cleaning up code from previous commit

soccer/src/soccer/strategy/agent/position/defense.cpp

@@ -8,9 +8,6 @@ Defense::Defense(int r_id) :
     marker_{static_cast<uint8_t>(r_id)}
     {
         position_name_ = "Defense";
-        // if (robot_id_ == 2) {
-        //     current_state_ = ENTERING_MARKING;
-        // }
     }
 
 std::optional<RobotIntent> Defense::derived_get_task(RobotIntent intent) {
@@ -42,10 +39,11 @@ Defense::State Defense::update_state() {
             walling_robots_ = {(u_int8_t)robot_id_};
             break;
         case WALLING:
-            //Should remove the robot with the highest ID from a wall
+            //If a wall is already full,
+            //Remove the robot with the highest ID from a wall
             //and make them a marker instead.
             if (this->robot_id_ == *max_element(walling_robots_.begin(), walling_robots_.end())
-                && walling_robots_.size() > 3) {
+                && walling_robots_.size() > MAX_WALLERS) {
                 send_leave_wall_request();
                 next_state = ENTERING_MARKING;
             }
@@ -143,9 +141,6 @@ std::optional<RobotIntent> Defense::state_to_task(RobotIntent intent) {
             Waller waller{waller_id_, (int)walling_robots_.size()};
             return waller.get_task(intent, last_world_state_, this->field_dimensions_);
         }
-    } else if (current_state_ == MARKING) {
-        //Marker marker = Marker((u_int8_t) robot_id_);
-        return marker_.get_task(intent, last_world_state_, this->field_dimensions_);
     } else if (current_state_ == FACING) {
         rj_geometry::Point robot_position =
             last_world_state_->get_robot(true, robot_id_).pose.position();
@@ -157,9 +152,13 @@ std::optional<RobotIntent> Defense::state_to_task(RobotIntent intent) {
         intent.motion_command = face_ball_cmd;
         return intent;
     } else if (current_state_ == ENTERING_MARKING) {
+        //Prepares a robot for marking. NOTE: May update to add move to center of field
         auto empty_motion_cmd = planning::MotionCommand{};
         intent.motion_command = empty_motion_cmd;
         return intent;
+    } else if (current_state_ == MARKING) {
+        //Marker marker = Marker((u_int8_t) robot_id_);
+        return marker_.get_task(intent, last_world_state_, this->field_dimensions_);
     }
 
     return std::nullopt;

soccer/src/soccer/strategy/agent/position/defense.hpp

@@ -43,6 +43,8 @@ class Defense : public Position {
 private:
     int move_ct_ = 0;
 
+    static constexpr int MAX_WALLERS {3};
+
     /**
      * @brief The derived_get_task method returns the task for the defensive robot
      *  to do based on the game situation. The method will continuously look to assign
@@ -62,8 +64,8 @@ class Defense : public Position {
         RECEIVING,     // physically intercepting the ball from a pass
         PASSING,       // physically kicking the ball towards another robot
         FACING,        // turning to face the passing robot
-        MARKING,
-        ENTERING_MARKING,
+        MARKING,       // Following closely to an offense robot
+        ENTERING_MARKING, // Choosing/waiting for a robot to mark
     };
 
 

soccer/src/soccer/strategy/agent/position/marker.cpp

@@ -18,6 +18,10 @@ std::optional<RobotIntent> Marker::get_task(RobotIntent intent,
 
 int Marker::choose_target(WorldState* ws) {
 
+    //TODO: (James Vogt, github: jvogt23)
+    //If we ever use multiple Markers, they should choose different
+    //robots to track from each other. Logic for this operation must be
+    //added because multiple markers currently mark the same robot.
     for (int i = 0; i < 11; i++) {
         if (std::fabs(ws->get_robot(false, i).pose.position().x()) < 2.5
             && ws->get_robot(false, i).pose.position().y() < Y_BOUND

soccer/src/soccer/strategy/agent/position/marker.hpp

@@ -11,12 +11,16 @@
 
 
 namespace strategy {
+
+/**
+ * Represents a Marker, a defensive role that targets an enemy robot
+ * and follows it around the field while it is on our side, blocking passes.
+*/
 class Marker : public RoleInterface {
 private:
-    const double factor = 0.5;
     int target {-1};
 
-    const double Y_BOUND {4.5};
+    static constexpr double Y_BOUND {4.5};
 
 public:
     Marker(u_int8_t robot_id);

soccer/src/soccer/strategy/agent/position/offense.cpp

@@ -87,7 +87,10 @@ Offense::State Offense::update_state() {
 }
 
 std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) {
-    SPDLOG_INFO(current_state_);
+    //This was added to our code when we merged from ros2.
+    //Please let us know whether this log is needed when
+    //reviewing.
+    //SPDLOG_INFO(current_state_);
 
     if (current_state_ == IDLING) {
         // Do nothing