Automatic Robot substitution

[g3force]

Current procedure

• (1) The robot is at least partially inside the field margin.
• (2) The robot is at a distance from the halfway line that must not exceed 1 meter.
• (3) The ball must be at least 2 meters away from the halfway line.

Issue

Point (3) can result in a deadlock:

• If the ball is within 2 meters to halfway line, robots may not be taken out
• If a team has too many robots on the field due to a yellow card, without any intermediate STOP, there is no chance to interchange robots automatically

Proposed changes

• (3) The ball must be at least 0.5 meters away from the robot.