Cameron carson/penalty position dribbling #2336
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…s kicked once shortly, follows it, then kicks to goal. Only works when ball is at center field.
…llows ball by kicking with speed 0 and then kicks when closer to the goal. WARNING: Has only been tested on yellow side
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Everything you've commented on has been resolved and additional comments/improvements were made. |
automated style fixes Co-authored-by: CameronLyon <[email protected]>
| @@ -43,14 +56,41 @@ PenaltyPlayer::State PenaltyPlayer::update_state() { | |||
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| std::optional<RobotIntent> PenaltyPlayer::state_to_task(RobotIntent intent) { | |||
| switch (latest_state_) { | |||
| case LINE_UP: { | |||
| case START: { // First, gets the robot to the ball to begin penalty dribbling-shooting | |||
| SPDLOG_INFO("START"); | |||
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Looks like some logging was left here!
| case START: { // First, gets the robot to the ball to begin penalty dribbling-shooting | ||
| SPDLOG_INFO("START"); | ||
| double y_pos = last_world_state_->ball.position.y(); | ||
| y_pos -= kRobotRadius + 0.3; // added the 0.01 as a buffer space |
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What is this doing--Why 0.3? Also, comment says 0.01.
| break; | ||
| } | ||
| case SMALL_KICK: { // less of a kick, more of a "follow" ball closely | ||
| // SPDLOG_INFO("SMALL_KICK"); |
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Let's clean these comments up too
| } | ||
| case LINE_UP: { // gets the robot behind the ball with a certain distance (usually | ||
| // immediatly skipped if the robot is already close) | ||
| // SPDLOG_INFO("LINE_UP"); |
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Same as above on cleaning up comments
| // } else { | ||
| y_pos -= kRobotRadius + 0.3; | ||
| // } | ||
| y_pos -= kRobotRadius + 0.1; |
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What is the 0.1 doing? Can we relate this to the radius as a ratio or something?
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do you mean kOwnBallRadius possibly?
| @@ -124,11 +168,16 @@ double PenaltyPlayer::distance_from_their_robots(rj_geometry::Point tail, | |||
| rj_geometry::Point PenaltyPlayer::calculate_best_shot() const { | |||
| // Goal location | |||
| rj_geometry::Point their_goal_pos = field_dimensions_.their_goal_loc(); | |||
| double goal_width = field_dimensions_.goal_width(); // 1.0 meters | |||
| double goal_width = | |||
| field_dimensions_.goal_width(); // 1.0 meters // BALL SEEMS TO OCCASIONALLY MISS SHOT ON | |||
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Extra double slash here. Let's change this comment to TODO format.
| if (check_is_done()) { | ||
| return SHOOTING; | ||
| return SHOOTING_START; | ||
| } | ||
| if (distance_to_ball() < kOwnBallRadius) { | ||
| return SHOOTING_START; | ||
| } |
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Combine this into one if statement
| planning::LinearMotionInstant goal{target_pt, target_vel}; | ||
| intent.motion_command = | ||
| planning::MotionCommand{"path_target", goal, planning::FaceBall{}}; | ||
| break; |
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Nitpicking but you use break here but a return statement on the other cases. Either method works but please use one or the other, not both
| case SHOOTING_START: { | ||
| case SHOOTING_START: { // Positions the robot behind the ball at a certain angle so that it | ||
| // has a straight shot towards the goal | ||
| // SPDLOG_INFO("SHOOTING_START"); |
| case SHOOTING: { | ||
| case SHOOTING: { // Kicks the ball with a now much higher speed (basically SMALL_KICK but | ||
| // power set to 4) | ||
| // SPDLOG_INFO("SHOOTING"); |
| // Iterates across 19 possible shot locations along the goal width in 0.05-meter increments. | ||
| // For each location, it calculates the clearance distance from opponent robots and updates the | ||
| // best shot position if a better (less obstructed) option is found. |
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I think an extended description like this would be better as a docstring for the function
Mainly cleaned up comments and fixed inconsistencies in variable naming- improved code readability
automated style fixes Co-authored-by: rociopv06 <[email protected]>
Description
Members Cameron and Rocio modified the penalty-shooting.cpp and hpp files to implement a "dribbling" function that creates a small kick, a follow function, and then the scheduled shoot once the ball is close enough to the enemy goal (3.5 meters). This behavior has not been tested on the blue side.
Associated / Resolved Issue
ClickUp Post
Steps to Test
Expected result: A fully autonomous penalty shot that follows the following steps
Key Files to Review
penalty_player.cpp
penalty_player.hpp