Pass receive

[ultrainstinct30]

I have edited pass_and_receive.py to use only skills like GoToPoint and turnAround.
In turnAround.py, the allowable error was fixed to 2xROTATION_FACTOR which is nearly 17 deg. So I changed it so that the allowable error is now a parameter with default value equal to the above value.
In math_functions.py, there were two definitions of the method getPointBehindTheBall, so I removed one of them, and changed the definition to:
x = x_0 + r.cos(theta)
y = y_0 + r.sin(theta)
with r = 3.5xBOT_RADIUS
The coordinated-pass.py is the same structure as the goalie_vs_attacker.py
I have tested the above changes 15-20 times. It works well. The current issues are that sometimes the kick is somewhat off from the receiver bot, but unless the bot is very near to the boundary, this doesn't cause much problem as the ball stops before going out of vision and the receiver goes to ball as the ball stops. Other than this, it works nearly perfectly

[thebhatman]

Make a digraph for this FSM using graphviz. When you run the code, an image will be formed in Digraph folder. Put that image in this thread.

[ultrainstinct30]

[thebhatman]

Since there have been recent commits and Merges in fsm branch, there are merge conflicts now. Resolve them.

[thebhatman]

Indentation has been affected.

[thebhatman]

@ultrainstinct30 , I think in your last PR of adding variable threshold for getbehindBall, the indentation got changed. Also it would be good to remove the redundant getPointbehindBall here :

robocup/utils/math_functions.py

Line 214 in 6031170

def getPointBehindTheBall(point, theta):

. Just have one function for this with variable threshold. It would be good to make a new PR only for this. Then edit this Pass receive PR.

[saurabhkgp21]

Ref: #35

[saurabhkgp21]

Do passer and receiver move parallelly with this code?

[ultrainstinct30]

Yes, passer and receiver move together. When we pass two bot ids, those two pass the ball amongst each other. The passer and receiver are decided with the help of their distance from the ball. This pass_and_receive.py is written so that the two bots pass to each other in a loop.

[saurabhkgp21]

Okay.. we can keep this for testing pass receive skills of bots but during the play we dont want passer and receiver to keep passing the ball among them. Role needs to be completed or failed or cancelled.

[saurabhkgp21]

There should be a coordinate passing tactic in 'tactics/'. You can also look at that for any help.