NaoDemo Playing/Penalized Bug
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jbrindza commented
The NaoGameControl changes the robot state based on the button press but the GameSM uses its own button detection to change state. If you just press the chest button quickly you can make the state of the robot switch between penalized and playing without it being reflected in the state machine behaviors.
It does, however, affect the team play behavior because it thinks it is determines whether it is penalized or not from game control states causing the robot to be stuck in 'support' mode because it thinks it is penalized.