From 5eb38b54540a6964ff9be795612d7e7045427718 Mon Sep 17 00:00:00 2001 From: alexandra Date: Fri, 18 Apr 2025 10:53:11 -0400 Subject: [PATCH 1/2] changed starting pos --- src/main/deploy/choreo/Pushing_Left.traj | 48 +++--- src/main/deploy/choreo/Pushing_Mid_G.traj | 48 +++--- src/main/deploy/choreo/Pushing_Mid_H.traj | 48 +++--- src/main/deploy/choreo/Pushing_Right.traj | 48 +++--- .../deploy/choreo/Pushing_Super_Left.traj | 48 +++--- .../deploy/choreo/Pushing_Super_Right.traj | 6 +- src/main/deploy/choreo/Start_Left_I.traj | 99 ++++++----- .../deploy/choreo/Start_Left_I_short.traj | 79 +++++---- src/main/deploy/choreo/Start_Left_J.traj | 105 ++++++------ .../deploy/choreo/Start_Left_J_short.traj | 69 ++++---- src/main/deploy/choreo/Start_Left_K.traj | 121 +++++++------ .../deploy/choreo/Start_Left_K_short.traj | 99 ++++++----- src/main/deploy/choreo/Start_Mid_G.traj | 68 ++++---- src/main/deploy/choreo/Start_Mid_G_short.traj | 45 +++-- src/main/deploy/choreo/Start_Mid_H.traj | 68 ++++---- src/main/deploy/choreo/Start_Mid_H_short.traj | 50 +++--- src/main/deploy/choreo/Start_Right_D.traj | 161 +++++++++--------- .../deploy/choreo/Start_Right_D_short.traj | 141 ++++++++------- src/main/deploy/choreo/Start_Right_E.traj | 125 +++++++------- .../deploy/choreo/Start_Right_E_short.traj | 56 +++--- src/main/deploy/choreo/Start_Right_F.traj | 107 ++++++------ .../deploy/choreo/Start_Right_F_short.traj | 87 +++++----- src/main/deploy/choreo/Start_Right_G.traj | 87 +++++----- src/main/deploy/choreo/reefscape.chor | 24 +-- 24 files changed, 924 insertions(+), 913 deletions(-) diff --git a/src/main/deploy/choreo/Pushing_Left.traj b/src/main/deploy/choreo/Pushing_Left.traj index 0d63ae38..26bb902b 100644 --- a/src/main/deploy/choreo/Pushing_Left.traj +++ b/src/main/deploy/choreo/Pushing_Left.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.169135570526123, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.260873794555664, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.169135570526123, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.957153797149658, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.260873794555664, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,9 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartLeft.x", "val":7.169135570526123}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"StartLeft.x", "val":7.169135570526123}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"StartLeft.x", "val":6.957153797149658}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"StartLeft.x", "val":6.957153797149658}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -28,21 +28,29 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.25675,0.51351], + "waypoints":[0.0,0.46714,0.93427], "samples":[ - {"t":0.0, "x":7.16914, "y":6.16551, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.57058, "ay":0.0, "alpha":0.0, "fx":[88.4371,88.4371,88.4371,88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.04279, "x":7.17424, "y":6.16551, "heading":-1.5708, "vx":0.23838, "vy":0.0, "omega":0.0, "ax":5.56643, "ay":0.0, "alpha":0.0, "fx":[88.37111,88.37111,88.37111,88.37111], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.08558, "x":7.18953, "y":6.16551, "heading":-1.5708, "vx":0.47658, "vy":0.0, "omega":0.0, "ax":5.54569, "ay":0.0, "alpha":0.0, "fx":[88.04191,88.04191,88.04191,88.04191], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.12838, "x":7.215, "y":6.16551, "heading":-1.5708, "vx":0.71389, "vy":0.0, "omega":0.0, "ax":-5.54569, "ay":0.0, "alpha":0.0, "fx":[-88.04191,-88.04191,-88.04191,-88.04191], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.17117, "x":7.24048, "y":6.16551, "heading":-1.5708, "vx":0.47658, "vy":0.0, "omega":0.0, "ax":-5.56643, "ay":0.0, "alpha":0.0, "fx":[-88.37111,-88.37111,-88.37111,-88.37111], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.21396, "x":7.25577, "y":6.16551, "heading":-1.5708, "vx":0.23838, "vy":0.0, "omega":0.0, "ax":-5.57058, "ay":0.0, "alpha":0.0, "fx":[-88.4371,-88.4371,-88.4371,-88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.25675, "x":7.26087, "y":6.16551, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.57058, "ay":0.0, "alpha":0.0, "fx":[-88.4371,-88.4371,-88.4371,-88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.29955, "x":7.25577, "y":6.16551, "heading":-1.5708, "vx":-0.23