Strategy

AlignBallToGoal

Description

Strafes in a circle around the ball if the ball exists.

Usage

Add this module to align the ball to the goal.

Consumes

• message::strategy::AlignBallToGoal Task requesting to rotate around the ball.
• message::Localisation::Ball Information on where the ball is.
• message::Localisation::Field Information regarding the position of the field.
• message::support::FieldDescription Information on the dimensions of the field, used to find the goal position to align to.

Emits

• message::planning::PivotAroundPoint Task requesting to rotate around the ball.

Dependencies

DiveToBall

Description

Dives when the ball is close enough on the x-axis, diving in the direction of the ball. Intended for use by a goalie to stop the ball.

Usage

Add this module to the role to dive when the ball is close enough.

Consumes

• message::strategy::DiveToBall a Task requesting to dive to the ball when it is close enough
• message::localisaton::Ball with the position of the ball

Emits

• message::skill::Dive a Task requesting to dive in a specified direction

Dependencies

• Needs the ball location to know when to dive

FallRecovery

Description

A strategy module that handles relaxing when falling and getting up when we hit the ground and have settled. Ensures that getting up has higher priority than falling planner so it doesn't try to relax while getting up.

It is recommended that this task be given higher priority than any other running provider in the system so nothing can interrupt it.

Usage

Emit a message::strategy::FallRecovery Task in order to activate this module's provider

Consumes

• message::strategy::FallRecovery to activate the provider

Emits

• message::planning::GetUpWhenFalling to activate the get up planner
• message::planning::RelaxWhenFalling to activate a relax planner

FindObject

Description

Provider reactions to find objects. Currently includes a FindBall Provider to find an ball when its location is unknown.

Usage

Include this module and request a FindBall Task when needing to find the ball.

Consumes

• message::strategy::FindBall a Task requesting to find the ball

Emits

• message::planning::TurnOnSpot to turn around if the ball is not in view
• message::planning::LookAround to move the head around to find the ball

Dependencies

KickToGoal

Description

Kicks towards the goals.

Usage

Add this module to kick towards the goals.

Consumes

• message::strategy::KickToGoal The Task requesting to kick towards the goal.
• message::localisation::Field Information on where the field is in the world.
• message::input::Sensors Information on where the robot is in the world.
• message::support::FieldDescription Information on the dimensions of the field, to get the goal position.

Emits

• message::planning::KickTo a Task requesting to kick to the goals when applicable.

Dependencies

Ready

Description

This module contains a Provider for the Ready Task, which aims to position the robots on the field in the RoboCup READY phase. The robot moves for a configured amount of time with a configured walk command and then stands still

Usage

Add this module to walk onto the field in the READY state.

Consumes

• message::strategy::Ready a Task requesting to walk to the ready position

Emits

• message::skill::Walk a Task requesting to walk at a particular speed
• message::strategy::StandStill a Task requesting to stand still

Dependencies

• The walk engine

StandStill

Description

Makes the robot stand still and not move. It emits a zero walk command until Stability is STANDING and then emits the Stand script.

Usage

Add this module and emit a message::strategy::StandStill Task to make the robot stand still.

Consumes

• message::strategy::StandStill a Task requesting the robot stands still
• message::behaviour::state::Stability indicating the stability state of the robot, to check if it is standing

Emits

• message::skill::Walk to make the walk engine stop cleanly
• message::actuation::LimbsSequence with a Stand script loaded to make the robot stand still

Dependencies

• The script utility
• The walk engine

StartSafely

Description

Use this module to make the robot move safely to a stand position.

Usage

Emit the Task on Startup at the root of the Director tree.

Consumes

• message::strategy::StartSafely Task to request the robot to start safely.
• message::input::Sensors to determine the position of the motors.

Emits

• message::actuation::Body to move the whole body to the stand position.

Dependencies

StrategiseLook

Description

LookAtBall fixates on a ball if a recent one exists. LookAtGoals fixates on a goal if a recent goal exists.

Usage

Add this module to your role to make the robot look at balls or goals when requested.

Consumes

• message::planning::LookAtBall a Task requesting to look at the ball if there is a recent ball
• message::planning::LookAtGoals a Task requesting to look at a goal if there is a recent goal
• message::localisation::Ball with the position of the ball for fixation
• message::vision::Goals with the position of the goals for fixation
• message::input::Sensors for the world matrix to convert the goals measurement into the correct space

Emits

• message::skill::Look a Task requesting to look in a direction (to the balls or goals)

Dependencies

• The coordinates utility

WalkInsideBoundedBox

Description

Keeps the robot clamped within bounded box area on the field. The bounded box is configurable.

If ball is outside bounded box area and ball is in front of the bounding box, defender is clamped to the edge of bounding box closest to ball.

If ball is outside the bounded box area and to the side of the bounding box, the robot is clamped to the edge of bounding box closest to ball and positions itself 1 meter behind the ball.

Usage

Add this module to keep the robot within a bounding box on the field.

Consumes

• message::input::Sensors To get sensor information for localisation
• message::localisation::Field Localisation usage for keeping inside bounded box
• message::localisation::FilteredBall Used for ball position
• message::strategy::WalkInsideBoundedBox a Task requesting to stay within a bounding box on the field

Emits

• message::strategy::WalkToFieldPosition a Task to walk to desired field position

Dependencies

WalkToBall

Description

Walks to the ball if a filtered ball exists.

Usage

Add this module to walk to the ball.

Consumes

• message::strategy::WalkToBall Task requesting to walk to the ball
• message::localisation::Ball information on where the ball is

Emits

• message::planning::WalkTo Task requesting to walk to a location, in this case the ball

Dependencies

WalkToFieldPosition

Description

Walks to the field position using localisation information.

Usage

Add this module to walk to a position on the field.

Consumes

• message::strategy::WalkToFieldPosition Task requesting to walk to position on field

Emits

• message::planning::WalkTo Task requesting to walk to a point

Dependencies

WalkToFieldPosition

Description

Walks to the field position using localisation information.

Usage

Add this module to walk to a position on the field.

Consumes

• message::strategy::WalkToFieldPosition Task requesting to walk to position on field

Emits

• message::planning::WalkTo Task requesting to walk to a point

Dependencies