The 'soccer' program is responsible for receiving data from the vision and referee computers and using the information to strategically command the robots on the field (or in the simulator).

Screenshot of the 'soccer' program

Running with the simulator

Start both soccer and the simulator from the terminal:

$ cd run
$ ./simulator &
$ ./soccer -sim

In the simulator, you can move the robots and ball around by clicking and dragging. The ball can also be given a velocity by right-clicking and dragging on it.

Running with real robots

Start soccer:

$ cd run

$ ./soccer

Also, make sure that the cameras and vision system are on. If so, robots should show up within the soccer window at their correct locations.

Manual Control

To run without using the AI/vision system, click the 'Manual' dropdown in the upper right of soccer and select the shell number of the robot you want to control with the joystick.

Here's a diagram of the button layout for gamepad joystick control:

Joystick

In addition to the Logitech Gamepad joystick, you can also use the SpaceNavigator 3d mouse. In order to do so, you have to have the spacenavd userspace driver daemon running. Do this with:

$ sudo spacenavd

You can also use the systemd service file included with the libspnav source to have spacenavd run at bootup.

See the docs for SpaceNavJoystick for more info and button layouts.

Graphing

The soccer program has a feature that allows graphing any of the numeric values in the 'Tree' tab. Simply right-click on a value field, then click 'New Chart' or 'Add to ____' and a graph view will be shown at the bottom of the window.

Graphing