blue_new_u.xml

<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
  <BehaviorTree ID="blue_new_u">
    <Sequence>
      <ScoreboardTask points="0"
                      task="INIT_DISPLAY"/>
      <SubTree ID="new_init"
               _autoremap="true"/>
      <JointPosition instance="m15"
                     max_effort="0"
                     max_velocity="220"
                     position="0"
                     tolerance="10"
                     feedback_effort="{feedback_effort}"
                     feedback_position="{feedback_position}"
                     result="{result}"/>
      <WaitMatchStart state="2"/>
      <ForceSuccess>
        <Timeout msec="100000">
          <ForceSuccess>
            <Sequence>
              <ForceSuccess>
                <Timeout msec="89000">
                  <Sequence>
                    <SubTree ID="blue_new_base_u"
                             _autoremap="true"/>
                    <Sleep msec="120000"/>
                  </Sequence>
                </Timeout>
              </ForceSuccess>
              <SubTree ID="go_home_new"
                       _skipIf="is_in_home==true"
                       _autoremap="true"/>
              <JointPosition instance="m2"
                             max_effort="0"
                             max_velocity="180"
                             position="78"
                             tolerance="10"
                             feedback_effort="{feedback_effort}"
                             feedback_position="{feedback_position}"
                             result="{result}"/>
              <JointPosition instance="m3"
                             max_effort="0"
                             max_velocity="220"
                             position="220"
                             tolerance="10"
                             feedback_effort="{feedback_effort}"
                             feedback_position="{feedback_position}"
                             result="{result}"/>
              <JointPosition instance="m15"
                             max_effort="0"
                             max_velocity="220"
                             position="299"
                             tolerance="10"
                             feedback_effort="{feedback_effort}"
                             feedback_position="{feedback_position}"
                             result="{result}"/>
              <ScoreboardTask points="10"
                              task="FINISH"/>
              <Sleep msec="120000"/>
            </Sequence>
          </ForceSuccess>
        </Timeout>
      </ForceSuccess>
    </Sequence>
  </BehaviorTree>

  <!-- Description of Node Models (used by Groot) -->
  <TreeNodesModel>
    <Action ID="JointPosition"
            editable="true">
      <input_port name="instance"/>
      <input_port name="max_effort"
                  default="0"/>
      <input_port name="max_velocity"
                  default="180"/>
      <input_port name="position"/>
      <input_port name="tolerance"
                  default="10"/>
      <output_port name="feedback_effort"
                   default="{feedback_effort}"/>
      <output_port name="feedback_position"
                   default="{feedback_position}"/>
      <output_port name="result"
                   default="{result}"/>
    </Action>
    <Action ID="ScoreboardTask"
            editable="true">
      <input_port name="points"
                  default="0">points scored, can be negative</input_port>
      <input_port name="task"
                  default="store_sample_to_work_shed">unique task name</input_port>
    </Action>
    <Action ID="WaitMatchStart"
            editable="true">
      <input_port name="state"
                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
    </Action>
  </TreeNodesModel>

</root>