Final_speed and Target_spins_per_s

src/proto/tactic.proto

@@ -124,8 +124,7 @@ message MoveTactic
     required Point destination = 1;
     // The orientation the robot should have when it arrives at its destination
     required Angle final_orientation = 2;
-    // The speed the robot should have when it arrives at its destination
-    required double final_speed = 3;
+    reserved 3, 8;
     // How to run the dribbler
     required DribblerMode dribbler_mode = 4;
     // How to navigate around the ball
@@ -134,8 +133,6 @@ message MoveTactic
     required AutoChipOrKick auto_chip_or_kick = 6;
     // The maximum allowed speed mode
     required MaxAllowedSpeedMode max_allowed_speed_mode = 7;
-    // The target spin while moving in revolutions per second
-    required double target_spin_rev_per_s = 8;
     // The obstacle avoidance mode to use while moving
     required ObstacleAvoidanceMode obstacle_avoidance_mode = 9;
 }

src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.cpp

@@ -56,10 +56,10 @@ void BallPlacementPlayFSM::alignPlacement(const Update &event)
                       2 * alignment_vector * ROBOT_MAX_RADIUS_METERS;
 
         align_placement_tactic->updateControlParams(
-            setup_point, setup_angle, 0.0, TbotsProto::DribblerMode::OFF,
+            setup_point, setup_angle, TbotsProto::DribblerMode::OFF,
             TbotsProto::BallCollisionType::AVOID, {AutoChipOrKickMode::OFF, 0},
             TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
-            TbotsProto::ObstacleAvoidanceMode::SAFE, 0.0);
+            TbotsProto::ObstacleAvoidanceMode::SAFE);
 
         tactics_to_run[0].emplace_back(align_placement_tactic);
 
@@ -143,10 +143,10 @@ void BallPlacementPlayFSM::retreat(const Update &event)
 
         // setup ball placement tactic for ball placing robot
         retreat_tactic->updateControlParams(
-            retreat_position, final_orientation, 0.0, TbotsProto::DribblerMode::OFF,
+            retreat_position, final_orientation, TbotsProto::DribblerMode::OFF,
             TbotsProto::BallCollisionType::AVOID, {AutoChipOrKickMode::OFF, 0},
             TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
-            TbotsProto::ObstacleAvoidanceMode::SAFE, 0.0);
+            TbotsProto::ObstacleAvoidanceMode::SAFE);
         tactics_to_run[0].emplace_back(retreat_tactic);
 
         event.common.set_tactics(tactics_to_run);
@@ -303,7 +303,7 @@ void BallPlacementPlayFSM::setupMoveTactics(const Update &event)
             waiting_line_vector.normalize(waiting_line_vector.length() * i /
                                           static_cast<double>(move_tactics.size()));
         move_tactics.at(i)->updateControlParams(
-            waiting_destination, Angle::zero(), 0.0,
+            waiting_destination, Angle::zero(),
             TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
             TbotsProto::ObstacleAvoidanceMode::SAFE);
     }

src/software/ai/hl/stp/play/enemy_ball_placement/enemy_ball_placement_play_fsm.cpp

@@ -95,13 +95,13 @@ void EnemyBallPlacementPlayFSM::avoid(const Update& event)
             }
             // Move to destination point while aligning to the ball
             avoid_interference_tactics[idx]->updateControlParams(
-                destination, (ball_pos - robot.position()).orientation(), 0);
+                destination, (ball_pos - robot.position()).orientation());
         }
         else
         {
             // Stay in place while aligning to the ball
             avoid_interference_tactics[idx]->updateControlParams(
-                robot.position(), (ball_pos - robot.position()).orientation(), 0);
+                robot.position(), (ball_pos - robot.position()).orientation());
         }
         tactics_to_run[0].emplace_back(avoid_interference_tactics[idx]);
         idx++;
@@ -140,11 +140,10 @@ void EnemyBallPlacementPlayFSM::enterDefensiveFormation(const Update& event)
     Point right  = world_ptr->ball().position() + right_vector;
 
