From 807a659057158f6cc3a2d07b50ccd125800a6171 Mon Sep 17 00:00:00 2001 From: Jayden Bastien Date: Sun, 29 Sep 2024 20:31:21 -0400 Subject: [PATCH 1/2] CHANGE --- soccer/src/soccer/strategy/agent/position/waller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/soccer/src/soccer/strategy/agent/position/waller.cpp b/soccer/src/soccer/strategy/agent/position/waller.cpp index 6919cdb7eb6..fe2592eecbb 100644 --- a/soccer/src/soccer/strategy/agent/position/waller.cpp +++ b/soccer/src/soccer/strategy/agent/position/waller.cpp @@ -33,7 +33,7 @@ std::optional Waller::get_task(RobotIntent intent, const WorldState rj_geometry::Point mid_point{(goal_center_point) + (ball_dir_vector * min_wall_rad)}; // Calculate the wall spacing - auto wall_spacing = robot_diameter_multiplier_ * kRobotDiameter + kBallRadius; + auto wall_spacing = 2 * robot_diameter_multiplier_ * kRobotDiameter + kBallRadius; // Calculate the target point rj_geometry::Point target_point{}; From 698e1e68ebbf4b646be6beb00c9842c0b3f00c95 Mon Sep 17 00:00:00 2001 From: Jayden Bastien Date: Sun, 27 Oct 2024 19:53:52 -0400 Subject: [PATCH 2/2] change wall --- soccer/src/soccer/strategy/agent/position/waller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/soccer/src/soccer/strategy/agent/position/waller.cpp b/soccer/src/soccer/strategy/agent/position/waller.cpp index fe2592eecbb..11a414a5c86 100644 --- a/soccer/src/soccer/strategy/agent/position/waller.cpp +++ b/soccer/src/soccer/strategy/agent/position/waller.cpp @@ -33,7 +33,7 @@ std::optional Waller::get_task(RobotIntent intent, const WorldState rj_geometry::Point mid_point{(goal_center_point) + (ball_dir_vector * min_wall_rad)}; // Calculate the wall spacing - auto wall_spacing = 2 * robot_diameter_multiplier_ * kRobotDiameter + kBallRadius; + auto wall_spacing = 5 * robot_diameter_multiplier_ * kRobotDiameter + kBallRadius; // Calculate the target point rj_geometry::Point target_point{};