Tune Pass Speed with Pass Distance #2918
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…rav_banna/pass_speed_cost � Conflicts: � src/software/thunderscope/thunderscope.py
…rav_banna/pass_speed_cost
LiCody
reviewed
Jun 7, 2023
| pass_destination.y() - ball_position.y()); | ||
| double pass_distance_length = pass_distance.length(); | ||
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| double deceleration = -0.5; |
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can we pull this out to either a file-level constant or global constant
2 tasks
itsarune
reviewed
Apr 10, 2024
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| power = qBound( | ||
| 0.05f, | ||
| m_sslCommand.kick_speed() - (ball->speed().length() / SIMULATOR_SCALE), | ||
| m_specs.shot_linear_max()); |
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on saturday, we talked about doing this bound only if the ball's current speed is lower than some threshold
…rav_banna/pass_speed_cost
…/Thunderbots-Software into saurav_banna/pass_speed_cost
nimazareian
reviewed
May 23, 2024
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| // we subtract the current speed of the ball from the intended kick speed | ||
| // this ensures the ball leaves the robot at exactly the speed we want | ||
| power = qBound(0.05f, | ||
| ball->speed().length() < kickSpeedBoundThreshold | ||
| ? m_sslCommand.kick_speed() - | ||
| (ball->speed().length() / SIMULATOR_SCALE) | ||
| : m_sslCommand.kick_speed(), | ||
| m_specs.shot_linear_max()); |
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nit: Could you split the lower bound into a separate if statement?
nimazareian
reviewed
May 25, 2024
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| if (ball->speed().length() < kickSpeedBoundThreshold) | ||
| { | ||
| lowerBound = | ||
| m_sslCommand.kick_speed() - (ball->speed().length() / SIMULATOR_SCALE) | ||
| } | ||
| else | ||
| { | ||
| lowerBound = m_sslCommand.kick_speed() | ||
| } |
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Suggested change
| if (ball->speed().length() < kickSpeedBoundThreshold) | |
| { | |
| lowerBound = | |
| m_sslCommand.kick_speed() - (ball->speed().length() / SIMULATOR_SCALE) | |
| } | |
| else | |
| { | |
| lowerBound = m_sslCommand.kick_speed() | |
| } | |
| if (ball->speed().length() < kickSpeedBoundThreshold) | |
| { | |
| lowerBound = | |
| m_sslCommand.kick_speed() - (ball->speed().length() / SIMULATOR_SCALE); | |
| } | |
| else | |
| { | |
| lowerBound = m_sslCommand.kick_speed(); | |
| } |
nimazareian
previously approved these changes
May 25, 2024
williamckha
reviewed
May 27, 2024
| * @param field The field from which we determine the friendly half | ||
| * @param pass The pass to rate | ||
| * @param passing_config The passing config used for tuning | ||
| * @return |
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return description missing
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| double ratePassBackwardsQuality(const Field& field, const Pass& pass, | ||
| TbotsProto::PassingConfig& passing_config) | ||
| { | ||
| if (field.pointInFriendlyHalf(pass.receiverPoint()) && | ||
| field.pointInEnemyHalf(pass.passerPoint())) | ||
| { | ||
| double pass_distance = (pass.receiverPoint() - pass.passerPoint()).length(); | ||
| if (pass_distance > passing_config.backwards_pass_distance()) | ||
| { | ||
| return 0; | ||
| } | ||
| } | ||
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| return 1; |
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I think it would be better to approach 0 as the pass distance increases instead of straight up returning a 0. There may be some times when a long backwards pass is actually a good option (maybe its the only way to avoid turning over possession), so the other cost functions might have very high ratings that would be annihilated by this cost function returning 0.
Andrewyx
approved these changes
May 29, 2024
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Description
Before, we would have the problem of a robot passing the ball to another robot too fast. This causes the ball to just bounce off of the receiver's dribbler instead of being caught by it. So, we need to ensure that the pass is received at an acceptable speed.
To do this, this PR makes changes to the Pass Generator to pick an initial speed for a pass such that its final speed is less than the maximum acceptable speed to prevent the bouncing off.
Testing Done
Added a new simulated test just for passing which allows us to test these changes in isolation. Created a new validation to test for the speed at which a pass is received.
Resolved Issues
Resolved #2904
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue