{"action":"created","issue":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/330","labels_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/330/labels{/name}","comments_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/330/comments","events_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/330/events","html_url":"https://github.com/RoboJackets/robocup-software/pull/330","id":93166990,"number":330,"title":"Add a onetouchpass play","user":{"login":"jgkamat","id":4349709,"avatar_url":"https://avatars.githubusercontent.com/u/4349709?v=3","gravatar_id":"","url":"https://api.github.com/users/jgkamat","html_url":"https://github.com/jgkamat","followers_url":"https://api.github.com/users/jgkamat/followers","following_url":"https://api.github.com/users/jgkamat/following{/other_user}","gists_url":"https://api.github.com/users/jgkamat/gists{/gist_id}","starred_url":"https://api.github.com/users/jgkamat/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jgkamat/subscriptions","organizations_url":"https://api.github.com/users/jgkamat/orgs","repos_url":"https://api.github.com/users/jgkamat/repos","events_url":"https://api.github.com/users/jgkamat/events{/privacy}","received_events_url":"https://api.github.com/users/jgkamat/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RoboJackets/robocup-software/labels/Plays/Behaviors","name":"Plays/Behaviors","color":"bfe5bf"},{"url":"https://api.github.com/repos/RoboJackets/robocup-software/labels/soccer","name":"soccer","color":"009800"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2015-07-06T01:35:36Z","updated_at":"2015-07-07T02:42:06Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/330","html_url":"https://github.com/RoboJackets/robocup-software/pull/330","diff_url":"https://github.com/RoboJackets/robocup-software/pull/330.diff","patch_url":"https://github.com/RoboJackets/robocup-software/pull/330.patch"},"body":"This still needs a lot of cleanup, but I think its about time for this to be reviewed. Currently the only thing left to do is aim for areas that arent the center of the goal when using touchpasses (which is waiting on window evaluator improvements (that I could do), and possibly optimize my function for determining receive points (Right now it creates a list of points, and then iterates through them, we don't have to store this list).\r\n\r\nThis works best when the ball is on the enemy side of the field. Sometimes the ball won't replan if a robot gets in the way, this is because the field is layed out so all points are blocked (usually). We can increase the amount of checked points to overcome this. I also check for a replan once every 30 frames, as it's relatively slow.\r\n\r\nLet me know if anything needs more work/documentation/cleanup, and i'll get to it! :smile: \r\nI've rebased this onto the latest master so you may need to `reset --hard`. (@rmkeezer).\r\n\r\nThis closes #244"},"comment":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/comments/119052719","html_url":"https://github.com/RoboJackets/robocup-software/pull/330#issuecomment-119052719","issue_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/330","id":119052719,"user":{"login":"justbuchanan","id":115131,"avatar_url":"https://avatars.githubusercontent.com/u/115131?v=3","gravatar_id":"","url":"https://api.github.com/users/justbuchanan","html_url":"https://github.com/justbuchanan","followers_url":"https://api.github.com/users/justbuchanan/followers","following_url":"https://api.github.com/users/justbuchanan/following{/other_user}","gists_url":"https://api.github.com/users/justbuchanan/gists{/gist_id}","starred_url":"https://api.github.com/users/justbuchanan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/justbuchanan/subscriptions","organizations_url":"https://api.github.com/users/justbuchanan/orgs","repos_url":"https://api.github.com/users/justbuchanan/repos","events_url":"https://api.github.com/users/justbuchanan/events{/privacy}","received_events_url":"https://api.github.com/users/justbuchanan/received_events","type":"User","site_admin":false},"created_at":"2015-07-07T02:42:06Z","updated_at":"2015-07-07T02:42:06Z","body":"I made a few notes throughout, so let me know if you have any questions.  Overall, it looks really good, nice work!  This will be a great tactic to have available - a lot of other teams use it and most goals are scored using something like this."}}