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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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Add rule for changing keeper Id #7

Closed leonardoSCosta closed 4 years ago

leonardoSCosta commented 4 years ago

From the Rule change proposal:

The keeper ID can be automatically changed with the team protocol which was introduced in 2019, but teams could only change the keeper during STOP. This is an unnecessary limitation. With reduced number of stops, this becomes even more important.

We propose to allow changing the keeper id, as long as the ball is on the opponent's half. This applies to the team protocol as well as to the manual change via the game controller operator.

mickmack1213 commented 4 years ago

What's about two Bots in the defense area during the change? Are both allowed to touch the ball? For how many seconds?

I have to admit it's quite unlikely to be important but maybe think about it.

g3force commented 4 years ago

The keepers may only be switched when the ball is in the opponent half, to avoid the situation you mentioned. No grace period needed. The keeper id is changed in the GC and afterwards the old keeper may not touch the ball in the defense area.