Can't find shared ball behavior

[joshimhoff]

If a robot is looking for the shared ball but cannot find it, it should flip the shared ball symmetrically and look there. If it finds it this way, the shared ball module will flip it.

[egoogins]

How will you stop a flipped robot from breaking the shared model?

[joshimhoff]

Consensus. Multiple robots (currently two) have to agree on the ball's location for us to act on the shared ball in behaviours. A robot is flipped by the shared ball model if the following two things are true:

1. At least two of the robot's team-mates agree on the ball's location.
2. The robot agrees with his team-mates if his estimate of ball position is flipped symmetrically.

I can't remember a time where two robots were flipped, but goalie flipping should deal with that possibility anyway.

What do you think?

[egoogins]

sounds good, i thought from the first comment that a single robot could decide to flip the shared ball module. I'll look at the shared ball module before commenting further

[dzeller]

FYI, the consensus-based shared ball is still under development

[egoogins]

cool, thanks