These are notes taken during practice games. Most recent at the top. === 8-7-2005 === Champ vs r7498 score: 0-5[[BR]] 1st Half: Red-Blue 0-2[[BR]] 2nd Half: Blue-Red 3-0[[BR]] Wohooo! [[BR]] === 1-7-2005 === CHAMP updated to r7080[[BR]] === 27-5-2005 === Champ vs r6260 score: 1-10[[BR]] 1st Half: Red-Blue 1-3[[BR]] 2nd Half: Blue-Red 0-7[[BR]] Wohooo! [[BR]] NOTE: goals and beacons were switched to other halves of the field since last game[[BR]] CHAMP UPDATED TO R6260 === 25-5-2005 === Champ vs r6186 score: 0-3[[BR]] 1st Half: Red-Blue 0-3[[BR]] 2nd Half: Blue-Red 0-0 === 18-5-2005 === Champ vs r6043 score: 3-3[[BR]] 1st Half: Red-Blue 1-3[[BR]] 2nd Half: Blue-Red 2-0 === 16-5-2005 === Champ vs r6007 score: 1-6 ---- === 9-3-2005 === r4877 vs r5063 (note: r5063 goalie was switched off) score: 1-5 * We need debug leds or behaviours on startup to confirm player number matches behaviour (e.g. 1 -> Goalie) * Change kick choice on the centre line, especially to be not chest push on kickoff. * Need detection for running off the field - blindness * Too slow to grab - we need shortstep back? * Need to tweak the grab-turn right next to the goal to be sure of not kicking it out. Sidestep? * We should experiment with kickoff set plays === 2-3-2005 === r4877 vs 4977 score: 5-1 * An obvious problem in role switching meant there was rarely an attacker. Findball also appeared broken * We need to work out how to use the UDP sniffer and confirm dogs are communicating in initial/ready/set (Wei Ming) * Should add green field points back to line localisation (Alex) * Red4 localisation was continually broken. Find out why (check colour calibration) (Josh) * Must let go between grabs (Andrew) * We could use distance to ball for more accurate kick-off positioning (Andrew) * Change in kickoff team doesn't lead to change in position of the kicker (Wei Ming) === 22-2-2005 === r4877 vs r4950 (grab-turn-kick only) score: 1-4 * RoboCommander needs to be fixed so we can see world models * We ran late - we must be ready on time for games * Must fix uniform on blue 2 - interferes with ball * Active localise, particularly for goalie, should look for lines as well as beacons. Pan lower? * We should not attempt shots on goal from long range (> half field). Smallt target angle, lots of innaccuracy due to field/ball. In some discussion afterwards we modified this slightly... You shouldn't use the powerful kick in the attacking half unless you are pretty sure that you're going to score. If you are in the defensive half, and you are pretty sure that the ball will at least reach the attacking half, then it is probably ok to use the more powerful kicks - even if the ball goes out it will then be moved back the centre line, which is in front of where it was kicked. * Ball tracking/searching still loses the ball a lot * The dog is stopping and turning on long runs to ball instead of heading directly to it. * Walk (particularly turn) looks funny on some robots * grab-turn-kick often kicks when not lined up * grab-turn-kick needs to do something smarter when the goal is not seen where expected === 15-2-2005 === * Role confusion - often the robots seem to not know what they should do/do the wrong thing * Robot stops walking while localising * Ball being kicked out too much, esp by goalie * Blue goalie has localisation trouble * Players should use the ball drop-in info from gamecontroller * Need object info in C++ CPlane * Walks into walls === 1-2-2005 === * Grab turn kick needs work in scrums (modify or don't use) * We need a UDP based world model viewer to listen on dog's broadcast * Robot avoidance (world model, vision). SubVision detection, RRT planning? * Findball and ball tracking need work. Findball needs to move onto field before searching * The supporter robot was sometimes upfield of the ball * Need to be careful with grab near edge. Need a slower, more reliable version? === 25-1-2005 === * Seeing ball in orange wall and pink beacon * Need to check active localise code is good for current field * Ball search is broken * Obstacle avoidance - robot attempted to walk to ball through beacon * Must avoid kicking ball out after throw in - approach from field edge side * Bunching still * Localisation seems still broken === 18-1-2005 === r4609 v 4648 Lots of obvious behavioural problems including: * Field edge and corner behaviours * Bunching is chronic * We need beacon/goal obstacle avoidance * Need a grab/turn/shoot skill * Calibration for walking backwards needs fixing * Blue goalie has a localisation problem that causes it to back into the goal continuously === 6-1-2005 === r4609 v r4609 * The paw kick functions well as a dribble on this field (Claude thought it might suck) * The diagonal line we saw formed by defenders is good. Line forms diagonally backwards and across starting with the defender closest to the ball. * Front-on leglock is really crippling - we must detect/avoid it. Use distance sensor? * We saw a really close dribble with the ball under the head that is great for short range maneuvering. * Need a grab and turn in corners