Kicks - northern-bites/nbites GitHub Wiki

The Kicks are a type of scripted motion used by the northern bites.

Some of the kicks are dynamic in that they are called as functions and some of the joint angles are changed depending on what parameters they are given. Currently LEFT_D_KICK and RIGHT_D_KICK are dynamic and they take in the relative position of the ball.

The kicks are called using kicks.py where the class Kick is defined. Each kick has a "Sweet Spot" which is the center of the range of the kick. Due to variations in our position on the ball when we prepare to kick the sweet spot is the location where we have the safest bet to kick the ball.

Our Kick Decisions are handled in KickDecider.py