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The Goalie
The goalie is a player which works separately from the other players on the field most of the time. The goalie uses systems that were created for field players but also has specialized systems to better adapt to the needs of the goalie. The goalie has three general areas: Saving, Chasing, or Positioning. Most of the time the goalie is in one of these three roles.
The goalie has two basic saves: Dive and Squat. It remains down in the save postions for 5 seconds (2011 Rules). The decision to save is made based on a "Heat" sensor. Heat is the term for when a robot is near the ball. Heat is a number ranging from 0-20. 0 is when the ball is not near the robot, 20 is when the ball is probably about to be kicked by a robot. When heat is above 10 or acceleration is less than -20 the goalie will prepare to save. The goalie waits until heat drops and velocity is high and moving towards the goalie to decide which way to save. The goalie will squat save if the ball is going to end up within 15 on either side of the goalie. It will dive is the ball is between 15 and 250 cm away. Farther than 250 the goalie will squat because the ball is probably really far away but just to be safe.
** NOTE: The goalie saving will get a lot better when the ball system improves. **
The goalie dive is a quick by safe motion for the robot which covers about half of the goal when the goalie is positioned in the center of the goal. The goalie can dive both right and left. Once the goalie dives it will remain on the ground for 5 seconds then do a "roll out" which just gets the goalie onto its back. Once on its back the goalie will get up using the normal back stand up.
The squat save is meant for balls that are close to the body (approximately 15 cm or less in either direction). This save creates an M shape with the goalies legs. This save has a special stand up that the goalie does after remaining in the squat position for 5 seconds.
The goalie uses the same chase behavior as the other players on the field but it is monitored by a bunch of different transitions to keep the goalie from going to far.
The goalie starts chasing when:
- The ball is with in the chase limit.
The goalie stops chasing when:
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Ball has been off for a lot of frames
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The goalie is more than 1/4 of the way up the field.
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The goalie is outside of its box and the ball is past the chase limit
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Ball is past the chase limit or ball has a relX value too high.
The goalie has two different positioning states. One of which is a special state for kick off.