait +) (S2 ^operator O65 +) --- Change Working Memory (IE) --- <=WM: (636: S2 ^operator O65 +) <=WM: (637: S2 ^operator O65) <=WM: (635: O65 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O66 ^name wait +) (S2 ^operator O66 +) --- Change Working Memory (IE) --- =>WM: (639: S2 ^operator O66 +) =>WM: (638: O66 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (640: S2 ^operator O66) 60: O: O66 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O66 ^name wait +) (S2 ^operator O66 +) --- Change Working Memory (IE) --- <=WM: (639: S2 ^operator O66 +) <=WM: (640: S2 ^operator O66) <=WM: (638: O66 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O67 ^name wait +) (S2 ^operator O67 +) --- Change Working Memory (IE) --- =>WM: (642: S2 ^operator O67 +) =>WM: (641: O67 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (643: S2 ^operator O67) 61: O: O67 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O67 ^name wait +) (S2 ^operator O67 +) --- Change Working Memory (IE) --- <=WM: (642: S2 ^operator O67 +) <=WM: (643: S2 ^operator O67) <=WM: (641: O67 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O68 ^name wait +) (S2 ^operator O68 +) --- Change Working Memory (IE) --- =>WM: (645: S2 ^operator O68 +) =>WM: (644: O68 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (646: S2 ^operator O68) 62: O: O68 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O68 ^name wait +) (S2 ^operator O68 +) --- Change Working Memory (IE) --- <=WM: (645: S2 ^operator O68 +) <=WM: (646: S2 ^operator O68) <=WM: (644: O68 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O69 ^name wait +) (S2 ^operator O69 +) --- Change Working Memory (IE) --- =>WM: (648: S2 ^operator O69 +) =>WM: (647: O69 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (649: S2 ^operator O69) 63: O: O69 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O69 ^name wait +) (S2 ^operator O69 +) --- Change Working Memory (IE) --- <=WM: (648: S2 ^operator O69 +) <=WM: (649: S2 ^operator O69) <=WM: (647: O69 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O70 ^name wait +) (S2 ^operator O70 +) --- Change Working Memory (IE) --- =>WM: (651: S2 ^operator O70 +) =>WM: (650: O70 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (652: S2 ^operator O70) 64: O: O70 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O70 ^name wait +) (S2 ^operator O70 +) --- Change Working Memory (IE) --- <=WM: (651: S2 ^operator O70 +) <=WM: (652: S2 ^operator O70) <=WM: (650: O70 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O71 ^name wait +) (S2 ^operator O71 +) --- Change Working Memory (IE) --- =>WM: (654: S2 ^operator O71 +) =>WM: (653: O71 ^name wait) --- Application Phase --- --- Output Phase --- =>WM: (655: C1 ^status complete) --- Input Phase --- =>WM: (656: I2 ^datacycle I84) =>WM: (657: I84 ^timestamp 675) =>WM: (658: I84 ^robot I85) =>WM: (659: I84 ^sonar I86) =>WM: (660: I84 ^vision I87) =>WM: (661: I85 ^|X| -3.87596) =>WM: (662: I85 ^|Y| 0.0178373) =>WM: (663: I85 ^|Th| -0.0878917) =>WM: (664: I85 ^|Vel| 8.) =>WM: (665: I85 ^|RotVel| -0.641713) =>WM: (666: I85 ^|RobotRadius| 250.) =>WM: (667: I85 ^|RobotDiagonal| 120.) =>WM: (668: I85 ^|BatteryVoltage| 12.3) =>WM: (669: I85 ^|LeftVel| 10.) =>WM: (670: I85 ^|RightVel| 6.) =>WM: (671: I85 ^|StallValue| 0) =>WM: (672: I85 ^|isLeftMotorStalled| false) =>WM: (673: I85 ^|isRightMotorStalled| false) =>WM: (674: I85 ^|Control| 0.) =>WM: (675: I85 ^|Flags| 3) =>WM: (676: I85 ^|areMotorsEnabled| true) =>WM: (677: I85 ^|areSonarsEnabled| true) =>WM: (678: I85 ^|MaxTransVel| 2200.) =>WM: (679: I85 ^|MaxRotVel| 500.) =>WM: (680: I85 ^|MoveDoneDist| 40.) =>WM: (681: I85 ^|DirMotPrecTime| 0.) =>WM: (682: I85 ^|FrontBump0| 0.) =>WM: (683: I85 ^|FrontBump1| 0.) =>WM: (684: I85 ^|FrontBump2| 0.) =>WM: (685: I85 ^|FrontBump3| 0.) =>WM: (686: I85 ^|FrontBump4| 0.) =>WM: (687: I85 ^|RearBump0| 0.) =>WM: (688: I85 ^|RearBump1| 0.) =>WM: (689: I85 ^|RearBump2| 0.) =>WM: (690: I85 ^|RearBump3| 0.) =>WM: (691: I85 ^|RearBump4| 0.) =>WM: (692: I86 ^sonar I88) =>WM: (693: I88 ^number 0) =>WM: (694: I88 ^reading 736) =>WM: (695: I88 ^new false) =>WM: (696: I86 ^sonar I89) =>WM: (697: I89 ^number 1) =>WM: (698: I89 ^reading 2145) =>WM: (699: I89 ^new false) =>WM: (700: I86 ^sonar I90) =>WM: (701: I90 ^number 2) =>WM: (702: I90 ^reading 1250) =>WM: (703: I90 ^new false) =>WM: (704: I86 ^sonar I91) =>WM: (705: I91 ^number 3) =>WM: (706: I91 ^reading 959) =>WM: (707: I91 ^new false) =>WM: (708: I86 ^sonar I92) =>WM: (709: I92 ^number 4) =>WM: (710: I92 ^reading 939) =>WM: (711: I92 ^new false) =>WM: (712: I86 ^sonar I93) =>WM: (713: I93 ^number 5) =>WM: (714: I93 ^reading 1104) =>WM: (715: I93 ^new false) =>WM: (716: I86 ^sonar I94) =>WM: (717: I94 ^number 6) =>WM: (718: I94 ^reading 1349) =>WM: (719: I94 ^new false) =>WM: (720: I86 ^sonar I95) =>WM: (721: I95 ^number 7) =>WM: (722: I95 ^reading 538) =>WM: (723: I95 ^new false) =>WM: (724: I86 ^sonar I96) =>WM: (725: I96 ^number 8) =>WM: (726: I96 ^reading 516) =>WM: (727: I96 ^new false) =>WM: (728: I86 ^sonar I97) =>WM: (729: I97 ^number 9) =>WM: (730: I97 ^reading 686) =>WM: (731: I97 ^new false) =>WM: (732: I86 ^sonar I98) =>WM: (733: I98 ^number 10) =>WM: (734: I98 ^reading 1186) =>WM: (735: I98 ^new false) =>WM: (736: I86 ^sonar I99) =>WM: (737: I99 ^number 11) =>WM: (738: I99 ^reading 453) =>WM: (739: I99 ^new false) =>WM: (740: I86 ^sonar I100) =>WM: (741: I100 ^number 12) =>WM: (742: I100 ^reading 434) =>WM: (743: I100 ^new false) =>WM: (744: I86 ^sonar I101) =>WM: (745: I101 ^number 13) =>WM: (746: I101 ^reading 2360) =>WM: (747: I101 ^new false) =>WM: (748: I86 ^sonar I102) =>WM: (749: I102 ^number 14) =>WM: (750: I102 ^reading 836) =>WM: (751: I102 ^new false) =>WM: (752: I86 ^sonar I103) =>WM: (753: I103 ^number 15) =>WM: (754: I103 ^reading 747) =>WM: (755: I103 ^new false) =>WM: (756: I85 ^|isHeadingDone| true) =>WM: (757: I85 ^|isMoveDone| true) --- Proposal Phase --- --- Decision Phase --- =>WM: (758: S2 ^operator O71) 65: O: O71 (wait) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 675 +) Retracting elaborate*current-cycle-time --> (I2 ^currentcycletime 515 +) --- Change Working Memory (IE) --- =>WM: (759: I2 ^currentcycletime 675) <=WM: (605: I2 ^currentcycletime 515) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I84 +) Retracting elaborate*current-cycle --> (I2 ^currentcycle I64 +) --- Change Working Memory (IE) --- =>WM: (760: I2 ^currentcycle I84) <=WM: (606: I2 ^currentcycle I64) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) Firing elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Firing elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Retracting elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) --- Change Working Memory (IE) --- --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O71 ^name wait +) (S2 ^operator O71 +) --- Change Working Memory (IE) --- <=WM: (654: S2 ^operator O71 +) <=WM: (758: S2 ^operator O71) <=WM: (653: O71 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O72 ^name wait +) (S2 ^operator O72 +) --- Change Working Memory (IE) --- =>WM: (762: S2 ^operator O72 +) =>WM: (761: O72 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (763: S2 ^operator O72) 66: O: O72 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O72 ^name wait +) (S2 ^operator O72 +) --- Change Working Memory (IE) --- <=WM: (762: S2 ^operator O72 +) <=WM: (763: S2 ^operator O72) <=WM: (761: O72 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O73 ^name wait +) (S2 ^operator O73 +) --- Change Working Memory (IE) --- =>WM: (765: S2 ^operator O73 +) =>WM: (764: O73 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (766: S2 ^operator O73) 67: O: O73 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O73 ^name wait +) (S2 ^operator O73 +) --- Change Working Memory (IE) --- <=WM: (765: S2 ^operator O73 +) <=WM: (766: S2 ^operator O73) <=WM: (764: O73 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O74 ^name wait +) (S2 ^operator O74 +) --- Change Working Memory (IE) --- =>WM: (768: S2 ^operator O74 +) =>WM: (767: O74 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (769: S2 ^operator O74) 68: O: O74 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O74 ^name wait +) (S2 ^operator O74 +) --- Change Working Memory (IE) --- <=WM: (768: S2 ^operator O74 +) <=WM: (769: S2 ^operator O74) <=WM: (767: O74 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O75 ^name wait +) (S2 ^operator O75 +) --- Change Working Memory (IE) --- =>WM: (771: S2 ^operator O75 +) =>WM: (770: O75 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (772: S2 ^operator O75) 69: O: O75 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O75 ^name wait +) (S2 ^operator O75 +) --- Change Working Memory (IE) --- <=WM: (771: S2 ^operator O75 +) <=WM: (772: S2 ^operator O75) <=WM: (770: O75 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O76 ^name wait +) (S2 ^operator O76 +) --- Change Working Memory (IE) --- =>WM: (774: S2 ^operator O76 +) =>WM: (773: O76 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (775: S2 ^operator O76) 70: O: O76 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O76 ^name wait +) (S2 ^operator O76 +) --- Change Working Memory (IE) --- <=WM: (774: S2 ^operator O76 +) <=WM: (775: S2 ^operator O76) <=WM: (773: O76 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O77 ^name wait +) (S2 ^operator O77 +) --- Change Working Memory (IE) --- =>WM: (777: S2 ^operator O77 +) =>WM: (776: O77 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (778: S2 ^operator O77) 71: O: O77 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O77 ^name wait +) (S2 ^operator O77 +) --- Change Working Memory (IE) --- <=WM: (777: S2 ^operator O77 +) <=WM: (778: S2 ^operator O77) <=WM: (776: O77 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O78 ^name wait +) (S2 ^operator O78 +) --- Change Working Memory (IE) --- =>WM: (780: S2 ^operator O78 +) =>WM: (779: O78 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (781: S2 ^operator O78) 72: O: O78 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O78 ^name wait +) (S2 ^operator O78 +) --- Change Working Memory (IE) --- <=WM: (780: S2 ^operator O78 +) <=WM: (781: S2 ^operator O78) <=WM: (779: O78 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O79 ^name wait +) (S2 ^operator O79 +) --- Change Working Memory (IE) --- =>WM: (783: S2 ^operator O79 +) =>WM: (782: O79 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (784: S2 ^operator O79) 73: O: O79 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O79 ^name wait +) (S2 ^operator O79 +) --- Change Working Memory (IE) --- <=WM: (783: S2 ^operator O79 +) <=WM: (784: S2 ^operator O79) <=WM: (782: O79 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O80 ^name wait +) (S2 ^operator O80 +) --- Change Working Memory (IE) --- =>WM: (786: S2 ^operator O80 +) =>WM: (785: O80 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (787: S2 ^operator O80) 74: O: O80 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O80 ^name wait +) (S2 ^operator O80 +) --- Change Working Memory (IE) --- <=WM: (786: S2 ^operator O80 +) <=WM: (787: S2 ^operator O80) <=WM: (785: O80 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O81 ^name wait +) (S2 ^operator O81 +) --- Change Working Memory (IE) --- =>WM: (789: S2 ^operator O81 +) =>WM: (788: O81 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (790: S2 ^operator O81) 75: O: O81 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O81 ^name wait +) (S2 ^operator O81 +) --- Change Working Memory (IE) --- <=WM: (789: S2 ^operator O81 +) <=WM: (790: S2 ^operator O81) <=WM: (788: O81 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O82 ^name wait +) (S2 ^operator O82 +) --- Change Working Memory (IE) --- =>WM: (792: S2 ^operator O82 +) =>WM: (791: O82 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (793: S2 ^operator O82) 76: O: O82 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O82 ^name wait +) (S2 ^operator O82 +) --- Change Working Memory (IE) --- <=WM: (792: S2 ^operator O82 +) <=WM: (793: S2 ^operator O82) <=WM: (791: O82 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O83 ^name wait +) (S2 ^operator O83 +) --- Change Working Memory (IE) --- =>WM: (795: S2 ^operator O83 +) =>WM: (794: O83 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (796: S2 ^operator O83) 77: O: O83 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O83 ^name wait +) (S2 ^operator O83 +) --- Change Working Memory (IE) --- <=WM: (795: S2 ^operator O83 +) <=WM: (796: S2 ^operator O83) <=WM: (794: O83 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O84 ^name wait +) (S2 ^operator O84 +) --- Change Working Memory (IE) --- =>WM: (798: S2 ^operator O84 +) =>WM: (797: O84 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (799: S2 ^operator O84) 78: O: O84 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O84 ^name wait +) (S2 ^operator O84 +) --- Change Working Memory (IE) --- <=WM: (798: S2 ^operator O84 +) <=WM: (799: S2 ^operator O84) <=WM: (797: O84 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O85 ^name wait +) (S2 ^operator O85 +) --- Change Working Memory (IE) --- =>WM: (801: S2 ^operator O85 +) =>WM: (800: O85 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (802: S2 ^operator O85) 79: O: O85 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O85 ^name wait +) (S2 ^operator O85 +) --- Change Working Memory (IE) --- <=WM: (801: S2 ^operator O85 +) <=WM: (802: S2 ^operator O85) <=WM: (800: O85 