838, "vy":0.0, "omega":0.0, "ax":-5.56643, "ay":0.0, "alpha":0.0, "fx":[-88.37111,-88.37111,-88.37111,-88.37111], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.34234, "x":7.24048, "y":6.16551, "heading":-1.5708, "vx":-0.47658, "vy":0.0, "omega":0.0, "ax":-5.54569, "ay":0.0, "alpha":0.0, "fx":[-88.04191,-88.04191,-88.04191,-88.04191], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.38513, "x":7.215, "y":6.16551, "heading":-1.5708, "vx":-0.71389, "vy":0.0, "omega":0.0, "ax":5.54569, "ay":0.0, "alpha":0.0, "fx":[88.04191,88.04191,88.04191,88.04191], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.42792, "x":7.18953, "y":6.16551, "heading":-1.5708, "vx":-0.47658, "vy":0.0, "omega":0.0, "ax":5.56643, "ay":0.0, "alpha":0.0, "fx":[88.37111,88.37111,88.37111,88.37111], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.47072, "x":7.17424, "y":6.16551, "heading":-1.5708, "vx":-0.23838, "vy":0.0, "omega":0.0, "ax":5.57058, "ay":0.0, "alpha":0.0, "fx":[88.4371,88.4371,88.4371,88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.51351, "x":7.16914, "y":6.16551, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":6.95715, "y":6.16551, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.57153, "ay":0.0, "alpha":0.0, "fx":[88.45212,88.45212,88.45212,88.45212], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.04671, "x":6.96323, "y":6.16551, "heading":-1.5708, "vx":0.26027, "vy":0.0, "omega":0.0, "ax":5.57002, "ay":0.0, "alpha":0.0, "fx":[88.42812,88.42812,88.42812,88.42812], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.09343, "x":6.98147, "y":6.16551, "heading":-1.5708, "vx":0.52046, "vy":0.0, "omega":0.0, "ax":5.5673, "ay":0.0, "alpha":0.0, "fx":[88.38493,88.38493,88.38493,88.38493], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.14014, "x":7.01186, "y":6.16551, "heading":-1.5708, "vx":0.78053, "vy":0.0, "omega":0.0, "ax":5.56095, "ay":0.0, "alpha":0.0, "fx":[88.28423,88.28423,88.28423,88.28423], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.18685, "x":7.05438, "y":6.16551, "heading":-1.5708, "vx":1.0403, "vy":0.0, "omega":0.0, "ax":5.52935, "ay":0.0, "alpha":0.0, "fx":[87.78249,87.78249,87.78249,87.78249], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.23357, "x":7.10901, "y":6.16551, "heading":-1.5708, "vx":1.2986, "vy":0.0, "omega":0.0, "ax":-5.52935, "ay":0.0, "alpha":0.0, "fx":[-87.78249,-87.78249,-87.78249,-87.78249], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.28028, "x":7.16364, "y":6.16551, "heading":-1.5708, "vx":1.0403, "vy":0.0, "omega":0.0, "ax":-5.56095, "ay":0.0, "alpha":0.0, "fx":[-88.28423,-88.28423,-88.28423,-88.28423], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.327, "x":7.20617, "y":6.16551, "heading":-1.5708, "vx":0.78053, "vy":0.0, "omega":0.0, "ax":-5.5673, "ay":0.0, "alpha":0.0, "fx":[-88.38493,-88.38493,-88.38493,-88.38493], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.37371, "x":7.23656, "y":6.16551, "heading":-1.5708, "vx":0.52046, "vy":0.0, "omega":0.0, "ax":-5.57002, "ay":0.0, "alpha":0.0, "fx":[-88.42812,-88.42812,-88.42812,-88.42812], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.42042, "x":7.25479, "y":6.16551, "heading":-1.5708, "vx":0.26027, "vy":0.0, "omega":0.0, "ax":-5.57153, "ay":0.0, "alpha":0.0, "fx":[-88.45212,-88.45212,-88.45212,-88.45212], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.46714, "x":7.26087, "y":6.16551, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.57153, "ay":0.0, "alpha":0.0, "fx":[-88.45212,-88.45212,-88.45212,-88.45212], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.51385, "x":7.25479, "y":6.16551, "heading":-1.5708, "vx":-0.26027, "vy":0.0, "omega":0.0, "ax":-5.57002, "ay":0.0, "alpha":0.0, "fx":[-88.42812,-88.42812,-88.42812,-88.42812], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.56056, "x":7.23656, "y":6.16551, "heading":-1.5708, "vx":-0.52046, "vy":0.0, "omega":0.0, "ax":-5.5673, "ay":0.0, "alpha":0.0, "fx":[-88.38493,-88.38493,-88.38493,-88.38493], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.60728, "x":7.20617, "y":6.16551, "heading":-1.5708, "vx":-0.78053, "vy":0.0, "omega":0.0, "ax":-5.56095, "ay":0.0, "alpha":0.0, "fx":[-88.28423,-88.28423,-88.28423,-88.28423], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.65399, "x":7.16364, "y":6.16551, "heading":-1.5708, "vx":-1.0403, "vy":0.0, "omega":0.0, "ax":-5.52935, "ay":0.0, "alpha":0.0, "fx":[-87.78249,-87.78249,-87.78249,-87.78249], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.70071, "x":7.10901, "y":6.16551, "heading":-1.5708, "vx":-1.2986, "vy":0.0, "omega":0.0, "ax":5.52935, "ay":0.0, "alpha":0.0, "fx":[87.78249,87.78249,87.78249,87.78249], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.74742, "x":7.05438, "y":6.16551, "heading":-1.5708, "vx":-1.0403, "vy":0.0, "omega":0.0, "ax":5.56095, "ay":0.0, "alpha":0.0, "fx":[88.28423,88.28423,88.28423,88.28423], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.79413, "x":7.01186, "y":6.16551, "heading":-1.5708, "vx":-0.78053, "vy":0.0, "omega":0.0, "ax":5.5673, "ay":0.0, "alpha":0.0, "fx":[88.38493,88.38493,88.38493,88.38493], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.84085, "x":6.98147, "y":6.16551, "heading":-1.5708, "vx":-0.52046, "vy":0.0, "omega":0.0, "ax":5.57002, "ay":0.0, "alpha":0.0, "fx":[88.42812,88.42812,88.42812,88.42812], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.88756, "x":6.96323, "y":6.16551, "heading":-1.5708, "vx":-0.26027, "vy":0.0, "omega":0.0, "ax":5.57153, "ay":0.0, "alpha":0.0, "fx":[88.45212,88.45212,88.45212,88.45212], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.93427, "x":6.95715, "y":6.16551, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/Pushing_Mid_G.traj b/src/main/deploy/choreo/Pushing_Mid_G.traj index e8b7c90f..abeb97d5 100644 --- a/src/main/deploy/choreo/Pushing_Mid_G.traj +++ b/src/main/deploy/choreo/Pushing_Mid_G.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.169135570526123, "y":3.858089447021485, "heading":3.141592653589793, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.260873794555664, "y":3.858089447021485, "heading":3.141592653589793, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.169135570526123, "y":3.858089447021485, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.957153797149658, "y":3.858089447021485, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.260873794555664, "y":3.858089447021485, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":3.858089447021485, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,9 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartMidG.x", "val":7.169135570526123}, "y":{"exp":"StartMidG.y", "val":3.858089447021485}, "heading":{"exp":"StartMidG.heading", "val":3.141592653589793}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartMidG.y", "val":3.858089447021485}, "heading":{"exp":"StartMidG.heading", "val":3.141592653589793}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"StartMidG.x", "val":7.169135570526123}, "y":{"exp":"StartMidG.y", "val":3.858089447021485}, "heading":{"exp":"StartMidG.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"StartMidG.x", "val":6.957153797149658}, "y":{"exp":"StartMidG.y", "val":3.858089447021485}, "heading":{"exp":"StartMidG.heading", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartMidG.y", "val":3.858089447021485}, "heading":{"exp":"StartMidG.heading", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"StartMidG.x", "val":6.957153797149658}, "y":{"exp":"StartMidG.y", "val":3.858089447021485}, "heading":{"exp":"StartMidG.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -28,21 +28,29 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.25675,0.51351], + "waypoints":[0.0,0.46714,0.93427], "samples":[ - {"t":0.0, "x":7.16914, "y":3.85809, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.57058, "ay":0.0, "alpha":0.0, "fx":[88.4371,88.4371,88.4371,88.4371], "fy":[0.0,0.0,0.0,0.0]}, - 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b/src/main/deploy/choreo/Pushing_Mid_H.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.169135570526123, "y":4.19, "heading":3.141592653589793, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.260873794555664, "y":4.19, "heading":3.141592653589793, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.169135570526123, "y":4.19, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.957153797149658, "y":4.19, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.260873794555664, "y":4.19, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":4.19, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,9 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartMidH.x", "val":7.169135570526123}, "y":{"exp":"StartMidH.y", "val":4.19}, "heading":{"exp":"StartMidH.heading", "val":3.141592653589793}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartMidH.y", "val":4.19}, "heading":{"exp":"StartMidH.heading", "val":3.141592653589793}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"StartMidH.x", "val":7.169135570526123}, "y":{"exp":"StartMidH.y", "val":4.19}, "heading":{"exp":"StartMidH.