removed unnessesary change

RoboJackets · Jan 29, 2025 · 515d1bb · 515d1bb
1 parent 6fb75a1
commit 515d1bb
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Showing 3 changed files with 9 additions and 15 deletions.
diff --git a/soccer/src/soccer/planning/primitives/angle_planning.cpp b/soccer/src/soccer/planning/primitives/angle_planning.cpp
@@ -76,11 +76,6 @@ void plan_angles(Trajectory* trajectory, const RobotInstant& start_instant,
         target_angles.at(i) = angle_function(instant, target_angles.at(i - 1), &gradient);
         velocity.at(i) =
             trajectory->instant_at(i).linear_velocity().dot(rj_geometry::Point(gradient));
-        if (std::isnan(velocity.at(i))) {
-            SPDLOG_INFO("Linear Velocity: {}", trajectory->instant_at(i).linear_velocity().mag());
-            SPDLOG_INFO("Gradient: {}", rj_geometry::Point(gradient).mag());
-            SPDLOG_INFO("SDFSDFSDFSDFSDFSDF");
-        }
     }
 
     // TODO(#1506): Re-enable this. Currently the forward-tracking is disabled

diff --git a/soccer/src/soccer/strategy/agent/position/offense.cpp b/soccer/src/soccer/strategy/agent/position/offense.cpp
@@ -60,9 +60,9 @@ Offense::State Offense::next_state() {
         case POSSESSION_START: {
             // If we can make a shot, take it
             // If we need to stop possessing now, shoot.
-            // if (has_open_shot() || timed_out()) {
-            //     return SHOOTING_START;
-            // }
+            if (has_open_shot() || timed_out()) {
+                return SHOOTING_START;
+            }
 
             // No open shot, try to pass.
             // This will trigger an automatic switch to passing if a pass is
@@ -75,10 +75,9 @@ Offense::State Offense::next_state() {
         case POSSESSION: {
             // If we can make a shot, make it.
             // If we need to stop possessing now, shoot.
-
-            // if (has_open_shot() || timed_out()) {
-            //     return SHOOTING_START;
-            // }
+            if (has_open_shot() || timed_out()) {
+                return SHOOTING_START;
+            }
 
             return POSSESSION;
         }

diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
@@ -262,18 +262,18 @@ void RobotFactoryPosition::set_default_position() {
                                field_dimensions_.center_field_loc().y() - kBallDiameter) {
         // Offensive mode
         // Closest 2 robots on defense, rest on offense
-        if (i <= 2) {
+        if (i <= 3) {
             set_current_position<Defense>();
         } else {
-            set_current_position<Offense>();
+            set_current_position<SoloOffense>();
         }
     } else {
         // Defensive mode
         // Closest 4 robots on defense, rest on offense
         if (i <= 3) {
             set_current_position<Defense>();
         } else {
-            set_current_position<Offense>();
+            set_current_position<SoloOffense>();
         }
     }
 }