northern-bites/nbites — pull request #698 by joshimhoff (2014-07-16 09:52:32+00:00)
Title: Final fort scrimmage

Includes a lot of new things!

Obstacle module and dodging
- Updates the obstacle module to use vision data, instead of sonars.
- Updates the dodging code to work better with new walk and use vision data.
- Still needs work but infrastructure is there. More tuning is necessary.
- Work needs to be done on updating the arm detection module for the new walk.

Kick decider
- Uses visual obstacle detection to decide when to do slow sweet move kicks.
- Includes a commented out low-level decider to motion kick around obstacles. Not ready for use yet!
- Includes a decider to be used when loosing at the end of a half. Orbits for the goal and does long range kicks (including the big kick). Also commented out until more testing can be done.
- Defender clearing needs to be improved.

Kick-off plays
- Includes a kick-off set play system.
- Two plays possible.
- Only run if players are in position.

Shared ball:
- Bug fix related to checking if either the ball or the shared ball is in the no flip zone.
- Bug fix related to resetting localization multiple times.
- Ear LEDs flash when robot flips now.

Random stuff
- New sweet move kick made by Daniel and Dan
- Fall controller enabled in game set, so we get up after falling during state change.
- A bunch of bug fixes related to the new kick-off system.