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"StartMidH.x", "val":6.957153797149658}, "y":{"exp":"StartMidH.y", "val":4.19}, "heading":{"exp":"StartMidH.heading", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartMidH.y", "val":4.19}, "heading":{"exp":"StartMidH.heading", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"StartMidH.x", "val":6.957153797149658}, "y":{"exp":"StartMidH.y", "val":4.19}, "heading":{"exp":"StartMidH.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, 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{"x":6.957153797149658, "y":1.8764067888259888, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.260873794555664, "y":1.8764067888259888, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":1.8764067888259888, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,9 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartStraightRight.x", "val":7.169135570526123}, "y":{"exp":"StartStraightRight.y", "val":1.8764067888259888}, "heading":{"exp":"StartStraightRight.heading", "val":3.141592653589793}, "intervals":6, "split":false, 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index 304f4307..6f398b42 100644 --- a/src/main/deploy/choreo/Pushing_Super_Left.traj +++ b/src/main/deploy/choreo/Pushing_Super_Left.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.169135570526123, "y":6.917787075042725, "heading":-1.5707963267948966, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.260873794555664, "y":6.917787075042725, "heading":-1.5707963267948966, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.169135570526123, "y":6.917787075042725, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.957153797149658, "y":6.917787075042725, "heading":-1.5707963267948966, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.260873794555664, "y":6.917787075042725, "heading":-1.5707963267948966, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":6.917787075042725, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,9 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartSuperLeft.x", "val":7.169135570526123}, "y":{"exp":"StartSuperLeft.y", "val":6.917787075042725}, "heading":{"exp":"StartSuperLeft.heading", "val":-1.5707963267948966}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartSuperLeft.y", "val":6.917787075042725}, "heading":{"exp":"StartSuperLeft.heading", "val":-1.5707963267948966}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"StartSuperLeft.x", "val":7.169135570526123}, "y":{"exp":"StartSuperLeft.y", "val":6.917787075042725}, "heading":{"exp":"StartSuperLeft.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"StartSuperLeft.x", "val":6.957153797149658}, "y":{"exp":"StartSuperLeft.y", "val":6.917787075042725}, "heading":{"exp":"StartSuperLeft.heading", "val":-1.5707963267948966}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartSuperLeft.y", "val":6.917787075042725}, "heading":{"exp":"StartSuperLeft.heading", "val":-1.5707963267948966}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"StartSuperLeft.x", "val":6.957153797149658}, "y":{"exp":"StartSuperLeft.y", "val":6.917787075042725}, "heading":{"exp":"StartSuperLeft.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -28,21 +28,29 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.25675,0.51351], + "waypoints":[0.0,0.46714,0.93427], "samples":[ - {"t":0.0, "x":7.16914, "y":6.91779, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.57058, "ay":0.0, "alpha":0.0, "fx":[88.4371,88.4371,88.4371,88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.04279, "x":7.17424, "y":6.91779, "heading":-1.5708, "vx":0.23838, "vy":0.0, "omega":0.0, "ax":5.56643, "ay":0.0, "alpha":0.0, "fx":[88.37111,88.37111,88.37111,88.37111], 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index 27ddaa2b..6869d5ac 100644 --- a/src/main/deploy/choreo/Start_Left_I.traj +++ b/src/main/deploy/choreo/Start_Left_I.