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O86 ^name wait +) (S2 ^operator O86 +) --- Change Working Memory (IE) --- =>WM: (804: S2 ^operator O86 +) =>WM: (803: O86 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (805: S2 ^operator O86) 80: O: O86 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O86 ^name wait +) (S2 ^operator O86 +) --- Change Working Memory (IE) --- <=WM: (804: S2 ^operator O86 +) <=WM: (805: S2 ^operator O86) <=WM: (803: O86 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O87 ^name wait +) (S2 ^operator O87 +) --- Change Working Memory (IE) --- =>WM: (807: S2 ^operator O87 +) =>WM: (806: O87 ^name wait) --- Application Phase --- --- Output Phase --- =>WM: (808: C1 ^status complete) --- Input Phase --- =>WM: (809: I2 ^datacycle I104) =>WM: (810: I104 ^timestamp 835) =>WM: (811: I104 ^robot I105) =>WM: (812: I104 ^sonar I106) =>WM: (813: I104 ^vision I107) =>WM: (814: I105 ^|X| 0.96899) =>WM: (815: I105 ^|Y| -0.00445932) =>WM: (816: I105 ^|Th| -0.0878917) =>WM: (817: I105 ^|Vel| 40.) =>WM: (818: I105 ^|RotVel| -0.962569) =>WM: (819: I105 ^|RobotRadius| 250.) =>WM: (820: I105 ^|RobotDiagonal| 120.) =>WM: (821: I105 ^|BatteryVoltage| 12.2) =>WM: (822: I105 ^|LeftVel| 43.) =>WM: (823: I105 ^|RightVel| 37.) =>WM: (824: I105 ^|StallValue| 0) =>WM: (825: I105 ^|isLeftMotorStalled| false) =>WM: (826: I105 ^|isRightMotorStalled| false) =>WM: (827: I105 ^|Control| 0.) =>WM: (828: I105 ^|Flags| 3) =>WM: (829: I105 ^|areMotorsEnabled| true) =>WM: (830: I105 ^|areSonarsEnabled| true) =>WM: (831: I105 ^|MaxTransVel| 2200.) =>WM: (832: I105 ^|MaxRotVel| 500.) =>WM: (833: I105 ^|MoveDoneDist| 40.) =>WM: (834: I105 ^|DirMotPrecTime| 0.) =>WM: (835: I105 ^|FrontBump0| 0.) =>WM: (836: I105 ^|FrontBump1| 0.) =>WM: (837: I105 ^|FrontBump2| 0.) =>WM: (838: I105 ^|FrontBump3| 0.) =>WM: (839: I105 ^|FrontBump4| 0.) =>WM: (840: I105 ^|RearBump0| 0.) =>WM: (841: I105 ^|RearBump1| 0.) =>WM: (842: I105 ^|RearBump2| 0.) =>WM: (843: I105 ^|RearBump3| 0.) =>WM: (844: I105 ^|RearBump4| 0.) =>WM: (845: I106 ^sonar I108) =>WM: (846: I108 ^number 0) =>WM: (847: I108 ^reading 736) =>WM: (848: I108 ^new false) =>WM: (849: I106 ^sonar I109) =>WM: (850: I109 ^number 1) =>WM: (851: I109 ^reading 2145) =>WM: (852: I109 ^new false) =>WM: (853: I106 ^sonar I110) =>WM: (854: I110 ^number 2) =>WM: (855: I110 ^reading 1249) =>WM: (856: I110 ^new false) =>WM: (857: I106 ^sonar I111) =>WM: (858: I111 ^number 3) =>WM: (859: I111 ^reading 956) =>WM: (860: I111 ^new false) =>WM: (861: I106 ^sonar I112) =>WM: (862: I112 ^number 4) =>WM: (863: I112 ^reading 938) =>WM: (864: I112 ^new false) =>WM: (865: I106 ^sonar I113) =>WM: (866: I113 ^number 5) =>WM: (867: I113 ^reading 1104) =>WM: (868: I113 ^new false) =>WM: (869: I106 ^sonar I114) =>WM: (870: I114 ^number 6) =>WM: (871: I114 ^reading 1349) =>WM: (872: I114 ^new false) =>WM: (873: I106 ^sonar I115) =>WM: (874: I115 ^number 7) =>WM: (875: I115 ^reading 538) =>WM: (876: I115 ^new false) =>WM: (877: I106 ^sonar I116) =>WM: (878: I116 ^number 8) =>WM: (879: I116 ^reading 515) =>WM: (880: I116 ^new false) =>WM: (881: I106 ^sonar I117) =>WM: (882: I117 ^number 9) =>WM: (883: I117 ^reading 686) =>WM: (884: I117 ^new false) =>WM: (885: I106 ^sonar I118) =>WM: (886: I118 ^number 10) =>WM: (887: I118 ^reading 1186) =>WM: (888: I118 ^new false) =>WM: (889: I106 ^sonar I119) =>WM: (890: I119 ^number 11) =>WM: (891: I119 ^reading 456) =>WM: (892: I119 ^new false) =>WM: (893: I106 ^sonar I120) =>WM: (894: I120 ^number 12) =>WM: (895: I120 ^reading 436) =>WM: (896: I120 ^new false) =>WM: (897: I106 ^sonar I121) =>WM: (898: I121 ^number 13) =>WM: (899: I121 ^reading 2360) =>WM: (900: I121 ^new false) =>WM: (901: I106 ^sonar I122) =>WM: (902: I122 ^number 14) =>WM: (903: I122 ^reading 836) =>WM: (904: I122 ^new false) =>WM: (905: I106 ^sonar I123) =>WM: (906: I123 ^number 15) =>WM: (907: I123 ^reading 747) =>WM: (908: I123 ^new false) =>WM: (909: I105 ^|isHeadingDone| true) =>WM: (910: I105 ^|isMoveDone| true) --- Proposal Phase --- --- Decision Phase --- =>WM: (911: S2 ^operator O87) 81: O: O87 (wait) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 835 +) Retracting elaborate*current-cycle-time --> (I2 ^currentcycletime 675 +) --- Change Working Memory (IE) --- =>WM: (912: I2 ^currentcycletime 835) <=WM: (759: I2 ^currentcycletime 675) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I104 +) Retracting elaborate*current-cycle --> (I2 ^currentcycle I84 +) --- Change Working Memory (IE) --- =>WM: (913: I2 ^currentcycle I104) <=WM: (760: I2 ^currentcycle I84) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) Firing elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Firing elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Retracting elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) --- Change Working Memory (IE) --- --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O87 ^name wait +) (S2 ^operator O87 +) --- Change Working Memory (IE) --- <=WM: (807: S2 ^operator O87 +) <=WM: (911: S2 ^operator O87) <=WM: (806: O87 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O88 ^name wait +) (S2 ^operator O88 +) --- Change Working Memory (IE) --- =>WM: (915: S2 ^operator O88 +) =>WM: (914: O88 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (916: S2 ^operator O88) 82: O: O88 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O88 ^name wait +) (S2 ^operator O88 +) --- Change Working Memory (IE) --- <=WM: (915: S2 ^operator O88 +) <=WM: (916: S2 ^operator O88) <=WM: (914: O88 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O89 ^name wait +) (S2 ^operator O89 +) --- Change Working Memory (IE) --- =>WM: (918: S2 ^operator O89 +) =>WM: (917: O89 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (919: S2 ^operator O89) 83: O: O89 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O89 ^name wait +) (S2 ^operator O89 +) --- Change Working Memory (IE) --- <=WM: (918: S2 ^operator O89 +) <=WM: (919: S2 ^operator O89) <=WM: (917: O89 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O90 ^name wait +) (S2 ^operator O90 +) --- Change Working Memory (IE) --- =>WM: (921: S2 ^operator O90 +) =>WM: (920: O90 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (922: S2 ^operator O90) 84: O: O90 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O90 ^name wait +) (S2 ^operator O90 +) --- Change Working Memory (IE) --- <=WM: (921: S2 ^operator O90 +) <=WM: (922: S2 ^operator O90) <=WM: (920: O90 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O91 ^name wait +) (S2 ^operator O91 +) --- Change Working Memory (IE) --- =>WM: (924: S2 ^operator O91 +) =>WM: (923: O91 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (925: S2 ^operator O91) 85: O: O91 