From 38b5ea0fd29dfd59a7f91a1dda9d025070f74d42 Mon Sep 17 00:00:00 2001
From: phillip kammradt <phillip.kammradt@tuhh>
Date: Mon, 15 Jul 2024 14:07:27 +0200
Subject: [PATCH] rebase

---
 crates/control/src/behavior/dribble.rs | 2 --
 crates/control/src/behavior/node.rs    | 7 -------
 2 files changed, 9 deletions(-)

diff --git a/crates/control/src/behavior/dribble.rs b/crates/control/src/behavior/dribble.rs
index 32ac1b9bbc..1648f5698b 100644
--- a/crates/control/src/behavior/dribble.rs
+++ b/crates/control/src/behavior/dribble.rs
@@ -9,7 +9,6 @@ use types::{
     filtered_game_controller_state::FilteredGameControllerState,
     filtered_game_state::FilteredGameState,
     last_filtered_game_controller_state_change::LastFilteredGameControllerStateChanges,
-    motion_command::{ArmMotion, HeadMotion, MotionCommand, OrientationMode},
     parameters::{DribblingParameters, InWalkKickInfoParameters, InWalkKicksParameters},
     planned_path::PathSegment,
     world_state::WorldState,
@@ -25,7 +24,6 @@ pub fn execute(
     parameters: &DribblingParameters,
     dribble_path: Option<Vec<PathSegment>>,
     walk_speed: WalkSpeed,
-    game_phase: &GamePhase,
     game_controller_state: Option<FilteredGameControllerState>,
     game_controller_state_change: Option<LastFilteredGameControllerStateChanges>,
     precision_kick_timeout: u8,
diff --git a/crates/control/src/behavior/node.rs b/crates/control/src/behavior/node.rs
index d3b903143b..c4504f8e83 100644
--- a/crates/control/src/behavior/node.rs
+++ b/crates/control/src/behavior/node.rs
@@ -82,9 +82,7 @@ pub struct CycleContext {
     support_walk_speed: Parameter<WalkSpeed, "walk_speed.support">,
     walk_to_kickoff_walk_speed: Parameter<WalkSpeed, "walk_speed.walk_to_kickoff">,
     walk_to_penalty_kick_walk_speed: Parameter<WalkSpeed, "walk_speed.walk_to_penalty_kick">,
-    striker_set_position: Parameter<Point2<Field>, "behavior.role_positions.striker_set_position">,
     precision_kick_timeout: Parameter<u8,"precision_kick_timeout">,
-    precision_kick_timeout: Parameter<u8, "precision_kick_timeout">,
 }
 
 #[context]
@@ -322,11 +320,6 @@ impl Behavior {
                         &context.parameters.dribbling,
                         dribble_path.clone(),
                         *context.dribble_walk_speed,
-                        world_state
-                            .filtered_game_controller_state
-                            .as_ref()
-                            .map(|state| &state.game_phase)
-                            .unwrap_or(&GamePhase::default()),
                         world_state.filtered_game_controller_state,
                         world_state.last_filtered_game_controller_state_change,
                         *context.precision_kick_timeout,