     move_tactics[0]->updateControlParams(
-        center, positioning_vector.orientation() + Angle::half(), 0);
-    move_tactics[1]->updateControlParams(left, left_vector.orientation() + Angle::half(),
-                                         0);
+        center, positioning_vector.orientation() + Angle::half());
+    move_tactics[1]->updateControlParams(left, left_vector.orientation() + Angle::half());
     move_tactics[2]->updateControlParams(right,
-                                         right_vector.orientation() + Angle::half(), 0);
+                                         right_vector.orientation() + Angle::half());
     tactics_to_run[0].emplace_back(move_tactics[0]);
     tactics_to_run[0].emplace_back(move_tactics[1]);
     tactics_to_run[0].emplace_back(move_tactics[2]);

src/software/ai/hl/stp/play/example_play.cpp

@@ -25,7 +25,7 @@ void ExamplePlay::getNextTactics(TacticCoroutine::push_type &yield,
                 world_ptr->ball().position() +
                     Vector::createFromAngle(angle_between_robots *
                                             static_cast<double>(k + 1)),
-                (angle_between_robots * static_cast<double>(k + 1)) + Angle::half(), 0);
+                (angle_between_robots * static_cast<double>(k + 1)) + Angle::half());
         }
 
         // yield the Tactics this Play wants to run, in order of priority

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp

@@ -69,7 +69,7 @@ void FreeKickPlayFSM::updateReceiverPositioningTactics(
         Angle receiver_orientation =
             (world->ball().position() - best_receiving_positions[i]).orientation();
         receiver_positioning_tactics[i]->updateControlParams(
-            best_receiving_positions[i], receiver_orientation, 0.0,
+            best_receiving_positions[i], receiver_orientation,
             TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
             TbotsProto::ObstacleAvoidanceMode::AGGRESSIVE);
     }
@@ -125,7 +125,7 @@ void FreeKickPlayFSM::updateAlignToBallTactic(const WorldPtr &world_ptr)
 
     align_to_ball_tactic->updateControlParams(
         ball_pos - direction_to_face.normalize(ROBOT_MAX_RADIUS_METERS * 2),
-        direction_to_face.orientation(), 0);
+        direction_to_face.orientation());
 }
 
 bool FreeKickPlayFSM::shotFound(const Update &event)

src/software/ai/hl/stp/play/hardware_challenge_plays/dribbling_parcour_play.cpp

@@ -28,7 +28,7 @@ void DribblingParcourPlay::getNextTactics(TacticCoroutine::push_type &yield,
         }
         else
         {
-            move_tactic->updateControlParams(Point(0, 0), Angle::zero(), 0.0);
+            move_tactic->updateControlParams(Point(0, 0), Angle::zero());
             result.emplace_back(move_tactic);
         }
         yield({result});

src/software/ai/hl/stp/play/hardware_challenge_plays/pass_endurance_play.cpp

@@ -31,8 +31,7 @@ void PassEndurancePlay::getNextTactics(TacticCoroutine::push_type &yield,
                     world_ptr->ball().position() +
                         Vector::createFromAngle(angle_between_robots *
                                                 static_cast<double>(k + 1)),
-                    (angle_between_robots * static_cast<double>(k + 1)) + Angle::half(),
-                    0);
+                    (angle_between_robots * static_cast<double>(k + 1)) + Angle::half());
             }
         }
         else
@@ -44,7 +43,7 @@ void PassEndurancePlay::getNextTactics(TacticCoroutine::push_type &yield,
                 auto next_position = Point(
                     world_ptr->field().centerPoint().x(),
                     (initial_offset + static_cast<int>(k)) * 4 * ROBOT_MAX_RADIUS_METERS);
-                move_tactics[k]->updateControlParams(next_position, Angle::zero(), 0);
+                move_tactics[k]->updateControlParams(next_position, Angle::zero());
             }
         }
         result.insert(result.end(), move_tactics.begin(), move_tactics.end());

src/software/ai/hl/stp/play/hardware_challenge_plays/scoring_from_contested_possession_play.cpp

@@ -30,7 +30,7 @@ void ScoringFromContestedPossessionPlay::getNextTactics(TacticCoroutine::push_ty
         else
         {
             // TODO (#2107): implement face ball opposite attacker 0.3m away
-            move_tactic->updateControlParams(Point(0, 0), Angle::zero(), 0.0);
+            move_tactic->updateControlParams(Point(0, 0), Angle::zero());
             result.emplace_back(move_tactic);
         }
         yield({result});

src/software/ai/hl/stp/play/hardware_challenge_plays/scoring_with_static_defenders_play.cpp

