This document will highlight all the plays, tactics, and skills we use in our higher level play system and give a short description of the action it will take as well as a rule of thumb for use. If you want more specific information about individual plays, the next place to look is in the code itself.

Plays

Adaptive Formation and Basic 122 are the two main plays we run at competition. Adaptive is the more advanced one, but it has not been tested as much. Additionally, it requires passing to be possible on the physical robots. Basic 122 is much simpler, but will have more trouble scoring.

Offensive Plays	Description
Adaptive Formation	Repeatedly finds the best pass, until it has a good shot on goal
Basic 122	One robot will always try to get the ball and shoot while the others defend
Two Side Attack	Places two static receiver robots in the middle of the field and decides whether to pass to them or shoot

Tactics

For higher level plays, only Coordinated Pass and Defense are really used.

Tactics	Description	Use When ...
Advance Zone Midfielder	Moves one robot to the best position to recieve the ball, and moves another robot to the best position to recieve the ball from that position.	Use it when need to move robots on a downfield attack at goal.
Coordinated Pass	Moves one robot to the ball and the other to the receive point. When they both are ready, they will pass	Use when you want to pass the ball from one robot to another
Defense	Basic 2 robot defense that stays on the goalie box. Clears the ball when it comes close.	Use in most cases unless you are writing your own defense
Defense Old	Same as Defense, but significantly harder to read code-wise	Don't use
Defensive Forward	Commands 2 of the 3 offensive robots to block while the 3rd tries to take control of the ball	Use when you're trying to capture the ball and have nothing for the other robots to do
Forward Pass	Basically the same as Coordinated Pass, but ball capture is slightly different	Don't use since the new ball capture needs more testing / tuning
Line Up	Lines up all robots in a specified line	Use when you need robots out of the way for testing purposes
One Touch Pass	Finds the best point in front of the opponent goal to pass to and one touch it in	Don't use since it hasn't been tested / tuned
Our Placement	Places the ball according to the auto-ref commands	Don't use unless trying to change ball placement code
Penalty	Takes the penalty and tries to shoot	Don't use unless trying to change Our Penalty code
Simple Zone Midfielder	Commands 2 of the 3 offensive robots to stay at specific positions behind the ball. It just gets the out of the way so they aren't just sitting there on the field	Don't use unless there is nothing better to do
Tune PID	Moves one robot back and forth to tune the motion control	Don't use unless you are trying to tune the motion control

Positions

These are in the tactic folder, but slightly higher level than normal tactics. They contain the AI for a single position (or group) on the field.

Defender and Goalie are really only used on some specific restarts. Submissive Defender and Submissive Goalie are used in Defense. Defensive Forward and Simple Zone Midfielder are used in adaptive formation.

Positions	Description
Coach	The most important tactic we have. It yells strategic messages at the other robots, celebrates on goals, and follows the play from the side of the field.
Defender	Defends specific areas of the field. Only used on restarts
Goalie	Standalone goalie which does not coordinate with other robots. In most cases, it is better to add the Defense tactic, which implements the Submissive Goalie, or use the Submissive Goalie itself.
Submissive Defender	Takes marking targets from the parent play. Used for more coordinated defensive plays
Submissive Goalie	Takes marking targets from the parent play. Used for more coordinated defensive plays

Skills

There are a large number of skills, but many are not used in the higher level plays. Only Capture, Mark, Move, and Pivot/Line Kick are constantly used.

If you want to get the ball, use Capture. If you want to block an opponent robot, use Mark. To Move, use Move. To shoot, use Pivot Kick.

Skills	Description	Use When ...
_Kick	Superclass to both Pivot Kick and Line Kick	Don't use as it's an abstract class
Aim	Holds the ball and aims towards a specific target	Use in lower level plays to control the ball and face a specific direction
Angle Receive	Receives the ball while facing a specific direction to speed up play	Use when you know what direction you want to receive the pass towards in coordinated pass. Much less consistent than the normal receive though
Bump	Bumps the ball towards a certain direction	Probably best not to use as it's not very consistent
Capture	Moves to intercept and collect the ball	Use whenever you want a robot to go grab the ball
Dribble	Dribbles the ball in front of the robot towards a specific point	Use when you want to dribble short distances
Face	Causes the robot to face a target point	Use when you know the robot should be facing a certain direction in the future. Helps improve motion control
Intercept	Tries to intercept the ball at the given point as quickly as possible	Use in situations where capture would be a detriment (eg: the goalie)
Line Kick	Moves into the ball and kicks	Use when you have some time to kick a stopped ball
Line Kick Old	Same as line kick, but in python	Don't use
Line Kick Receive	Uses the same path planner as line kick to receive a pass	Don't use as it is not completely tested on real bots
Mark	Places one of our robots on the given line/point/robot to block any shots/passes	Use to cover opponent robots on the defensive side of things
Move	Moves a robot to a specific position	Use when you want to move robots
Move Direct	Moves to a point without the path planner	Don't use unless you have a very specific reason to
Move Tuning	Very simplified movement command to do PID tuning	Don't use unless you are trying to tune motion control
Pass Receive	Simple receiver for a pass	Use when you just want to receive a pass normally in coordinated pass
Pivot Kick	Stops the ball, circles around it, then shoots in the target direction	Use in general when you want to kick the ball during play
Touch Ball	Simplified capture where the ball will roll towards the robot	Use in similar situations to one touch, where you don't want to move towards the ball while it's being passed to you