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O91 ^name wait +) (S2 ^operator O91 +) --- Change Working Memory (IE) --- <=WM: (924: S2 ^operator O91 +) <=WM: (925: S2 ^operator O91) <=WM: (923: O91 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O92 ^name wait +) (S2 ^operator O92 +) --- Change Working Memory (IE) --- =>WM: (927: S2 ^operator O92 +) =>WM: (926: O92 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (928: S2 ^operator O92) 86: O: O92 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O92 ^name wait +) (S2 ^operator O92 +) --- Change Working Memory (IE) --- <=WM: (927: S2 ^operator O92 +) <=WM: (928: S2 ^operator O92) <=WM: (926: O92 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O93 ^name wait +) (S2 ^operator O93 +) --- Change Working Memory (IE) --- =>WM: (930: S2 ^operator O93 +) =>WM: (929: O93 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (931: S2 ^operator O93) 87: O: O93 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O93 ^name wait +) (S2 ^operator O93 +) --- Change Working Memory (IE) --- <=WM: (930: S2 ^operator O93 +) <=WM: (931: S2 ^operator O93) <=WM: (929: O93 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O94 ^name wait +) (S2 ^operator O94 +) --- Change Working Memory (IE) --- =>WM: (933: S2 ^operator O94 +) =>WM: (932: O94 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (934: S2 ^operator O94) 88: O: O94 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O94 ^name wait +) (S2 ^operator O94 +) --- Change Working Memory (IE) --- <=WM: (933: S2 ^operator O94 +) <=WM: (934: S2 ^operator O94) <=WM: (932: O94 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O95 ^name wait +) (S2 ^operator O95 +) --- Change Working Memory (IE) --- =>WM: (936: S2 ^operator O95 +) =>WM: (935: O95 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (937: S2 ^operator O95) 89: O: O95 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O95 ^name wait +) (S2 ^operator O95 +) --- Change Working Memory (IE) --- <=WM: (936: S2 ^operator O95 +) <=WM: (937: S2 ^operator O95) <=WM: (935: O95 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O96 ^name wait +) (S2 ^operator O96 +) --- Change Working Memory (IE) --- =>WM: (939: S2 ^operator O96 +) =>WM: (938: O96 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (940: S2 ^operator O96) 90: O: O96 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O96 ^name wait +) (S2 ^operator O96 +) --- Change Working Memory (IE) --- <=WM: (939: S2 ^operator O96 +) <=WM: (940: S2 ^operator O96) <=WM: (938: O96 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O97 ^name wait +) (S2 ^operator O97 +) --- Change Working Memory (IE) --- =>WM: (942: S2 ^operator O97 +) =>WM: (941: O97 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (943: S2 ^operator O97) 91: O: O97 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O97 ^name wait +) (S2 ^operator O97 +) --- Change Working Memory (IE) --- <=WM: (942: S2 ^operator O97 +) <=WM: (943: S2 ^operator O97) <=WM: (941: O97 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O98 ^name wait +) (S2 ^operator O98 +) --- Change Working Memory (IE) --- =>WM: (945: S2 ^operator O98 +) =>WM: (944: O98 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (946: S2 ^operator O98) 92: O: O98 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O98 ^name wait +) (S2 ^operator O98 +) --- Change Working Memory (IE) --- <=WM: (945: S2 ^operator O98 +) <=WM: (946: S2 ^operator O98) <=WM: (944: O98 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O99 ^name wait +) (S2 ^operator O99 +) --- Change Working Memory (IE) --- =>WM: (948: S2 ^operator O99 +) =>WM: (947: O99 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (949: S2 ^operator O99) 93: O: O99 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O99 ^name wait +) (S2 ^operator O99 +) --- Change Working Memory (IE) --- <=WM: (948: S2 ^operator O99 +) <=WM: (949: S2 ^operator O99) <=WM: (947: O99 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O100 ^name wait +) (S2 ^operator O100 +) --- Change Working Memory (IE) --- =>WM: (951: S2 ^operator O100 +) =>WM: (950: O100 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (952: S2 ^operator O100) 94: O: O100 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O100 ^name wait +) (S2 ^operator O100 +) --- Change Working Memory (IE) --- <=WM: (951: S2 ^operator O100 +) <=WM: (952: S2 ^operator O100) <=WM: (950: O100 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O101 ^name wait +) (S2 ^operator O101 +) --- Change Working Memory (IE) --- =>WM: (954: S2 ^operator O101 +) =>WM: (953: O101 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (955: S2 ^operator O101) 95: O: O101 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O101 ^name wait +) (S2 ^operator O101 +) --- Change Working Memory (IE) --- <=WM: (954: S2 ^operator O101 +) <=WM: (955: S2 ^operator O101) <=WM: (953: O101 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O102 ^name wait +) (S2 ^operator O102 +) --- Change Working Memory (IE) --- =>WM: (957: S2 ^operator O102 +) =>WM: (956: O102 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (958: S2 ^operator O102) 96: O: O102 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O102 ^name wait +) (S2 ^operator O102 +) --- Change Working Memory (IE) --- <=WM: (957: S2 ^operator O102 +) <=WM: (958: S2 ^operator O102) <=WM: (956: O102 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O103 ^name wait +) (S2 ^operator O103 +) --- Change Working Memory (IE) --- =>WM: (960: S2 ^operator O103 +) =>WM: (959: O103 ^name wait) --- Application Phase --- --- Output Phase --- =>WM: (961: C1 ^status complete) --- Input Phase --- =>WM: (962: I2 ^datacycle I124) =>WM: (963: I124 ^timestamp 995) =>WM: (964: I124 ^robot I125) =>WM: (965: I124 ^sonar I126) =>WM: (966: I124 ^vision I127) =>WM: (967: I125 ^|X| 7.75192) =>WM: (968: I125 ^|Y| -0.0356746) =>WM: (969: I125 ^|Th| -0.0878917) =>WM: (970: I125 ^|Vel| 81.) =>WM: (971: I125 ^|RotVel| 0.962569) =>WM: (972: I125 ^|RobotRadius| 250.) =>WM: (973: I125 ^|RobotDiagonal| 120.) =>WM: (974: I125 ^|BatteryVoltage| 12.2) =>WM: (975: I125 ^|LeftVel| 78.) =>WM: (976: I125 ^|RightVel| 84.) =>WM: (977: I125 ^|StallValue| 0) =>WM: (978: I125 ^|isLeftMotorStalled| false) =>WM: (979: I125 ^|isRightMotorStalled| false) =>WM: (980: I125 ^|Control| 0.) =>WM: (981: I125 ^|Flags| 3) =>WM: (982: I125 ^|areMotorsEnabled| true) =>WM: (983: I125 ^|areSonarsEnabled| true) =>WM: (984: I125 ^|MaxTransVel| 2200.) =>WM: (985: I125 ^|MaxRotVel| 500.) =>WM: (986: I125 ^|MoveDoneDist| 40.) =>WM: (987: I125 ^|DirMotPrecTime| 0.) =>WM: (988: I125 ^|FrontBump0| 0.) =>WM: (989: I125 ^|FrontBump1| 0.) =>WM: (990: I125 ^|FrontBump2| 0.) =>WM: (991: I125 ^|FrontBump3| 0.) =>WM: (992: I125 ^|FrontBump4| 0.) =>WM: (993: I125 ^|RearBump0| 0.) =>WM: (994: I125 ^|RearBump1| 0.) =>WM: (995: I125 ^|RearBump2| 0.) =>WM: (996: I125 ^|RearBump3| 0.) =>WM: (997: I125 ^|RearBump4| 0.) =>WM: (998: I126 ^sonar I128) =>WM: (999: I128 ^number 0) =>WM: (1000: I128 ^reading 736) =>WM: (1001: I128 ^new false) =>WM: (1002: I126 ^sonar I129) =>WM: (1003: I129 ^number 1) =>WM: (1004: I129 ^reading 2148) =>WM: (1005: I129 ^new false) =>WM: (1006: I126 ^sonar I130) =>WM: (1007: I130 ^number 2) =>WM: (1008: I130 ^reading 1249) =>WM: (1009: I130 ^new false) =>WM: (1010: I126 ^sonar I131) =>WM: (1011: I131 ^number 3) =>WM: (1012: I131 ^reading 956) =>WM: (1013: I131 ^new false) =>WM: (1014: I126 ^sonar I132) =>WM: (1015: I132 ^number 4) =>WM: (1016: I132 ^reading 938) =>WM: (1017: I132 ^new false) =>WM: (1018: I126 ^sonar I133) =>WM: (1019: I133 ^number 5) =>WM: (1020: I133 ^reading 1104) =>WM: (1021: I133 ^new false) =>WM: (1022: I126 ^sonar I134) =>WM: (1023: I134 ^number 6) =>WM: (1024: I134 ^reading 1343) =>WM: (1025: I134 ^new false) =>WM: (1026: I126 ^sonar I135) =>WM: (1027: I135 ^number 7) =>WM: (1028: I135 ^reading 538) =>WM: (1029: I135 ^new false) =>WM: (1030: I126 ^sonar I136) =>WM: (1031: I136 ^number 8) =>WM: (1032: I136 ^reading 515) =>WM: (1033: I136 ^new false) =>WM: (1034: I126 ^sonar I137) =>WM: (1035: I137 ^number 9) =>WM: (1036: I137 ^reading 691) =>WM: (1037: I137 ^new false) =>WM: (1038: I126 ^sonar I138) =>WM: (1039: I138 ^number 10) =>WM: (1040: I138 ^reading 1186) =>WM: (1041: I138 ^new false) =>WM: (1042: I126 ^sonar I139) =>WM: (1043: I139 ^number 11) =>WM: (1044: I139 ^reading 456) =>WM: (1045: I139 ^new false) =>WM: (1046: I126 ^sonar I140) =>WM: (1047: I140 ^number 12) =>WM: (1048: I140 ^reading 436) =>WM: (1049: I140 ^new false) =>WM: (1050: I126 ^sonar I141) =>WM: (1051: I141 ^number 13) =>WM: (1052: I141 ^reading 2360) =>WM: (1053: I141 ^new false) =>WM: (1054: I126 ^sonar I142) =>WM: (1055: I142 ^number 14) =>WM: (1056: I142 ^reading 838) =>WM: (1057: I142 ^new false) =>WM: (1058: I126 ^sonar I143) =>WM: (1059: I143 ^number 15) =>WM: (1060: I143 ^reading 747) =>WM: (1061: I143 ^new false) =>WM: (1062: I125 ^|isHeadingDone| true) =>WM: (1063: I125 ^|isMoveDone| true) --- Proposal Phase --- --- Decision Phase --- =>WM: (1064: S2 ^operator O103) 97: O: O103 (wait) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 995 +) Retracting elaborate*current-cycle-time --> (I2 ^currentcycletime 835 +) --- Change Working Memory (IE) --- =>WM: (1065: I2 ^currentcycletime 995) <=WM: (912: I2 ^currentcycletime 835) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I124 +) Retracting elaborate*current-cycle --> (I2 ^currentcycle I104 +) --- Change Working Memory (IE) --- =>WM: (1066: I2 ^currentcycle I124) <=WM: (913: I2 ^currentcycle I104) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) Firing elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Firing elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Retracting elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) --- Change Working Memory (IE) --- --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O103 ^name wait +) (S2 ^operator O103 +) --- Change Working Memory (IE) --- <=WM: (960: S2 ^operator O103 +) <=WM: (1064: S2 ^operator O103) <=WM: (959: O103 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O104 ^name wait +) (S2 ^operator O104 +) --- Change Working Memory (IE) --- =>WM: (1068: S2 ^operator O104 +) =>WM: (1067: O104 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1069: S2 ^operator O104) 98: O: O104 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O104 ^name wait +) (S2 ^operator O104 +) --- Change Working Memory (IE) --- <=WM: (1068: S2 ^operator O104 +) <=WM: (1069: S2 ^operator O104) <=WM: (1067: O104 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O105 ^name wait +) (S2 ^operator O105 +) --- Change Working Memory (IE) --- =>WM: (1071: S2 ^operator O105 +) =>WM: (1070: O105 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1072: S2 ^operator O105) 99: O: O105 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O105 ^name wait +) (S2 ^operator O105 +) --- Change Working Memory (IE) --- <=WM: (1071: S2 ^operator O105 +) <=WM: (1072: S2 ^operator O105) <=WM: (1070: O105 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O106 ^name wait +) (S2 ^operator O106 +) --- Change Working Memory (IE) --- =>WM: (1074: S2 ^operator O106 +) =>WM: (1073: O106 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1075: S2 ^operator O106) 100: O: O106 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O106 ^name wait +) (S2 ^operator O106 +) --- Change Working Memory (IE) --- <=WM: (1074: S2 ^operator O106 +) <=WM: (1075: S2 ^operator O106) <=WM: (1073: O106 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O107 ^name wait +) (S2 ^operator O107 +) --- Change Working Memory (IE) --- =>WM: (1077: S2 ^operator O107 +) =>WM: (1076: O107 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1078: S2 ^operator O107) 101: O: O107 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O107 ^name wait +) (S2 ^operator O107 +) --- Change Working Memory (IE) --- <=WM: (1077: S2 ^operator O107 +) <=WM: (1078: S2 ^operator O107) <=WM: (1076: O107 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O108 ^name wait +) (S2 ^operator O108 +) --- Change Working Memory (IE) --- =>WM: (1080: S2 ^operator O108 +) =>WM: (1079: O108 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1081: S2 ^operator O108) 102: O: O108 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O108 ^name wait +) (S2 ^operator O108 +) --- Change Working Memory (IE) --- <=WM: (1080: S2 ^operator O108 +) <=WM: (1081: S2 ^operator O108) <=WM: (1079: O108 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O109 ^name wait +) (S2 ^operator O109 +) --- Change Working Memory (IE) --- =>WM: (1083: S2 ^operator O109 +) =>WM: (1082: O109 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1084: S2 ^operator O109) 103: O: O109 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O109 ^name wait +) (S2 ^operator O109 +) --- Change Working Memory (IE) --- <=WM: (1083: S2 ^operator O109 +) <=WM: (1084: S2 ^operator O109) <=WM: (1082: O109 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O110 ^name wait +) (S2 ^operator O110 +) --- Change Working Memory (IE) --- =>WM: (1086: S2 ^operator O110 +) =>WM: (1085: O110 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1087: S2 ^operator O110) 104: O: O110 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O110 ^name wait +) (S2 ^operator O110 +) --- Change Working Memory (IE) --- <=WM: (1086: S2 ^operator O110 +) <=WM: (1087: S2 ^operator O110) <=WM: (1085: O110 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O111 ^name wait +) (S2 ^operator O111 +) --- Change Working Memory (IE) --- =>WM: (1089: S2 ^operator O111 +) =>WM: (1088: O111 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1090: S2 ^operator O111) 105: O: O111 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O111 ^name wait +) (S2 ^operator O111 +) --- Change Working Memory (IE) --- <=WM: (1089: S2 ^operator O111 +) <=WM: (1090: S2 ^operator O111) <=WM: (1088: O111 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O112 ^name wait +) (S2 ^operator O112 +) --- Change Working Memory (IE) --- =>WM: (1092: S2 ^operator O112 +) =>WM: (1091: O112 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1093: S2 ^operator O112) 106: O: O112 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O112 ^name wait +) (S2 ^operator O112 +) --- Change Working Memory (IE) --- <=WM: (1092: S2 ^operator O112 +) <=WM: (1093: S2 ^operator O112) <=WM: (1091: O112 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O113 ^name wait +) (S2 ^operator O113 +) --- Change Working Memory (IE) --- =>WM: (1095: S2 ^operator O113 +) =>WM: (1094: O113 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1096: S2 ^operator O113) 107: O: O113 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O113 ^name wait +) (S2 ^operator O113 +) --- Change Working Memory (IE) --- <=WM: (1095: S2 ^operator O113 +) <=WM: (1096: S2 ^operator O113) <=WM: (1094: O113 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O114 ^name wait +) (S2 ^operator O114 +) --- Change Working Memory (IE) --- =>WM: (1098: S2 ^operator O114 +) =>WM: (1097: O114 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1099: S2 ^operator O114) 108: O: O114 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O114 ^name wait +) (S2 ^operator O114 +) --- Change Working Memory (IE) --- <=WM: (1098: S2 ^operator O114 +) <=WM: (1099: S2 ^operator O114) <=WM: (1097: O114 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O115 ^name wait +) (S2 ^operator O115 +) --- Change Working Memory (IE) --- =>WM: (1101: S2 ^operator O115 +) =>WM: (1100: O115 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1102: S2 ^operator O115) 109: O: O115 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O115 ^name wait +) (S2 ^operator O115 +) --- Change Working Memory (IE) --- <=WM: (1101: S2 ^operator O115 +) <=WM: (1102: S2 ^operator O115) <=WM: (1100: O115 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O116 ^name wait +) (S2 ^operator O116 +) --- Change Working Memory (IE) --- =>WM: (1104: S2 ^operator O116 +) =>WM: (1103: O116 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1105: S2 ^operator O116) 110: O: O116 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O116 ^name wait +) (S2 ^operator O116 +) --- Change Working Memory (IE) --- <=WM: (1104: S2 ^operator O116 +) <=WM: (1105: S2 ^operator O116) <=WM: (1103: O116 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O117 ^name wait +) (S2 ^operator O117 +) --- Change Working Memory (IE) --- =>WM: (1107: S2 ^operator O117 +) =>WM: (1106: O117 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1108: S2 ^operator O117) 111: O: O117 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O117 ^name wait +) (S2 ^operator O117 +) --- Change Working Memory (IE) --- <=WM: (1107: S2 ^operator O117 +) <=WM: (1108: S2 ^operator O117) <=WM: (1106: O117 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O118 ^name wait +) (S2 ^operator O118 +) --- Change Working Memory (IE) --- =>WM: (1110: S2 ^operator O118 +) =>WM: (1109: O118 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1111: S2 ^operator O118) 112: O: O118 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O118 ^name wait +) (S2 ^operator O118 +) --- Change Working Memory (IE) --- <=WM: (1110: S2 ^operator O118 +) <=WM: (1111: S2 ^operator O118) <=WM: (1109: O118 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O119 ^name wait +) (S2 ^operator O119 +) --- Change Working Memory (IE) --- =>WM: (1113: S2 ^operator O119 +) =>WM: (1112: O119 ^name wait) --- Application Phase --- --- Output Phase --- =>WM: (1114: C1 ^status complete) --- Input Phase --- =>WM: (1115: I2 ^datacycle I144) =>WM: (1116: I144 ^timestamp 1155) =>WM: (1117: I144 ^robot I145) =>WM: (1118: I144 ^sonar I146) =>WM: (1119: I144 ^vision I147) =>WM: (1120: I145 ^|X| 33.9146) =>WM: (1121: I145 ^|Y| -0.156076) =>WM: (1122: I145 ^|Th| 0.) =>WM: (1123: I145 ^|Vel| 204.) =>WM: (1124: I145 ^|RotVel| 9.62569) =>WM: (1125: I145 ^|RobotRadius| 250.) =>WM: (1126: I145 ^|RobotDiagonal| 120.) =>WM: (1127: I145 ^|BatteryVoltage| 12.2) =>WM: (1128: I145 ^|LeftVel| 174.) =>WM: (1129: I145 ^|RightVel| 234.) =>WM: (1130: I145 ^|StallValue| 0) =>WM: (1131: I145 ^|isLeftMotorStalled| false) =>WM: (1132: I145 ^|isRightMotorStalled| false) =>WM: (1133: I145 ^|Control| -0.0878917) =>WM: (1134: I145 ^|Flags| 3) =>WM: (1135: I145 ^|areMotorsEnabled| true) =>WM: (1136: I145 ^|areSonarsEnabled| true) =>WM: (1137: I145 ^|MaxTransVel| 2200.) =>WM: (1138: I145 ^|MaxRotVel| 500.) =>WM: (1139: I145 ^|MoveDoneDist| 40.) =>WM: (1140: I145 ^|DirMotPrecTime| 0.) =>WM: (1141: I145 ^|FrontBump0| 0.) =>WM: (1142: I145 ^|FrontBump1| 0.) =>WM: (1143: I145 ^|FrontBump2| 0.) =>WM: (1144: I145 ^|FrontBump3| 0.) =>WM: (1145: I145 ^|FrontBump4| 0.) =>WM: (1146: I145 ^|RearBump0| 0.) =>WM: (1147: I145 ^|RearBump1| 0.) =>WM: (1148: I145 ^|RearBump2| 0.) =>WM: (1149: I145 ^|RearBump3| 0.) =>WM: (1150: I145 ^|RearBump4| 0.) =>WM: (1151: I146 ^sonar I148) =>WM: (1152: I148 ^number 0) =>WM: (1153: I148 ^reading 736) =>WM: (1154: I148 ^new false) =>WM: (1155: I146 ^sonar I149) =>WM: (1156: I149 ^number 1) =>WM: (1157: I149 ^reading 2148) =>WM: (1158: I149 ^new false) =>WM: (1159: I146 ^sonar I150) =>WM: (1160: I150 ^number 2) =>WM: (1161: I150 ^reading 1241) =>WM: (1162: I150 ^new false) =>WM: (1163: I146 ^sonar I151) =>WM: (1164: I151 ^number 3) =>WM: (1165: I151 ^reading 956) =>WM: (1166: I151 ^new false) =>WM: (1167: I146 ^sonar I152) =>WM: (1168: I152 ^number 4) =>WM: (1169: I152 ^reading 922) =>WM: (1170: I152 ^new false) =>WM: (1171: I146 ^sonar I153) =>WM: (1172: I153 ^number 5) =>WM: (1173: I153 ^reading 1096) =>WM: (1174: I153 ^new false) =>WM: (1175: I146 ^sonar I154) =>WM: (1176: I154 ^number 6) =>WM: (1177: I154 ^reading 1343) =>WM: (1178: I154 ^new false) =>WM: (1179: I146 ^sonar I155) =>WM: (1180: I155 ^number 7) =>WM: (1181: I155 ^reading 539) =>WM: (1182: I155 ^new false) =>WM: (1183: I146 ^sonar I156) =>WM: (1184: I156 ^number 8) =>WM: (1185: I156 ^reading 514) =>WM: (1186: I156 ^new false) =>WM: (1187: I146 ^sonar I157) =>WM: (1188: I157 ^number 9) =>WM: (1189: I157 ^reading 691) =>WM: (1190: I157 ^new false) =>WM: (1191: I146 ^sonar I158) =>WM: (1192: I158 ^number 10) =>WM: (1193: I158 ^reading 1200) =>WM: (1194: I158 ^new false) =>WM: (1195: