From 6006e28b4fa095facabb5bb7f48ae3ef90429563 Mon Sep 17 00:00:00 2001
From: Matthew Barulic <matthew.barulic@gmail.com>
Date: Mon, 1 Sep 2025 02:46:16 -0400
Subject: [PATCH] Adds new plays to PlaySelector

---
 ateam_kenobi/src/core/play_selector.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ateam_kenobi/src/core/play_selector.cpp b/ateam_kenobi/src/core/play_selector.cpp
index 3ea8b5bf3..e314ee5a0 100644
--- a/ateam_kenobi/src/core/play_selector.cpp
+++ b/ateam_kenobi/src/core/play_selector.cpp
@@ -44,6 +44,10 @@ PlaySelector::PlaySelector(rclcpp::Node & node)
     node.get_node_parameters_interface());
   halt_play_ = addPlay<HaltPlay>(stp_options);
   addPlay<TestPlay>(stp_options);
+  addPlay<CornerLineupPlay>("TheirLeftLineup", stp_options, 1.0, 1.0);
+  addPlay<CornerLineupPlay>("TheirRightLineup", stp_options, 1.0, -1.0);
+  addPlay<CornerLineupPlay>("OurLeftLineup", stp_options, -1.0, 1.0);
+  addPlay<CornerLineupPlay>("OurRightLineup", stp_options, -1.0, -1.0);
   addPlay<DefaultStopPlay>(stp_options);
   addPlay<OffensiveStopPlay>(stp_options);
   addPlay<DefensiveStopPlay>(stp_options);
@@ -89,6 +93,8 @@ PlaySelector::PlaySelector(rclcpp::Node & node)
   addPlay<SpatialPassPlay>(stp_options);
   addPlay<FreeKickOnGoalPlay>(stp_options);
   addPlay<TestPassPlay>(stp_options);
+  addPlay<TestPivotPlay>(stp_options);
+  addPlay<DefendersOnlyPlay>(stp_options);
 }
 
 stp::Play * PlaySelector::getPlay(const World & world, ateam_msgs::msg::PlaybookState & state_msg)