[Gameplay] Pivot around ball in PivotKickFSM

Open itsarune opened this issue 2 years ago • 1 comments

Description of the task

We want to change the pivot's centre of rotation from around the robot, to around the ball. It may be useful to look through the CMDragons TDPs because they've documented their pivot logic somewhere (http://www.cs.cmu.edu/~robosoccer/small/#Publications)

Acceptance criteria

[ ] Change pivotkickfsm logic and observe with simulated gameplay tests that we pivot around the ball

Blocked By

Mar 03 '23 03:03 itsarune

http://www.cs.cmu.edu/~coral/cmdragons/multimedia/cmdragons2015_etdp.pdf "Dribbling while turning"

Mar 09 '23 22:03 itsarune