I146 ^sonar I159) =>WM: (1196: I159 ^number 11) =>WM: (1197: I159 ^reading 456) =>WM: (1198: I159 ^new false) =>WM: (1199: I146 ^sonar I160) =>WM: (1200: I160 ^number 12) =>WM: (1201: I160 ^reading 454) =>WM: (1202: I160 ^new false) =>WM: (1203: I146 ^sonar I161) =>WM: (1204: I161 ^number 13) =>WM: (1205: I161 ^reading 2361) =>WM: (1206: I161 ^new false) =>WM: (1207: I146 ^sonar I162) =>WM: (1208: I162 ^number 14) =>WM: (1209: I162 ^reading 838) =>WM: (1210: I162 ^new false) =>WM: (1211: I146 ^sonar I163) =>WM: (1212: I163 ^number 15) =>WM: (1213: I163 ^reading 746) =>WM: (1214: I163 ^new false) =>WM: (1215: I145 ^|isHeadingDone| true) =>WM: (1216: I145 ^|isMoveDone| true) --- Proposal Phase --- --- Decision Phase --- =>WM: (1217: S2 ^operator O119) 113: O: O119 (wait) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 1155 +) Retracting elaborate*current-cycle-time --> (I2 ^currentcycletime 995 +) --- Change Working Memory (IE) --- =>WM: (1218: I2 ^currentcycletime 1155) <=WM: (1065: I2 ^currentcycletime 995) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I144 +) Retracting elaborate*current-cycle --> (I2 ^currentcycle I124 +) --- Change Working Memory (IE) --- =>WM: (1219: I2 ^currentcycle I144) <=WM: (1066: I2 ^currentcycle I124) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) Firing elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Firing elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*robot*moving --> (S1 ^condition robot-moving +) Retracting elaborate*object-nearby-to-right --> (S1 ^condition object-nearby-to-right +) Retracting elaborate*object-nearby-to-left --> (S1 ^condition object-nearby-to-left +) --- Change Working Memory (IE) --- --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O119 ^name wait +) (S2 ^operator O119 +) --- Change Working Memory (IE) --- <=WM: (1113: S2 ^operator O119 +) <=WM: (1217: S2 ^operator O119) <=WM: (1112: O119 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O120 ^name wait +) (S2 ^operator O120 +) --- Change Working Memory (IE) --- =>WM: (1221: S2 ^operator O120 +) =>WM: (1220: O120 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1222: S2 ^operator O120) 114: O: O120 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O120 ^name wait +) (S2 ^operator O120 +) --- Change Working Memory (IE) --- <=WM: (1221: S2 ^operator O120 +) <=WM: (1222: S2 ^operator O120) <=WM: (1220: O120 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O121 ^name wait +) (S2 ^operator O121 +) --- Change Working Memory (IE) --- =>WM: (1224: S2 ^operator O121 +) =>WM: (1223: O121 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1225: S2 ^operator O121) 115: O: O121 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O121 ^name wait +) (S2 ^operator O121 +) --- Change Working Memory (IE) --- <=WM: (1224: S2 ^operator O121 +) <=WM: (1225: S2 ^operator O121) <=WM: (1223: O121 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O122 ^name wait +) (S2 ^operator O122 +) --- Change Working Memory (IE) --- =>WM: (1227: S2 ^operator O122 +) =>WM: (1226: O122 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1228: S2 ^operator O122) 116: O: O122 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O122 ^name wait +) (S2 ^operator O122 +) --- Change Working Memory (IE) --- <=WM: (1227: S2 ^operator O122 +) <=WM: (1228: S2 ^operator O122) <=WM: (1226: O122 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O123 ^name wait +) (S2 ^operator O123 +) --- Change Working Memory (IE) --- =>WM: (1230: S2 ^operator O123 +) =>WM: (1229: O123 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1231: S2 ^operator O123) 117: O: O123 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O123 ^name wait +) (S2 ^operator O123 +) --- Change Working Memory (IE) --- <=WM: (1230: S2 ^operator O123 +) <=WM: (1231: S2 ^operator O123) <=WM: (1229: O123 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O124 ^name wait +) (S2 ^operator O124 +) --- Change Working Memory (IE) --- =>WM: (1233: S2 ^operator O124 +) =>WM: (1232: O124 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1234: S2 ^operator O124) 118: O: O124 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O124 ^name wait +) (S2 ^operator O124 +) --- Change Working Memory (IE) --- <=WM: (1233: S2 ^operator O124 +) <=WM: (1234: S2 ^operator O124) <=WM: (1232: O124 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O125 ^name wait +) (S2 ^operator O125 +) --- Change Working Memory (IE) --- =>WM: (1236: S2 ^operator O125 +) =>WM: (1235: O125 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1237: S2 ^operator O125) 119: O: O125 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O125 ^name wait +) (S2 ^operator O125 +) --- Change Working Memory (IE) --- <=WM: (1236: S2 ^operator O125 +) <=WM: (1237: S2 ^operator O125) <=WM: (1235: O125 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O126 ^name wait +) (S2 ^operator O126 +) --- Change Working Memory (IE) --- =>WM: (1239: S2 ^operator O126 +) =>WM: (1238: O126 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1240: S2 ^operator O126) 120: O: O126 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O126 ^name wait +) (S2 ^operator O126 +) --- Change Working Memory (IE) --- <=WM: (1239: S2 ^operator O126 +) <=WM: (1240: S2 ^operator O126) <=WM: (1238: O126 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O127 ^name wait +) (S2 ^operator O127 +) --- Change Working Memory (IE) --- =>WM: (1242: S2 ^operator O127 +) =>WM: (1241: O127 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1243: S2 ^operator O127) 121: O: O127 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O127 ^name wait +) (S2 ^operator O127 +) --- Change Working Memory (IE) --- <=WM: (1242: S2 ^operator O127 +) <=WM: (1243: S2 ^operator O127) <=WM: (1241: O127 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O128 ^name wait +) (S2 ^operator O128 +) --- Change Working Memory (IE) --- =>WM: (1245: S2 ^operator O128 +) =>WM: (1244: O128 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1246: S2 ^operator O128) 122: O: O128 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O128 ^name wait +) (S2 ^operator O128 +) --- Change Working Memory (IE) --- <=WM: (1245: S2 ^operator O128 +) <=WM: (1246: S2 ^operator O128) <=WM: (1244: O128 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O129 ^name wait +) (S2 ^operator O129 +) --- Change Working Memory (IE) --- =>WM: (1248: S2 ^operator O129 +) =>WM: (1247: O129 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1249: S2 ^operator O129) 123: O: O129 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O129 ^name wait +) (S2 ^operator O129 +) --- Change Working Memory (IE) --- <=WM: (1248: S2 ^operator O129 +) <=WM: (1249: S2 ^operator O129) <=WM: (1247: O129 