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.169135570526123, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.462528228759766, "y":5.2343220710754395, "heading":-2.0943951023931953, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.347564715656062, "y":5.021666823577881, "heading":-2.0943951023931953, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartLeft.x", 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"enabled":true}, @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartSuperLeft.x", "val":7.169135570526123}, "y":{"exp":"StartSuperLeft.y", "val":6.917787075042725}, "heading":{"exp":"StartSuperLeft.heading", "val":-1.5707963267948966}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"StartSuperLeft.x", "val":6.957153797149658}, "y":{"exp":"StartSuperLeft.y", "val":6.917787075042725}, "heading":{"exp":"StartSuperLeft.heading", "val":-1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"K_Short.x", "val":3.9342429637908936}, "y":{"exp":"K_Short.y", "val":5.487349510192871}, "heading":{"exp":"K.heading", "val":-1.0471975511965976}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, 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"y":3.858089447021485, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957524299621582, "y":3.8529245853424072, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.25212287902832, "y":3.781947374343872, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartMidG.x", "val":7.169135570526123}, "y":{"exp":"StartMidG.y", "val":3.858089447021485}, "heading":{"exp":"StartMidG.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.957524299621582 m", "val":6.957524299621582}, "y":{"exp":"3.8529245853424072 m", "val":3.8529245853424072}, "heading":{"exp":"StartMidG.heading", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.25212287902832 m", "val":6.25212287902832}, "y":{"exp":"3.781947374343872 m", "val":3.781947374343872}, "heading":{"exp":"G.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -32,29 +32,26 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.95947], + "waypoints":[0.0,0.84363], "samples":[ - {"t":0.0, "x":7.16914, "y":3.85809, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.98454, "ay":-0.33079, "alpha":-0.00052, "fx":[-63.26091,-63.24689,-63.26062,-63.26139], "fy":[-5.24486,-5.262,-5.25344,-5.24559]}, - {"t":0.04797, "x":7.16455, 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"overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartMidH.x", "val":7.169135570526123}, "y":{"exp":"StartMidH.y", "val":4.19}, "heading":{"exp":"H_Short.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"StartMidH.x", "val":6.957153797149658}, "y":{"exp":"StartMidH.y", "val":4.19}, "heading":{"exp":"H_Short.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"H_Short.x", "val":6.035149097442627}, "y":{"exp":"H_Short.y", "val":4.1074}, "heading":{"exp":"H.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, 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b/src/main/deploy/choreo/Start_Right_D.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.169135570526123, "y":1.1446685791015625, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":1.1446685791015625, "heading":1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.970993518829346, "y":1.5492451190948486, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.822274684906006, "y":2.681842088699341, "heading":1.0471975511965976, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.916990977016668, "y":2.869742096710205, "heading":1.0471975511965976, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -18,7 +18,7 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b/src/main/deploy/choreo/Start_Right_D_short.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.169135570526123, "y":1.1446685791015625, "heading":1.5707963267948966, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":1.1446685791015625, "heading":1.5707963267948966, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.970993518829346, "y":1.5492451190948486, "heading":1.0471975511965976, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.7841780185699463, "y":2.644947052001953, "heading":1.0471975511965976, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartSuperRight.x", "val":7.169135570526123}, "y":{"exp":"StartSuperRight.y", 