Ball search behavior - #2723
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BenSampaolo wants to merge 14 commits into
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Why? What?
Issue #2389
This PR adds a smarter searching behavior which uses a new heat map. While the old heat map was a probability distribution of where the ball could be the new one is a priority map which area to check when searching for the ball.
This PR helps to better search the field and make the robot actually move around when looking for the ball.
ToDo / Known Issues
This PR needs the team messages to communicate and search more efficiently and therefore will work better when #2692 is merged.
How to Test
Deploy on the robot and enter playing mode. Make sure the robot doesn't see a ball and has loca. The robot should circle around the field and look for the ball.