From 9aad71299796c677ec76e55e570ff7dbd082bb26 Mon Sep 17 00:00:00 2001 From: Clemens Date: Wed, 23 Sep 2026 16:41:57 +0200 Subject: [PATCH] add BallSeen decision, search ball otherwise --- .../bitbots_body_behavior/behavior_dsd/main.dsd | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd index 1197a083c..1358011ec 100644 --- a/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd +++ b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd @@ -102,7 +102,13 @@ $SecondBallTouchAllowed @SetNoSecondBallContactVariable + value:true + r:false, @ForgetBallStartPosition + r:false #DefensiveSetPlay -@ChangeAction + action:positioning, @ForgetBall, @LookAtFieldFeatures, @GoToFormationPosition + set_play:true + stand:true + enter_position:%placing_enter_position + leave_position:%placing_leave_position + enter_orientation:%placing_enter_orientation + leave_orientation:%placing_leave_orientation +$BallSeen + NO --> $ConfigRole + GOALIE --> $CountActiveRobotsWithoutGoalie + ZERO --> #SearchBall + ELSE --> #RolePositionWithPause + ELSE --> #SearchBall + YES --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @GoToFormationPosition + set_play:true + stand:true + enter_position:%placing_enter_position + leave_position:%placing_leave_position + enter_orientation:%placing_enter_orientation + leave_orientation:%placing_leave_orientation #SetPlaySituation $DoOnce