version 4.py

Author: cleWu03

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py

@@ -1,3 +1,5 @@
+import math
+
 from bitbots_blackboard.body_blackboard import BodyBlackboard
 from bitbots_blackboard.capsules.pathfinding_capsule import BallGoalType
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
@@ -26,7 +28,7 @@ def __init__(self, blackboard, dsd, parameters):
 
     def perform(self, reevaluate=False):
         ball_position_y_relative = self.blackboard.world_model.get_ball_position_uv[1]
-        self.side_offset = -1 * math.copysign(self.side_offset)
+        self.side_offset = -1 * math.copysign(self.side_offset,ball_position_y_relative)
         pose_msg = self.blackboard.pathfinding.get_ball_goal(self.target, self.distance, self.side_offset)
         self.blackboard.pathfinding.publish(pose_msg)