RoboJackets
diff --git a/‎src/rj_constants/include/rj_constants/constants.hpp‎
Lines changed: 2 additions & 0 deletions b/‎src/rj_constants/include/rj_constants/constants.hpp‎
Lines changed: 2 additions & 0 deletions
diff --git a/‎src/rj_strategy/include/rj_strategy/agent/position/offense.hpp‎
Lines changed: 1 addition & 15 deletions b/‎src/rj_strategy/include/rj_strategy/agent/position/offense.hpp‎
Lines changed: 1 addition & 15 deletions
diff --git a/‎src/rj_strategy/include/rj_strategy/agent/position/solo_offense.hpp‎
Lines changed: 31 additions & 23 deletions b/‎src/rj_strategy/include/rj_strategy/agent/position/solo_offense.hpp‎
Lines changed: 31 additions & 23 deletions
@@ -26,6 +26,8 @@ inline constexpr float kRobotHeight = 0.150f;
 inline constexpr float kRobotMouthWidth = 0.0635f;
 inline constexpr float kRobotMouthRadius = 0.078f;
 
+inline constexpr float kShotCalculationGranularity = 0.04f;
+
 // Constant for ball deceleration on field
 inline constexpr float kBallDecel{-0.4f};
 
 
@@ -18,6 +18,7 @@
 
 #include "rj_strategy/agent/position.hpp"
 #include "rj_strategy/agent/position/seeker.hpp"
+#include "rj_strategy/agent/position_utils.hpp"
 
 namespace strategy {
 
@@ -230,21 +231,6 @@ class Offense : public Position {
      */
     bool check_if_open(int target_robot_shell);
 
-    /**
-     * @return whether or not a robot is capable of shooting from their pos
-     */
-    bool can_i_shoot() const;
-
-    /**
-     * @return the target (within the goal) that would be the most clear shot
-     */
-    rj_geometry::Point calculate_best_shot() const;
-
-    /**
-     * @return whether the ball is in an area that non-goalies cannot reach.
-     */
-    bool ball_in_red() const;
-
     /**
      * @return true when in PASSING_FINISHED and the kick failsafe timeout has
      *         elapsed while the ball is still within possession range of this robot.
 
@@ -17,6 +17,7 @@
 #include <rj_msgs/action/robot_move.hpp>
 
 #include "rj_strategy/agent/position.hpp"
+#include "rj_strategy/agent/position_utils.hpp"
 
 namespace strategy {
 
@@ -31,34 +32,41 @@ class SoloOffense : public Position {
     std::string get_current_state() override;
 
 private:
-    /**
-     * @brief Overriden from Position. Calls next_state and then state_to_task on each tick.
-     */
-    std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
-
-    enum State { TO_BALL, KICK, MARKER, ROTATE };
-
-    State current_state_ = TO_BALL;
-
-    rj_geometry::Point target_;
+    enum State {
+        IDLE,     // The nothing doer
+        MARKER,   // Aggressively sit between ball and goal pos
+        TO_BALL,  // Collect
+        ROTATE,   // After successful collect, aim and fire
+        KICK      // The more naive line kick
+    };
+    State kick_strategy_ =
+        TO_BALL;  // set to TO_BALL for collect kicking, set to KICK for line kicking
+    planning::LinearMotionInstant kick_target_;  // aiming point
+
+    State current_state_ = IDLE;
+
+    static constexpr std::string_view state_to_name(State s) {
+        switch (s) {
+            case IDLE:
+                return "IDLE";
+            case MARKER:
+                return "MARKER";
+            case TO_BALL:
+                return "TO_BALL";
+            case ROTATE:
+                return "ROTATE";
+            case KICK:
+                return "KICK";
+            default:
+                return "unknown?";
+        }
+    }
 
-    int marking_id_;
-
-    bool kick_ = false;
-    int counter_ = 0;
+    std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
 
-    /**
-     * @return what the state should be right now. called on each get_task tick
-     */
     State next_state();
 
-    /**
-     * @return the task to execute. called on each get_task tick AFTER next_state()
-     */
     std::optional<RobotIntent> state_to_task(RobotIntent intent);
-
-    rj_geometry::Point calculate_best_shot() const;
-    double distance_from_their_robots(rj_geometry::Point tail, rj_geometry::Point head) const;
 };
 
 }  // namespace strategy