Update ball got shot limit (ugly fix)

RoboTeamTwente · Nov 20, 2023 · 6d24920 · 6d24920
1 parent 28587dd
commit 6d24920
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Showing 3 changed files with 5 additions and 7 deletions.
diff --git a/roboteam_ai/include/roboteam_ai/stp/constants/ControlConstants.h b/roboteam_ai/include/roboteam_ai/stp/constants/ControlConstants.h
@@ -31,7 +31,7 @@ constexpr uint8_t MAX_ROBOT_COUNT = 11; /**< Maximum allowed number of robots */
 /// Ball constants
 constexpr double BALL_STILL_VEL = 0.1;                              /**< Velocity of the ball at which it is considered still */
 constexpr double BALL_STILL_VEL2 = BALL_STILL_VEL * BALL_STILL_VEL; /**< Squared velocity of the ball at which it is considered still */
-constexpr double BALL_GOT_SHOT_LIMIT = 1.3;                         /**< Velocity of the ball at which it is considered shot */
+constexpr double BALL_GOT_SHOT_LIMIT = 0.6;                         /**< Velocity of the ball at which it is considered shot */
 constexpr double BALL_IS_MOVING_SLOW_LIMIT = 1;                     /**< Velocity of the ball at which it is considered moving slow */
 constexpr double BALL_IS_CLOSE = 0.5;                               /**< Distance from the ball to a robot at which the ball is considered close */
 constexpr double BALL_RADIUS = 0.0215;                              /**< Radius of the ball */

diff --git a/roboteam_ai/src/stp/tactics/active/KickAtPos.cpp b/roboteam_ai/src/stp/tactics/active/KickAtPos.cpp
@@ -44,9 +44,8 @@ bool KickAtPos::isEndTactic() noexcept {
 }
 
 bool KickAtPos::isTacticFailing(const StpInfo &info) noexcept {
-    // Fail tactic if there is no shootTarget or we don't have the ball during Rotate
-    if (!info.getPositionToShootAt()) return true;
-    if (skills.current_num() == 0 && !info.getRobot()->get()->hasBall()) return true;
+    // Fail tactic if there is no shootTarget or we don't have the ball
+    if (!info.getPositionToShootAt() || !info.getRobot()->get()->hasBall()) return true;
     return false;
 }
 

diff --git a/roboteam_ai/src/stp/tactics/active/OrbitKick.cpp b/roboteam_ai/src/stp/tactics/active/OrbitKick.cpp
@@ -39,9 +39,8 @@ bool OrbitKick::isEndTactic() noexcept {
 }
 
 bool OrbitKick::isTacticFailing(const StpInfo &info) noexcept {
-    // Fail tactic if there is no shootTarget or we don't have the ball during Rotate
-    if (!info.getPositionToShootAt()) return true;
-    if (skills.current_num() == 0 && !info.getRobot()->get()->hasBall()) return true;
+    // Fail tactic if there is no shootTarget or we don't have the ball
+    if (!info.getPositionToShootAt() || !info.getRobot()->get()->hasBall()) return true;
     return false;
 }