fixing freekick problem

Author: cleWu03

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -103,32 +103,10 @@ $DoOnce
             NO --> $SecondaryStateTeamDecider
                 OUR --> #SearchBall
                 OTHER --> @AvoidBallActive, @LookAtFieldFeatures, @WalkInPlace + duration:2, @GoToRelativePosition + x:1 + y:0 + t:0, @Stand
-            YES --> $SecondaryStateDecider
-                CORNER_KICK -->  @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToCornerKickPosition + mode:others
-                THROW_IN --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                DIRECT_FREEKICK --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                INDIRECT_FREEKICK --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                GOAL_KICK --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                PENALTYKICK --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                ELSE --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
+            YES --> $RankToBallNoGoalie
+                FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
+                SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
+                THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
 
 #Init
 @Stand + duration:0.1 + r:false, @ChangeAction + action:waiting, @LookForward, @Stand
@@ -178,19 +156,9 @@ $IsPenalized
         PLAYING --> $SecondaryStateDecider
             PENALTYSHOOT --> #PenaltyShootoutBehavior
             TIMEOUT --> #StandAndLook
-<<<<<<< HEAD
-            ELSE --> $SecondaryStateModeDecider
-                ELSE --> #StandAndLook
-                PLACING --> #Placing
-||||||| parent of 5e668ed2f (OUR in dsd Tree for all secondaryStateDeciders)
-            ELSE --> $SecondaryStateTeamDecider
-                OWN --> #NormalBehavior //Nutzt immer normalBehaviour wenn wir die aktion ausführen, könnte man spezifischeres Verhalten definieren
-                OTHER --> #Placing
-=======
             ELSE --> $SecondaryStateTeamDecider
-                OUR --> #NormalBehavior //Nutzt immer normalBehaviour wenn wir die aktion ausführen, könnte man spezifischeres Verhalten definieren
+                OUR --> #NormalBehavior
                 OTHER --> #Placing
->>>>>>> 5e668ed2f (OUR in dsd Tree for all secondaryStateDeciders)
             NORMAL --> #NormalBehavior
             OVERTIME --> #NormalBehavior
         STANDBY --> #StandAndLook