This is the repo for Team Omicron in the February 2021 RoboCup Jr Simulation competition.
Link to the upstream codebase this repo is based on.
Team members: Ethan Lo, Matt Young, James Talkington.
- Finite state machine
- Attacker, defender and midfielder roles
- Fine tuned strategies over a few weeks of development
- Ball velocity estimation
- Ball position prediction up to 2 seconds in the future
- Fully modelled tank drive steering
- Efficient, circular orbit
- Inter-robot communication via Python's
multiprocessing.connection- We found this to be too unstable and for whatever reason messages were not getting through. We decided to scrap using this for the competition.
All code written by us is released under the Mozilla Public License v2.0, see LICENSE.txt.
If you use this repo in your own robot, please give credit to Team Omicron and Ethan Lo, Matt Young and James Talkington. Any modifications to MPL'd files must be released under the MPL as well (new files do not have this requirement).
If the MPL's legalese is too difficult to read, try this FAQ, and this question for a better explanation.
Hopefully this will be a high-performing robot base that other teams can use in the future.
Some things we wanted to add but didn't get time to do (might be worth implementing these yourself):
- Wall awareness (planning to avoid hitting walls)
- Robot awareness (planning to drive around our teammates)
If you have any questions or comments, feel free to open an issue on this repo. Thanks, and have fun.