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.957153797149658, "y":2.0054640769958496, "heading":2.0943951023931953, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.112420558929443, "y":2.372286558151245, "heading":2.0943951023931953, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"6.957297325134277 m", "val":6.957297325134277}, "y":{"exp":"2.006519079208374 m", "val":2.006519079208374}, "heading":{"exp":"E.heading", "val":2.0943951023931953}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"StartRight.x", "val":6.957153797149658}, "y":{"exp":"StartRight.y", "val":2.0054640769958496}, "heading":{"exp":"E.heading", 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"ax":3.99801, "ay":-0.06199, "alpha":-0.00066, "fx":[63.47295,63.47288,63.47487,63.46447], "fy":[-0.98264,-0.98923,-0.98905,-0.97543]}, + {"t":1.53494, "x":5.78176, "y":3.77706, "heading":3.14159, "vx":-0.27451, "vy":-0.03896, "omega":0.00015, "ax":3.98018, "ay":0.38384, "alpha":-0.00253, "fx":[63.18607,63.18889,63.1897,63.18845], "fy":[6.10671,6.07273,6.09008,6.10545]}, + {"t":1.56965, "x":5.77463, "y":3.77593, "heading":3.14159, "vx":-0.13638, "vy":-0.02564, "omega":0.00007, "ax":3.92994, "ay":0.73883, "alpha":-0.00188, "fx":[62.38998,62.38403,62.39553,62.393], "fy":[11.73692,11.72809,11.71862,11.73441]}, + {"t":1.60435, "x":5.77227, "y":3.77549, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/reefscape.chor b/src/main/deploy/choreo/reefscape.chor index 10d204d3..a94106b0 100644 --- a/src/main/deploy/choreo/reefscape.chor +++ b/src/main/deploy/choreo/reefscape.chor @@ -28,8 +28,8 @@ "StartLineXVal":{ "dimension":"Number", "var":{ - "exp":"7.169135570526123", - "val":7.169135570526123 + "exp":"6.957153797149658", + "val":6.957153797149658 } }, "coralSpeed":{ @@ -450,7 +450,7 @@ "StartLeft":{ "x":{ "exp":"StartLineXVal m", - "val":7.169135570526123 + "val":6.957153797149658 }, "y":{ "exp":"6.1655120849609375 m", @@ -464,7 +464,7 @@ "StartMidG":{ "x":{ "exp":"StartLineXVal m", - "val":7.169135570526123 + "val":6.957153797149658 }, "y":{ "exp":"GYVal m", @@ -478,7 +478,7 @@ "StartMidH":{ "x":{ "exp":"StartLineXVal m", - "val":7.169135570526123 + "val":6.957153797149658 }, "y":{ "exp":"HYVal m", @@ -491,12 +491,12 @@ }, "StartRight":{ "x":{ - "exp":"7.024972438812256 m", - "val":7.024972438812256 + "exp":"6.957153797149658 m", + "val":6.957153797149658 }, "y":{ - "exp":"1.6989885568618774 m", - "val":1.6989885568618774 + "exp":"2.0054640769958496 m", + "val":2.0054640769958496 }, "heading":{ "exp":"E.heading", @@ -506,7 +506,7 @@ "StartStraightRight":{ "x":{ "exp":"StartLineXVal m", - "val":7.169135570526123 + "val":6.957153797149658 }, "y":{ "exp":"1.8764067888259888 m", @@ -520,7 +520,7 @@ "StartSuperLeft":{ "x":{ "exp":"StartLineXVal m", - "val":7.169135570526123 + "val":6.957153797149658 }, "y":{ "exp":"6.917787075042725 m", @@ -534,7 +534,7 @@ "StartSuperRight":{ "x":{ "exp":"StartLineXVal m", - "val":7.169135570526123 + "val":6.957153797149658 }, "y":{ "exp":"1.1446685791015625 m", From 7f398583f2aa040c79fb7fde2f9ea8e0b44700aa Mon Sep 17 00:00:00 2001 From: alexandra Date: Fri, 18 Apr 2025 10:58:52 -0400 Subject: [PATCH 2/2] deleted pushing autons and content --- src/main/deploy/choreo/Pushing_Left.traj | 57 ------------------- src/main/deploy/choreo/Pushing_Mid_G.traj | 57 ------------------- src/main/deploy/choreo/Pushing_Mid_H.traj | 57 ------------------- src/main/deploy/choreo/Pushing_Right.traj | 57 ------------------- .../deploy/choreo/Pushing_Super_Left.traj | 57 ------------------- .../deploy/choreo/Pushing_Super_Right.traj | 49 ---------------- src/main/deploy/choreo/reefscape.chor | 7 --- .../java/frc/robot/autons/SimpleAutons.java | 29 ---------- .../java/frc/robot/autons/TrajsAndLocs.java | 1 - .../frc/robot/autons/WaltAutonBuilder.java | 6 -- 10 files changed, 377 deletions(-) delete mode 100644 src/main/deploy/choreo/Pushing_Left.traj delete mode 100644 src/main/deploy/choreo/Pushing_Mid_G.traj delete mode 100644 src/main/deploy/choreo/Pushing_Mid_H.traj delete mode 100644 src/main/deploy/choreo/Pushing_Right.traj delete mode 100644 src/main/deploy/choreo/Pushing_Super_Left.traj delete mode 100644 src/main/deploy/choreo/Pushing_Super_Right.traj diff --git a/src/main/deploy/choreo/Pushing_Left.traj b/src/main/deploy/choreo/Pushing_Left.traj deleted file mode 100644 index 26bb902b..00000000 --- a/src/main/deploy/choreo/Pushing_Left.traj +++ /dev/null @@ -1,57 +0,0 @@ -{ - "name":"Pushing_Left", - "version":1, - "snapshot":{ - "waypoints":[ - {"x":6.957153797149658, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.260873794555664, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.957153797149658, "y":6.1655120849609375, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"StartLeft.x", "val":6.957153797149658}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"StartLeft.x", "val":6.957153797149658}, "y":{"exp":"StartLeft.y", "val":6.1655120849609375}, "heading":{"exp":"StartLeft.