Robot Too Close To Opponent Defense Area repeated every 2 seconds

[g3force]

Current rule

During stop and free kicks, before the ball has entered play, all robots have to keep at least 0.2 meters distance to the opponent defense area.

There is a grace period of 2 seconds for the robots to move away from the opponent defense area.

It is currently a stopping foul.

Issues

If a robot keeps standing too close to a penArea, the foul is counted repeatedly every 2 seconds. As this also applies to STOP, this can quickly become annoying.

Possible Solutions

1. Only raise foul, if bot was near defense area within last 2 seconds before game continued
   • Con: This would still allow an attacker to shake up the defense during STOP.
2. Halt the game after foul to avoid multiple fouls
   • Con: May stop the game more often, especially if a team consistently not follow this rule. However: It would still count as one foul each time at least.
3. Only count first time as foul, but repeat it anyways?
   • Con: Solves the problem only partially: Would still confuse the GCO and spam the UI.

[g3force]

I tend to favour solution 2: Need to supervise, how much this effects game stoppage time.

[tobiasheineken]

I also tend to favor solution 2, but I just noticed that for teams who actually know and obey the rule (and just accidentally misjudge their own robots so they overshoot) this is quite a big disruption for something they would fix in the next seconds.

Could we just halt the game if we are due to raise a second foul?

[g3force]

How about this:

• If the match is stopped, the game will be halted after the foul
• If the match is running (i.e. during the free kick), it is not stopped, nor halted.

You could still get multiple fouls during the free kick, but a max of 2 per robot in div-a (5s for free kick) and max of 5 per robot in div-b (10s for free kick). For div-a that would probably be fine, for div-b it could still be problematic.

I'd also be fine with counting the foul only once per robot, if the robot keeps violating the distance.

[g3force]

After more internal discussion, new proposal is as follows:

• Halt the game after the second foul by the same team
  • First one is a non-stopping foul, second one is a stopping foul
  • Resets after HALT
  • The other team will get a freekick after this stopping foul, as of normal rules
• Foul is not counted per robot anymore
• Both fouls increase the foul counter