Kickoff enemy play and kickoff friendly play to FSM with targeting changes#3578
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Muxite merged 39 commits intoUBC-Thunderbots:masterfrom Mar 22, 2026
Merged
Kickoff enemy play and kickoff friendly play to FSM with targeting changes#3578Muxite merged 39 commits intoUBC-Thunderbots:masterfrom
Muxite merged 39 commits intoUBC-Thunderbots:masterfrom
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# Conflicts: # src/software/ai/hl/stp/play/kickoff_enemy_play.cpp # src/software/ai/hl/stp/play/kickoff_enemy_play.h # src/software/ai/hl/stp/play/kickoff_friendly/kickoff_friendly_play.h # src/software/ai/hl/stp/play/kickoff_friendly_play.cpp # src/software/ai/hl/stp/play/kickoff_play_test.py
Muxite
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williamckha
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GrayHoang
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Feb 15, 2026
src/software/ai/hl/stp/play/kickoff_friendly/kickoff_friendly_play_fsm.h
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GrayHoang
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Needs some minor changes to fit within the new fsm hierarchy
4 tasks
Comment out the kickoff_friendly_play_cpp_test target in BUILD file.
StarrryNight
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Mar 9, 2026
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LGTM. Left some comments.
src/software/ai/hl/stp/play/kickoff_enemy/kickoff_enemy_play_fsm.h
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src/software/ai/hl/stp/play/kickoff_friendly/kickoff_friendly_play_fsm.h
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williamckha
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Looks good overall! Small nits
src/software/ai/hl/stp/play/kickoff_enemy/kickoff_enemy_play_fsm.h
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Description
Converts kickoff enemy play and kickoff friendly play to FSMs, while improving the kickoff targeting, and rewriting tests.
For kickoff friendly play:
FInd the largest open circle on the opponent side of the field, and chip the ball into that area. It chooses a viable target that is preferably close to the enemy net center. It also filters out points too close to the edges. Good preliminary settings for X and Y padding were found in Thunderscope. However, I think this should be parameterized and run with a barrage of simulated tests to evaluate these settings, or a better algorithm/heuristic should be found.
Testing Done
The kickoff works on thunderscope with both sides of robots working properly. Testing works for the regular largest-open-circle chip.
Resolved Issues
3296, 3287
Length Justification and Key Files to Review
software/ai/hl/stp/play/kickoff_enemy/
software/ai/hl/stp/play/kickoff_friendly/
software/ai/hl/stp/play/kickoff_play_test.py
Review Checklist
.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