northern-bites/nbites — pull request #600 by joshimhoff (2013-07-25 16:44:13+00:00)
Title: Improvements to motion and approach ball

Issue #591
- Turns on groundContactStateDetector in bhwalk.
- Now we only calibrate sensors when we are standing firmly on the ground.
- In order for this to work, sensors now sends out information about currents.

Issue #586
- Turns on motion kicking in bhwalk.
- We have a straight motion kick and a side motion kick.
- Currently we only motion kick when we are within a meter of goal center. (Decision making will be better thought out when we work on kickDecider later this year.)

Issue #585
- Improves approach ball!
- We now destination walk to position for a kick. This does two desirable things for us: Bhuman clips steps to the destination, meaning we will not INTENTIONALLY step past the destination. Pedantic mode is also on, so that we won't increase or decrease step size very much to balance the robot when trying to setup for a kick.
- Fixed a mistake in the ballInPosition transition where we demanded that the robot not be too close to the ball. This is why we used to walk backwards and forwards while position for kicks. Also lowered the number of frames on necessary for the ball to be in position to 1.

Miscellaneous
- Makes the big kick a bit more stable (still needs work though). (Thanks, Charlie (my brother))
- Adds a stand KEYFRAME, so that building sweetmoves involves a little bit less copy and paste. (Thanks, Charlie (my brother))
- Celebration sweetmoves (Thanks, Charlie (my brother)) for when we score goals
- Turns off dribbling for now, we approach the ball better, less of a need for dribbling