19 lines
1.2 KiB
TeX
19 lines
1.2 KiB
TeX
\section{Strategy Overview}
|
|
|
|
Now that all of the milestones are completed, we will present a short overview
|
|
of the whole goal scoring strategy, the block diagram of which can be found in
|
|
\todo{learn to do figures and reference them}. At the very beginning the robot
|
|
will detect the ball and turn to ball, as described in \todo{where}. After
|
|
that, the distance to the ball will be calculated, the goal will be detected,
|
|
and the direction to goal will be determined. If the ball is far away
|
|
\textit{and} the ball and the goal are strongly misaligned, then the robot will
|
|
try to approach the ball from the appropriate side, otherwise the robot will
|
|
approach the ball directly. These approach steps will be repeated until the
|
|
robot is close enough to the ball to start aligning to the goal, but in the
|
|
practice one step of approach from the side followed by a short direct approach
|
|
should suffice. When the ball is close, the robot will check if it is between
|
|
the goalposts, and will perform necessary adjustments if that's not the case.
|
|
After the ball and the goal are aligned, the robot will align its foot with
|
|
the ball and kick the ball. For now, we assumed that the ball will reach the
|
|
goal and so the robot can finish execution.
|