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O130 ^name wait +) (S2 ^operator O130 +) --- Change Working Memory (IE) --- =>WM: (1251: S2 ^operator O130 +) =>WM: (1250: O130 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1252: S2 ^operator O130) 124: O: O130 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O130 ^name wait +) (S2 ^operator O130 +) --- Change Working Memory (IE) --- <=WM: (1251: S2 ^operator O130 +) <=WM: (1252: S2 ^operator O130) <=WM: (1250: O130 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O131 ^name wait +) (S2 ^operator O131 +) --- Change Working Memory (IE) --- =>WM: (1254: S2 ^operator O131 +) =>WM: (1253: O131 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1255: S2 ^operator O131) 125: O: O131 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O131 ^name wait +) (S2 ^operator O131 +) --- Change Working Memory (IE) --- <=WM: (1254: S2 ^operator O131 +) <=WM: (1255: S2 ^operator O131) <=WM: (1253: O131 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O132 ^name wait +) (S2 ^operator O132 +) --- Change Working Memory (IE) --- =>WM: (1257: S2 ^operator O132 +) =>WM: (1256: O132 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1258: S2 ^operator O132) 126: O: O132 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O132 ^name wait +) (S2 ^operator O132 +) --- Change Working Memory (IE) --- <=WM: (1257: S2 ^operator O132 +) <=WM: (1258: S2 ^operator O132) <=WM: (1256: O132 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O133 ^name wait +) (S2 ^operator O133 +) --- Change Working Memory (IE) --- =>WM: (1260: S2 ^operator O133 +) =>WM: (1259: O133 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1261: S2 ^operator O133) 127: O: O133 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O133 ^name wait +) (S2 ^operator O133 +) --- Change Working Memory (IE) --- <=WM: (1260: S2 ^operator O133 +) <=WM: (1261: S2 ^operator O133) <=WM: (1259: O133 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O134 ^name wait +) (S2 ^operator O134 +) --- Change Working Memory (IE) --- =>WM: (1263: S2 ^operator O134 +) =>WM: (1262: O134 ^name wait) --- Application Phase --- --- Output Phase --- --- Input Phase --- --- Proposal Phase --- --- Decision Phase --- =>WM: (1264: S2 ^operator O134) 128: O: O134 (wait) --- Application Phase --- --- Firing Productions (IE) --- Retracting propose*wait*operator --> (O134 ^name wait +) (S2 ^operator O134 +) --- Change Working Memory (IE) --- <=WM: (1263: S2 ^operator O134 +) <=WM: (1264: S2 ^operator O134) <=WM: (1262: O134 ^name wait) --- Application Phase --- --- Firing Productions (IE) --- Firing propose*wait*operator --> (O135 ^name wait +) (S2 ^operator O135 +) --- Change Working Memory (IE) --- =>WM: (1266: S2 ^operator O135 +) =>WM: (1265: O135 ^name wait) --- Application Phase --- --- Output Phase --- =>WM: (1267: C1 ^status complete) --- Input Phase --- =>WM: (1268: I2 ^datacycle I164) =>WM: (1269: I164 ^timestamp 1315) =>WM: (1270: I164 ^robot I165) =>WM: (1271: I164 ^sonar I166) =>WM: (1272: I164 ^vision I167) =>WM: (1273: I165 ^|X| 56.2014) =>WM: (1274: I165 ^|Y| -0.258641) =>WM: (1275: I165 ^|Th| -0.0878917) =>WM: (1276: I165 ^|Vel| 216.) =>WM: (1277: I165 ^|RotVel| -3.85028) =>WM: (1278: I165 ^|RobotRadius| 250.) =>WM: (1279: I165 ^|RobotDiagonal| 120.) =>WM: (1280: I165 ^|BatteryVoltage| 12.2) =>WM: (1281: I165 ^|LeftVel| 228.) =>WM: (1282: I165 ^|RightVel| 204.) =>WM: (1283: I165 ^|StallValue| 0) =>WM: (1284: I165 ^|isLeftMotorStalled| false) =>WM: (1285: I165 ^|isRightMotorStalled| false) =>WM: (1286: I165 ^|Control| 0.) =>WM: (1287: I165 ^|Flags| 3) =>WM: (1288: I165 ^|areMotorsEnabled| true) =>WM: (1289: I165 ^|areSonarsEnabled| true) =>WM: (1290: I165 ^|MaxTransVel| 2200.) =>WM: (1291: I165 ^|MaxRotVel| 500.) =>WM: (1292: I165 ^|MoveDoneDist| 40.) =>WM: (1293: I165 ^|DirMotPrecTime| 0.) =>WM: (1294: I165 ^|FrontBump0| 0.) =>WM: (1295: I165 ^|FrontBump1| 0.) =>WM: (1296: I165 ^|FrontBump2| 0.) =>WM: (1297: I165 ^|FrontBump3| 0.) =>WM: (1298: I165 ^|FrontBump4| 0.) =>WM: (1299: I165 ^|RearBump0| 0.) =>WM: (1300: I165 ^|RearBump1| 0.) =>WM: (1301: I165 ^|RearBump2| 0.) =>WM: (1302: I165 ^|RearBump3| 0.) =>WM: (1303: I165 ^|RearBump4| 0.) =>WM: (1304: I166 ^sonar I168) =>WM: (1305: I168 ^number 0) =>WM: (1306: I168 ^reading 736) =>WM: (1307: I168 ^new false) =>WM: (1308: I166 ^sonar I169) =>WM: (1309: I169 ^number 1) =>WM: (1310: I169 ^reading 1827) =>WM: (1311: I169 ^new false) =>WM: (1312: I166 ^sonar I170) =>WM: (1313: I170 ^number 2) =>WM: (1314: I170 ^reading 1241) =>WM: (1315: I170 ^new false) =>WM: (1316: I166 ^sonar I171) =>WM: (1317: I171 ^number 3) =>WM: (1318: I171 ^reading 928) =>WM: (1319: I171 ^new false) =>WM: (1320: I166 ^sonar I172) =>WM: (1321: I172 ^number 4) =>WM: (1322: I172 ^reading 922) =>WM: (1323: I172 ^new false) =>WM: (1324: I166 ^sonar I173) =>WM: (1325: I173 ^number 5) =>WM: (1326: I173 ^reading 1096) =>WM: (1327: I173 ^new false) =>WM: (1328: I166 ^sonar I174) =>WM: (1329: I174 ^number 6) =>WM: (1330: I174 ^reading 1324) =>WM: (1331: I174 ^new false) =>WM: (1332: I166 ^sonar I175) =>WM: (1333: I175 ^number 7) =>WM: (1334: I175 ^reading 539) =>WM: (1335: I175 ^new false) =>WM: (1336: I166 ^sonar I176) =>WM: (1337: I176 ^number 8) =>WM: (1338: I176 ^reading 514) =>WM: (1339: I176 ^new false) =>WM: (1340: I166 ^sonar I177) =>WM: (1341: I177 ^number 9) =>WM: (1342: I177 ^reading 721) =>WM: (1343: I177 ^new false) =>WM: (1344: I166 ^sonar I178) =>WM: (1345: I178 ^number 10) =>WM: (1346: I178 ^reading 1200) =>WM: (1347: I178 ^new false) =>WM: (1348: I166 ^sonar I179) =>WM: (1349: I179 ^number 11) =>WM: (1350: I179 ^reading 2307) =>WM: (1351: I179 ^new false) =>WM: (1352: I166 ^sonar I180) =>WM: (1353: I180 ^number 12) =>WM: (1354: I180 ^reading 454) =>WM: (1355: I180 ^new false) =>WM: (1356: I166 ^sonar I181) =>WM: (1357: I181 ^number 13) =>WM: (1358: I181 ^reading 2361) =>WM: (1359: I181 ^new false) =>WM: (1360: I166 ^sonar I182) =>WM: (1361: I182 ^number 14) =>WM: (1362: I182 ^reading 856) =>WM: (1363: I182 ^new false) =>WM: (1364: I166 ^sonar I183) =>WM: (1365: I183 ^number 15) =>WM: (1366: I183 ^reading 746) =>WM: (1367: I183 ^new false) =>WM: (1368: I165 ^|isHeadingDone| true) =>WM: (1369: I165 ^|isMoveDone| true) --- Proposal Phase --- --- Decision Phase --- =>WM: (1370: S2 ^operator O135) 129: O: O135 (wait) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle-time --> (I2 ^currentcycletime 1315 +) Retracting elaborate*current-cycle-time --> (I2 ^currentcycletime 1155 +) --- Change Working Memory (IE) --- =>WM: (1371: I2 ^currentcycletime 1315) <=WM: (1218: I2 ^currentcycletime 1155) --- Application Phase --- --- Firing Productions (IE) --- Firing elaborate*current-cycle --> (I2 ^currentcycle I164 +