@@ -29,7 +29,7 @@ void ScoringWithStaticDefendersPlay::getNextTactics(TacticCoroutine::push_type &
                 auto next_position = Point(
                     world_ptr->field().centerPoint().x(),
                     (initial_offset + static_cast<int>(k)) * 4 * ROBOT_MAX_RADIUS_METERS);
-                move_tactics[k]->updateControlParams(next_position, Angle::zero(), 0);
+                move_tactics[k]->updateControlParams(next_position, Angle::zero());
             }
         }
         else if (world_ptr->gameState().isOurFreeKick())
@@ -46,8 +46,7 @@ void ScoringWithStaticDefendersPlay::getNextTactics(TacticCoroutine::push_type &
                     world_ptr->ball().position() +
                         Vector::createFromAngle(angle_between_robots *
                                                 static_cast<double>(k + 1)),
-                    (angle_between_robots * static_cast<double>(k + 1)) + Angle::half(),
-                    0);
+                    (angle_between_robots * static_cast<double>(k + 1)) + Angle::half());
             }
         }
         result.insert(result.end(), move_tactics.begin(), move_tactics.end());

src/software/ai/hl/stp/play/kickoff_enemy_play.cpp

@@ -125,7 +125,7 @@ void KickoffEnemyPlay::getNextTactics(TacticCoroutine::push_type &yield,
                 // listed above
                 move_tactics.at(defense_position_index)
                     ->updateControlParams(defense_positions.at(defense_position_index),
-                                          Angle::zero(), 0);
+                                          Angle::zero());
                 result[0].emplace_back(move_tactics.at(defense_position_index));
                 defense_position_index++;
             }
@@ -138,7 +138,7 @@ void KickoffEnemyPlay::getNextTactics(TacticCoroutine::push_type &yield,
                                    world_ptr->field().friendlyGoalpostNeg(),
                                    world_ptr->field().centerPoint(),
                                    ROBOT_MAX_RADIUS_METERS),
-                Angle::zero(), 0, TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
+                Angle::zero(), TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
                 TbotsProto::ObstacleAvoidanceMode::AGGRESSIVE);
         result[0].emplace_back(move_tactics.at(defense_position_index));
 

src/software/ai/hl/stp/play/kickoff_friendly_play.cpp

@@ -93,7 +93,7 @@ void KickoffFriendlyPlay::getNextTactics(TacticCoroutine::push_type &yield,
         for (unsigned i = 0; i < kickoff_setup_positions.size(); i++)
         {
             move_tactics.at(i)->updateControlParams(kickoff_setup_positions.at(i),
-                                                    Angle::zero(), 0);
+                                                    Angle::zero());
             result[0].emplace_back(move_tactics.at(i));
         }
 
@@ -123,7 +123,7 @@ void KickoffFriendlyPlay::getNextTactics(TacticCoroutine::push_type &yield,
         for (unsigned i = 1; i < kickoff_setup_positions.size(); i++)
         {
             move_tactics.at(i)->updateControlParams(kickoff_setup_positions.at(i),
-                                                    Angle::zero(), 0);
+                                                    Angle::zero());
             result[0].emplace_back(move_tactics.at(i));
         }
 

src/software/ai/hl/stp/play/penalty_kick/penalty_kick_play_fsm.cpp

@@ -48,12 +48,11 @@ void PenaltyKickPlayFSM::setupPosition(const Update &event)
                           ROBOT_MAX_RADIUS_METERS;
         penalty_setup_tactics.at(i)->updateControlParams(
             Point(ball_position_x - 1.25, y_offset),
-            event.common.world_ptr->field().enemyGoalCenter().toVector().orientation(),
-            0);
+            event.common.world_ptr->field().enemyGoalCenter().toVector().orientation());
     }
 
