Kickoff enemy play and kickoff friendly play to FSM with targeting changes#3578
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Muxite wants to merge 7 commits intoUBC-Thunderbots:masterfrom
Open
Kickoff enemy play and kickoff friendly play to FSM with targeting changes#3578Muxite wants to merge 7 commits intoUBC-Thunderbots:masterfrom
Muxite wants to merge 7 commits intoUBC-Thunderbots:masterfrom
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# Conflicts: # src/software/ai/hl/stp/play/kickoff_enemy_play.cpp # src/software/ai/hl/stp/play/kickoff_enemy_play.h # src/software/ai/hl/stp/play/kickoff_friendly/kickoff_friendly_play.h # src/software/ai/hl/stp/play/kickoff_friendly_play.cpp # src/software/ai/hl/stp/play/kickoff_play_test.py
Muxite
requested review from
Andrewyx,
sauravbanna and
williamckha
as code owners
GrayHoang
reviewed
Feb 15, 2026
| #include "software/ai/evaluation/enemy_threat.h" | ||
| #include "software/ai/evaluation/find_open_areas.h" | ||
| #include "software/ai/hl/stp/play/play.h" | ||
| #include "software/ai/hl/stp/play/play_fsm.h" |
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This should refer to play_fsm.hpp, I think. I don't know if you fixed the merge conflicts, but I think this will have to change significantly to fit within the framework from #3481
GrayHoang
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Feb 15, 2026
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Needs some minor changes to fit within the new fsm hierarchy
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Description
Converts kickoff enemy play and kickoff friendly play to FSMs, while improving the kickoff targeting, and rewriting tests.
For kickoff friendly play:
If there is a clear shot into net: shoot
If there is not a clear shot into net: find the largest open circle on the opponent side of the field, and chip the ball into that area.
Testing Done
The kickoff works on thunderscope with both sides of robots working properly, but I have issues writing a test specificaly to simulate the direct shot condition. Testing also works for the regular largest-open-circle chip. However test coverage does not cover the shooting part of the FSM.
Resolved Issues
3296, 3287
Length Justification and Key Files to Review
software/ai/hl/stp/play/kickoff_enemy/
software/ai/hl/stp/play/kickoff_friendly/
software/ai/hl/stp/play/kickoff_play_test.py
Review Checklist
The PR is not done but comments on what to improve would be good. I need to add FSM docs.
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue