[robocup-small] Field with slope

[James Bruce]

Part of the problem for us last year is that the balls weren't placed 
all that accurately on the boundary line (not that I blame the refs 
given they had to place a ball about every 7 seconds).  They were often 
outside the field, which make problems for the software: What's the 
valid range of angles to kick at to keep the ball in when it's already 
out?  Assuming the ball was inside the field didn't help, since that 
meant that "down the line" was ok, when it really wasn't.  Chaning the 
rules to move the ball in, even a little bit, will help a lot I think.  
10cm should be plenty.

As far as kicking strength, many teams can kick it weakly if needed, 
which is good for free kicks when there is an opening.  Adding a 6th 
robot is definitely not going to help with creating openings however, 
since the extra robot will probably become part of the defensive wall too.

So, when faced with a giant wall, the only options without chip kicks 
are: (1) kicking it at your own goal, hoping you intercept it and that 
the other team doesn't get there before you can kick it again, or (2) 
kicking at a gap in the opponent team at maximum speed and hoping it 
goes through.  You can guess what most teams do.

So, we think the 10cm will help, but that the extra robot will hurt.

Jim Bruce
CMDragons / CMRoboDragons

Sean Verret wrote:

>I would say a vast majority of the balls that went out of bounds in 2004 
>were due to poor throwin's etc. and the ball would come out right away.  
>We've tried to solve this by stating all throwins, corners, and freekicks 
>within 10cm of the outer edge line will be moved 10cm in from the line...
>
>Personally with the strength of today's kickers I don't think any wall 
>will make a difference...
>  
>