JNeiger
commented
5 years ago FWIW, panic kick happens when the closest opponent robot is within a "close" range and we are aiming at that opponent robot. It uses current face angle instead of target to figure out whether the current kick direction will hit an opponent robot. This was done to keep the ball moving and stop the mouth to mouth situations. This was especially important because our motion control at comp didn't allow us to pivot effectively.
I don't think there is a timeout in pivot kick.
Description
Currently there is a timeout when executing pivot kick so that if the robot does not properly kick the ball after a certain amount of time it will kick it anyway regardless of what direction it's facing. This will usually happen when the robot cannot aim properly due to being stuck against an obstacle. We believe we want the PivotKick to either continue to try or to enter its failed state. There is definitely* room for interpretation as we are not sure exactly how our system will handle things without the panic kick or with PivotKick Failing. Testing will be required and we are open to other solutions.
Steps to reproduce
Result: We do a lot of kicking into walls and in random directions.
We may want to modify coordinated pass to modify the pass point for situations where the kicking robot fails to pivot kick.