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "sampleType":"Swerve", - "waypoints":[0.0,0.46714,0.93427], - "samples":[ - {"t":0.0, "x":6.95715, "y":6.16551, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.57153, "ay":0.0, "alpha":0.0, "fx":[88.45212,88.45212,88.45212,88.45212], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.04671, "x":6.96323, "y":6.16551, "heading":-1.5708, "vx":0.26027, "vy":0.0, "omega":0.0, "ax":5.57002, "ay":0.0, "alpha":0.0, "fx":[88.42812,88.42812,88.42812,88.42812], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.09343, "x":6.98147, "y":6.16551, "heading":-1.5708, "vx":0.52046, "vy":0.0, "omega":0.0, "ax":5.5673, "ay":0.0, "alpha":0.0, "fx":[88.38493,88.38493,88.38493,88.38493], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.14014, "x":7.01186, "y":6.16551, "heading":-1.5708, "vx":0.78053, "vy":0.0, 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{"t":0.37371, "x":7.23656, "y":6.91779, "heading":-1.5708, "vx":0.52046, "vy":0.0, "omega":0.0, "ax":-5.57002, "ay":0.0, "alpha":0.0, "fx":[-88.42812,-88.42812,-88.42812,-88.42812], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.42042, "x":7.25479, "y":6.91779, "heading":-1.5708, "vx":0.26027, "vy":0.0, "omega":0.0, "ax":-5.57153, "ay":0.0, "alpha":0.0, "fx":[-88.45212,-88.45212,-88.45212,-88.45212], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.46714, "x":7.26087, "y":6.91779, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.57153, "ay":0.0, "alpha":0.0, "fx":[-88.45212,-88.45212,-88.45212,-88.45212], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.51385, "x":7.25479, "y":6.91779, "heading":-1.5708, "vx":-0.26027, "vy":0.0, "omega":0.0, "ax":-5.57002, "ay":0.0, "alpha":0.0, "fx":[-88.42812,-88.42812,-88.42812,-88.42812], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.56056, "x":7.23656, "y":6.91779, "heading":-1.5708, "vx":-0.52046, "vy":0.0, "omega":0.0, "ax":-5.5673, "ay":0.0, "alpha":0.0, "fx":[-88.38493,-88.38493,-88.38493,-88.38493], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.60728, "x":7.20617, "y":6.91779, "heading":-1.5708, "vx":-0.78053, "vy":0.0, "omega":0.0, "ax":-5.56095, "ay":0.0, "alpha":0.0, "fx":[-88.28423,-88.28423,-88.28423,-88.28423], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.65399, "x":7.16364, "y":6.91779, "heading":-1.5708, "vx":-1.0403, "vy":0.0, "omega":0.0, "ax":-5.52935, "ay":0.0, "alpha":0.0, "fx":[-87.78249,-87.78249,-87.78249,-87.78249], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.70071, "x":7.10901, "y":6.91779, "heading":-1.5708, "vx":-1.2986, "vy":0.0, "omega":0.0, "ax":5.52935, "ay":0.0, "alpha":0.0, "fx":[87.78249,87.78249,87.78249,87.78249], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.74742, "x":7.05438, "y":6.91779, "heading":-1.5708, "vx":-1.0403, "vy":0.0, "omega":0.0, "ax":5.56095, "ay":0.0, "alpha":0.0, "fx":[88.28423,88.28423,88.28423,88.28423], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.79413, "x":7.01186, "y":6.91779, "heading":-1.5708, "vx":-0.78053, "vy":0.0, "omega":0.0, "ax":5.5673, "ay":0.0, "alpha":0.0, "fx":[88.38493,88.38493,88.38493,88.38493], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.84085, "x":6.98147, "y":6.91779, "heading":-1.5708, "vx":-0.52046, "vy":0.0, "omega":0.0, "ax":5.57002, "ay":0.0, "alpha":0.0, "fx":[88.42812,88.42812,88.42812,88.42812], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.88756, "x":6.96323, "y":6.91779, "heading":-1.5708, "vx":-0.26027, "vy":0.0, "omega":0.0, "ax":5.57153, "ay":0.0, "alpha":0.0, "fx":[88.45212,88.45212,88.45212,88.45212], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.93427, "x":6.95715, "y":6.91779, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[] -} diff --git a/src/main/deploy/choreo/Pushing_Super_Right.traj b/src/main/deploy/choreo/Pushing_Super_Right.traj deleted file mode 100644 index 