Shadow Defense Base#3450
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zuperzane merged 47 commits intoUBC-Thunderbots:masterfrom Jul 19, 2025
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Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com>
Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com>
…e and turn it to a shadower
…er is always confident that someone has ball, also adding a simple test that is to be fixed
…e threshold for is near dribble
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…t going to remove it for now and see if tests pass
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src/software/ai/hl/stp/tactic/shadow_enemy/shadow_enemy_fsm.cpp
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nice work! just have some code nits
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@itsarune thank you for the nits 🙏 |
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| /* | ||
| * Go for ball is checking if the ball is within a certain angle | ||
| * of the net | ||
| * XX <-- Enemy that is not facing the net | ||
| * XX | ||
| * / O \<-- Ball | ||
| * / \ | ||
| * +----/----------\----+ | ||
| * | / \ | | ||
| * | / ++ \ | | ||
| * | / ++ <--\Goalie | ||
| *+----------------------+---------++---------+------------------+ | ||
| */ |
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| */ | ||
|
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| if (go_for_ball) |
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| */ | |
| if (go_for_ball) | |
| */ | |
| if (go_for_ball) |
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src/software/ai/hl/stp/tactic/shadow_enemy/shadow_enemy_fsm_test.cpp
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looks great! I left some more nits, but great work with the diagrams!
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Co-authored-by: itsarune <42703774+itsarune@users.noreply.github.com>
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resolves #3357
Testing involves a py test added to defense test and a shadow fsm test
Resolved defense lack of aggressiveness
[x]New Tests
[x]New Tactic
[x ]Tested in real life by placing nonfunctionning robot with ball and watching the shadower take the ball, there was a change in logic though
making the shadower go for the enemy face rather than the ball and that hasnt been tested
TODO(or similar) statements should either be completed or associated with a github issueMaybe make another TODO that has to do with editing the function on line 15
in src/software/ai/hl/stp/play/defense/defense_play_fsm.cpp
It should make a better decision as to when to start acting like a shadower vs just always taking any passing defender and as soon as they're between the ball and the net acting like shadower. Maybe if it also had nobody to pass to or nowhere to go I'm not sure I could do that for this todo if that makes more sense tho.