Option grab_and_dribble
* grab the ball and dribble it in a given direction
Parameters of that option:
Parameter | Type | Measure | Range | Description | grab_and_dribble.angle | decimal | deg | -180..180 | The angle where to dribble the ball to relative to the robot | grab_and_dribble.angle_width | decimal | deg | -180..180 | The width of the angle where to dribble the ball to | grab_and_dribble.time_limit | decimal | ms | | * The time limit for dribbling the ball, * if 0, a rule conformant default value is applied * if negative, time is unlimited | grab_and_dribble.left_right | decimal | | | * Turn direction * > 0 left * < 0 right * == 0 dont care | grab_and_dribble.forward_kick | boolean | true/ false | | kick the ball forward when the correct angle is reached | grab_and_dribble.dribble_forward | boolean | true/ false | | dribble the ball forward for the remaining time when the correct angle is reached | grab_and_dribble.always_stop | boolean | true/ false | | always stop the ball after dribbling | grab_and_dribble.regrab | boolean | true/ false | | true for regrabbing directl after stop |
State Machine
State grab
State dribble
State ball_lost
State turn_back
State after_dribble
State finished
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