This paper describes FCFoo; a RoboCup team developed at Link√∂ping Institute of Technology. We use a reactive-deliberate architecture composed of four different layers. The layers represent different levels of abstraction and deliberation. The decision-making is based on decision-trees; finite automatas; and roles. As a result of the team development we have created a C++ library; designed for educational use; called RoboSoc; with extensive low and middle level functionality.