Behaviour fully implemented. Big W :)

bit-bots · Nov 27, 2024 · 263514e · 263514e
1 parent 632fd8e
commit 263514e
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Showing 2 changed files with 7 additions and 11 deletions.
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd b/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd
@@ -115,9 +115,13 @@ $DoOnce
                         SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToCornerKickPosition + mode:supporter
                         THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
                     OTHER --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToCornerKickPosition + mode:others
-                THROW_IN --> $SecondaryStateDecider
+                THROW_IN --> $SecondaryStateTeamDecider
                     OUR --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToBall + target:gradient + distance:0.5, @PlayAnimationGrabBall, @PlayAnimationThrow
+                        FIRST --> $DoOnce
+                            NOT_DONE --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToBall + target:gradient + distance:0.25 + blocking:false
+                            DONE --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:0.05 + latch:true
+                                NO --> @GoToBall + target:gradient + distance:0.25
+                                YES --> @Stand + duration:1.5 + r:false, @PlayAnimationGrabBall + r:false, @PlayAnimationThrow + r:false, @GetWalkready + r:false, @Stand
                         SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToPassPreparePosition
                         THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
                     OTHER --> $RankToBallNoGoalie

diff --git a/bitbots_misc/bitbots_bringup/launch/highlevel.launch b/bitbots_misc/bitbots_bringup/launch/highlevel.launch
@@ -28,15 +28,7 @@
     <!-- launch vision -->
     <group if="$(var vision)">
         <include file="$(find-pkg-share bitbots_bringup)/launch/vision.launch">
-            <arg name="sim" value="$(var sim)" />
-        </include>
-    </group>
-
-    <!-- launch inverse perspective mapping (ipm) -->
-    <group if="$(var ipm)">
-        <include file="$(find-pkg-share bitbots_ipm)/launch/ipm.launch">
-            <arg name="sim" value="$(var sim)"/>
-        </include>
+            <arg name="sim" vbehavior
     </group>
 
     <!-- launch teamcom -->