doubling wall space

RoboJackets · Sep 23, 2024 · f4f48e3 · f4f48e3
1 parent 5e606a9
commit f4f48e3
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/soccer/src/soccer/strategy/agent/position/waller.cpp b/soccer/src/soccer/strategy/agent/position/waller.cpp
@@ -33,7 +33,8 @@ std::optional<RobotIntent> Waller::get_task(RobotIntent intent, const WorldState
     rj_geometry::Point mid_point{(goal_center_point) + (ball_dir_vector * min_wall_rad)};
 
     // Calculate the wall spacing
-    auto wall_spacing = robot_diameter_multiplier_ * kRobotDiameter + kBallRadius;
+    auto wall_spacing = 2 * (robot_diameter_multiplier_ * kRobotDiameter + kBallRadius);
+
 
     // Calculate the target point
     rj_geometry::Point target_point{};