2. version.py

Author: cleWu03

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

@@ -25,9 +25,9 @@ def __init__(self, blackboard, dsd, parameters):
         self.side_offset = parameters.get("side_offset", 0.08)
 
     def perform(self, reevaluate=False):
-        ball_position_y_relative = self.blackboard.world_model.field_width(self)[1]
-        if ball_position_y_relative > 0:
-            self.side_offset = - self.side_offset
+        #math.copysign
+        ball_position_y_relative = self.blackboard.world_model.get_ball_position_uv[1]
+        self.side_offset = -1 * math.copysign(self.side_offset)
         pose_msg = self.blackboard.pathfinding.get_ball_goal(self.target, self.distance, self.side_offset)
         self.blackboard.pathfinding.publish(pose_msg)