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RoboCup-SSL / ssl-rules

Official RoboCup Small Size League Rule Book
https://robocup-ssl.github.io/ssl-rules/
GNU General Public License v3.0
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Change lack of progress timeout and behavior #17

Closed rhololkeolke closed 4 years ago

rhololkeolke commented 4 years ago

Play now continues with a Force Start instead of an Indirect Free Kick.

Division A timeout changed to 5 seconds. Division B timeout remains at 10 seconds.

See proposed rule change spreadsheet: https://docs.google.com/spreadsheets/d/1LfNNrE4ld0IkRGXSkKSKOnPDipdKbuH-InZJY2kATs4/edit?usp=sharing

mickmack1213 commented 4 years ago

What's about double touch? With this implementation you can avoid a double touch foul of by just waiting 5s and dribble the ball afterwards. The kicking team is much closer to the ball and has a clear advantage. So the double touch rule must be enforced after the 5 seconds as well.

g3force commented 4 years ago

The rules state:

When the ball is brought into play following a kick-off, direct free kick, indirect free kick or penalty kick, the kicker is not allowed to touch the ball until it has been touched by another robot or the game has been stopped.

So, with the suggestion from @tobiasheineken the double touch rule is effective after the 5 seconds as well. When directly sending a force start without a stop, it would also keep effective.

But stop, then force start would then definitely require a small pause so that both teams have the same distance to the ball. This variant is out, I guess...

rhololkeolke commented 4 years ago

I rewrote the lack of progress section. There is a table with timings for different situations and divisions. It is all 10s for Div B. Kick-off and Penalty are still 10s for Div A. All other situations are 5s for division A.

For the case where the ball is in the defense area I've kept the indirect free kick procedure. Depending on the outcome of #3 we may need to reevaluate this procedure. My alternative suggestion is ball placement outside the defense area, then stop, then force start. But we would need to decide where the placement should go in that case.

In all other situations, the procedure has been changed to stop then force start.

g3force commented 4 years ago

I really liked the idea of @tobiasheineken to continue the game without any stop and force start. The stop and force start would not save any time compared to the current rules.

rhololkeolke commented 4 years ago

@tobiasheineken, @g3force Does that address the suggested change?

Kick-off and free-kicks auto continue. Manual calls do a stop and force start. When the ball is only reachable by a single team we use the free-kick rules.

rhololkeolke commented 4 years ago

Closed in favor of #32