     // Move shooting robot behind the ball
-    penalty_setup_tactics.back()->updateControlParams(behind_ball, shoot_angle, 0.0);
+    penalty_setup_tactics.back()->updateControlParams(behind_ball, shoot_angle);
 
     tactics_to_run[0].insert(tactics_to_run[0].end(), penalty_setup_tactics.begin(),
                              penalty_setup_tactics.end());

src/software/ai/hl/stp/play/penalty_kick_enemy/penalty_kick_enemy_play_fsm.cpp

@@ -26,8 +26,7 @@ void PenaltyKickEnemyPlayFSM::setupPosition(const Update &event)
         move_tactics.at(i)->updateControlParams(
             Point(event.common.world_ptr->field().enemyPenaltyMark().x() + 1.75,
                   y_offset),
-            event.common.world_ptr->field().enemyGoalCenter().toVector().orientation(),
-            0);
+            event.common.world_ptr->field().enemyGoalCenter().toVector().orientation());
     }
 
     // Move goalie to the goal line

src/software/ai/hl/stp/play/shoot_or_chip_play.cpp

@@ -79,7 +79,7 @@ void ShootOrChipPlay::getNextTactics(TacticCoroutine::push_type &yield,
                 chip_targets[i].origin() -
                 Vector::createFromAngle(orientation).normalize(ROBOT_MAX_RADIUS_METERS);
             ;
-            move_to_open_area_tactics[i]->updateControlParams(position, orientation, 0.0);
+            move_to_open_area_tactics[i]->updateControlParams(position, orientation);
             result[0].emplace_back(move_to_open_area_tactics[i]);
         }
 

src/software/ai/hl/stp/play/shoot_or_pass/shoot_or_pass_play_fsm.cpp

@@ -50,7 +50,7 @@ void ShootOrPassPlayFSM::updateOffensivePositioningTactics(
         Angle receiver_orientation =
             (world->ball().position() - best_receiving_positions[i]).orientation();
         offensive_positioning_tactics[i]->updateControlParams(
-            best_receiving_positions[i], receiver_orientation, 0.0,
+            best_receiving_positions[i], receiver_orientation,
             TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
             TbotsProto::ObstacleAvoidanceMode::AGGRESSIVE);
     }

src/software/ai/hl/stp/play/stop_play.cpp

@@ -80,15 +80,15 @@ void StopPlay::getNextTactics(TacticCoroutine::push_type &yield,
 
         move_tactics.at(0)->updateControlParams(
             ball_defense_point_center,
-            (world_ptr->ball().position() - ball_defense_point_center).orientation(), 0,
+            (world_ptr->ball().position() - ball_defense_point_center).orientation(),
             stop_mode, TbotsProto::ObstacleAvoidanceMode::SAFE);
         move_tactics.at(1)->updateControlParams(
             ball_defense_point_left,
-            (world_ptr->ball().position() - ball_defense_point_left).orientation(), 0,
+            (world_ptr->ball().position() - ball_defense_point_left).orientation(),
             stop_mode, TbotsProto::ObstacleAvoidanceMode::SAFE);
         move_tactics.at(2)->updateControlParams(
             ball_defense_point_right,
-            (world_ptr->ball().position() - ball_defense_point_right).orientation(), 0,
+            (world_ptr->ball().position() - ball_defense_point_right).orientation(),
             stop_mode, TbotsProto::ObstacleAvoidanceMode::SAFE);
 
         std::get<0>(crease_defender_tactics)

src/software/ai/hl/stp/play/test_plays/move_test_play.cpp

@@ -15,16 +15,15 @@ void MoveTestPlay::getNextTactics(TacticCoroutine::push_type &yield,
     do
     {
         move_test_tactic_friendly_goal->updateControlParams(
-            world_ptr->field().friendlyGoalCenter(), Angle::zero(), 0,
+            world_ptr->field().friendlyGoalCenter(), Angle::zero(),
             TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
             TbotsProto::ObstacleAvoidanceMode::SAFE);
         move_test_tactic_enemy_goal->updateControlParams(
-            world_ptr->field().enemyGoalCenter(), Angle::zero(), 0,
+            world_ptr->field().enemyGoalCenter(), Angle::zero(),
             TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
             TbotsProto::ObstacleAvoidanceMode::SAFE);
         move_test_tactic_center_field->updateControlParams(
-            Point(0, 0), Angle::zero(), 0,
-            TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
+            Point(0, 0), Angle::zero(), TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
             TbotsProto::ObstacleAvoidanceMode::SAFE);
 
         yield({{move_test_tactic_center_field, move_test_tactic_friendly_goal,