rollback midfielder

project-neon · Oct 19, 2022 · a84b9fb · a84b9fb
1 parent 672068d
commit a84b9fb
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Showing 4 changed files with 24 additions and 21 deletions.
diff --git a/config_real_life.json b/config_real_life.json
@@ -15,7 +15,7 @@
     },
     "match" : {
         "team_side": "left",
-        "team_color": "blue",
+        "team_color": "yellow",
         "coach_name": "IRON_2022",
         "category": "3v3",
         "robot_ids": [

diff --git a/controller/PID_control.py b/controller/PID_control.py
@@ -39,7 +39,7 @@ def __init__(self, robot, default_fps=60):
         self.alpha_old = 0 # stores previous iteration alpha
 
         # Max speeds for the robot
-        self.v_max = 150 # 40 # linear speed
+        self.v_max = 130 # 40 # linear speed
         self.w_max = 550 # math.radians(7200) # angular speed rad/
 
         self.v_min = 80

diff --git a/strategy/iron2022/Midfielder.py b/strategy/iron2022/Midfielder.py
@@ -11,6 +11,8 @@ def __init__(self, match, plot_field=False):
         self.lwr_margin = 0.2
         self.hgr_margin = 1.1
 
+        self.pushing_ball = False
+
         self.def_x = 0.27
         self.ga_hgr = 1
         self.ga_lwr = .3
@@ -79,30 +81,30 @@ def decide(self):
         ball = self.match.ball
         ball_x, ball_y = ball.x, ball.y
 
-        if ball_x < .575 and ball_x > self.robot.x:
-            behaviour = self.push_ball
-        elif self.robot.x > .25 or self.robot.x < .15:
-            behaviour = self.recovery
-        else:
-            behaviour = self.defender
+        # if ball_x < .575 and ball_x > self.robot.x:
+        #     behaviour = self.push_ball
+        # elif self.robot.x > .25 or self.robot.x < .15:
+        #     behaviour = self.recovery
+        # else:
+        #     behaviour = self.defender
 
         if ball_x == -1 or ball_y == -1:
             ball_x, ball_y = self.last_b_x, self.last_b_y
 
-        # if ball_x < .375:
-        #     self.pushing_ball = True
+        if ball_x < .375:
+            self.pushing_ball = True
 
-        # if self.pushing_ball:
-        #     if ball_x >= .575 or ball_x < .15:
-        #         self.pushing_ball = False
-        #         behaviour = self.defender
-        #     else:
-        #         behaviour = self.push_ball
-        # else:
-        #     if self.robot.x > .25 or self.robot.x < .15:
-        #         behaviour = self.recovery
-        #     else:
-        #         behaviour = self.defender
+        if self.pushing_ball:
+            if ball_x >= .575 or ball_x < .15:
+                self.pushing_ball = False
+                behaviour = self.defender
+            else:
+                behaviour = self.push_ball
+        else:
+            if self.robot.x > .25 or self.robot.x < .15:
+                behaviour = self.recovery
+            else:
+                behaviour = self.defender
 
         if ball.x > 0 and ball.y > 0:
             self.last_b_x, self.last_b_y = ball.x, ball.y

diff --git a/strategy/tests/Idle.py b/strategy/tests/Idle.py
@@ -21,5 +21,6 @@ def reset(self, robot=None):
 
 
     def decide(self):
+        print(self.robot.x, self.robot.y)
         return 0, 0