northern-bites/nbites — pull request #309 by nterman (2012-06-08 19:18:23+00:00)
Title: Sweet moves and nav

Added new kicks, back standup and goToPosition strafing fix.

QUICK_STRAIGHT_KICK is pretty quick and is about half-field distance. SHORT_STRAIGHT_KICK is ~quarter field. If it turns out that QUICK is too unstable, STRAIGHT_KICK is slower but more stable.

SIDE_KICK is pretty fast and stable, and should line up at about the center of the ball. SHORT_SIDE_KICK is the same but shorter.

The back kicks are essentially the same, just moved higher up to fit with the new walk.

The front stand up is unchanged, and the back stand up has been tweaked to be more reliable, but as of now sounds really bad. (I will fix this by Monday).

Also a lot of sweet moves have been renamed to be clearer. Now all kicks follow the format ___KICK. And I changed the hilarious thing where the old back stand up works on the new robots and the new stand up works on the old robots.

The Nav method just sets relY to 0 if it is small enough to not be worth strafing at all. I wasn't able to really tweak the constants in it because the new ball estimates weren't in yet, but they seemed to work OK. Also, i just realized there will be an annoying print that should be commented out in this section.