Robot Too Close To Opponent Defense Area repeated every 2 seconds

[g3force]

Current rules

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.

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

• Only raise foul, if bot was near defense area within last 2 seconds before game continued
• Halt the game after foul to avoid multiple fouls
• Only count first time as foul, but repeat it anyways? Solves the problem only partially.