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Using positioning only if ball seen #1085

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Using positioning only if ball seen #1085

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8 changes: 7 additions & 1 deletion src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd
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Original file line number Diff line number Diff line change
Expand Up @@ -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

@Flova Flova Sep 23, 2026

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I think only the striker should search the ball all others should go to the role position like we do during normal play. But I would change it so all robots do the wait + turn for a few seconds, but then only the config striker goes to search the ball and all others do to the role positions. If we add this to the search ball tree we can reuse it here with a simple ball seen decision.

@cleWu03 cleWu03 Sep 24, 2026 •
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Since a change after the IFA game, where the config striker was out of field and no one else was searching the ball, this is the same behavior as during normal play. #1057 describes this problem further. We should find a solution where the decision who searches is not only based on the config role, to make sure exactly one robot does the search behavior in any cases. I like the idea of a U-Turn for all at the beginning, but would handle that in the fix for the other Issue, since it is not directly related to the problem of using the positioning capsule in a wrong moment

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
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