Bug - ABB moves in multiple attempts

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Hi,

I have discovered a behaviour that the ABB makes when attempting to hit a moving puck as shown in the video below. This behaviour is caused by having multiple predictions in one puck motion.


Video of ABB attempting to hit the puck multiple times

The logic of my current system is to take three puck positions, predict a future position and move the ABB to the predicted position. If there are still pre-recorded puck positions, the ABB will attempt to move.

There are two ways that I explored to fix this problem:

1. Take more than three positions to reduce number of predictions in one puck motion. Although, this would delay the start of the robot's motion as more positions has to be recorded which is not ideal as using three positions would often yield the same predicted position as recording ten positions. Also, considering the delay I have encountered when sending a command to the ABB, I want to predict and move the ABB as soon as possible.

2. The second option that was successful was creating a flag function to only execute a code once and when a condition is met, the flag restarts and allows the same code to be executed again. The condition that I settled with is restarting the flag when the puck is moving towards the human player.

Immanuel

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