2e615a02..00000000 --- a/src/main/deploy/choreo/Pushing_Super_Right.traj +++ /dev/null @@ -1,49 +0,0 @@ -{ - "name":"Pushing_Super_Right", - "version":1, - "snapshot":{ - "waypoints":[ - {"x":7.169135570526123, "y":1.1446685791015625, "heading":1.5707963267948966, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.260873794555664, "y":1.1446685791015625, "heading":1.5707963267948966, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.169135570526123, "y":1.1446685791015625, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"StartSuperRight.x", "val":6.957153797149658}, "y":{"exp":"StartSuperRight.y", "val":1.1446685791015625}, "heading":{"exp":"StartSuperRight.heading", "val":1.5707963267948966}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PushingDistance m", "val":7.260873794555664}, "y":{"exp":"StartSuperRight.y", "val":1.1446685791015625}, "heading":{"exp":"StartSuperRight.heading", "val":1.5707963267948966}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"StartSuperRight.x", "val":6.957153797149658}, "y":{"exp":"StartSuperRight.y", "val":1.1446685791015625}, "heading":{"exp":"StartSuperRight.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "sampleType":"Swerve", - "waypoints":[0.0,0.25675,0.51351], - "samples":[ - {"t":0.0, "x":7.16914, "y":1.14467, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.57058, "ay":0.0, "alpha":0.0, "fx":[88.4371,88.4371,88.4371,88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.04279, "x":7.17424, "y":1.14467, "heading":1.5708, "vx":0.23838, "vy":0.0, "omega":0.0, "ax":5.56643, "ay":0.0, "alpha":0.0, "fx":[88.37111,88.37111,88.37111,88.37111], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.08558, "x":7.18953, "y":1.14467, "heading":1.5708, "vx":0.47658, "vy":0.0, "omega":0.0, "ax":5.54569, "ay":0.0, "alpha":0.0, "fx":[88.04191,88.04191,88.04191,88.04191], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.12838, "x":7.215, "y":1.14467, "heading":1.5708, "vx":0.71389, "vy":0.0, "omega":0.0, "ax":-5.54569, "ay":0.0, "alpha":0.0, "fx":[-88.04191,-88.04191,-88.04191,-88.04191], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.17117, "x":7.24048, "y":1.14467, "heading":1.5708, "vx":0.47658, "vy":0.0, "omega":0.0, "ax":-5.56643, "ay":0.0, "alpha":0.0, "fx":[-88.37111,-88.37111,-88.37111,-88.37111], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.21396, "x":7.25577, "y":1.14467, "heading":1.5708, "vx":0.23838, "vy":0.0, "omega":0.0, "ax":-5.57058, "ay":0.0, "alpha":0.0, "fx":[-88.4371,-88.4371,-88.4371,-88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.25675, "x":7.26087, "y":1.14467, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.57058, "ay":0.0, "alpha":0.0, "fx":[-88.4371,-88.4371,-88.4371,-88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.29955, "x":7.25577, "y":1.14467, "heading":1.5708, "vx":-0.23838, "vy":0.0, "omega":0.0, "ax":-5.56643, "ay":0.0, "alpha":0.0, "fx":[-88.37111,-88.37111,-88.37111,-88.37111], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.34234, "x":7.24048, "y":1.14467, "heading":1.5708, "vx":-0.47658, "vy":0.0, "omega":0.0, "ax":-5.54569, "ay":0.0, "alpha":0.0, "fx":[-88.04191,-88.04191,-88.04191,-88.04191], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.38513, "x":7.215, "y":1.14467, "heading":1.5708, "vx":-0.71389, "vy":0.0, "omega":0.0, "ax":5.54569, "ay":0.0, "alpha":0.0, "fx":[88.04191,88.04191,88.04191,88.04191], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.42792, "x":7.18953, "y":1.14467, "heading":1.5708, "vx":-0.47658, "vy":0.0, "omega":0.0, "ax":5.56643, "ay":0.0, "alpha":0.0, "fx":[88.37111,88.37111,88.37111,88.37111], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.47072, "x":7.17424, "y":1.14467, "heading":1.5708, "vx":-0.23838, "vy":0.0, "omega":0.0, "ax":5.57058, "ay":0.0, "alpha":0.0, "fx":[88.4371,88.4371,88.4371,88.4371], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.51351, "x":7.16914, "y":1.14467, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[] -} diff --git a/src/main/deploy/choreo/reefscape.chor b/src/main/deploy/choreo/reefscape.chor index a94106b0..f127326e 100644 --- a/src/main/deploy/choreo/reefscape.chor +++ b/src/main/deploy/choreo/reefscape.chor @@ -18,13 +18,6 @@ "val":4.19 } }, - "PushingDistance":{ - "dimension":"Number", - "var":{ - "exp":"7.260873794555664", - "val":7.260873794555664 - } - }, "StartLineXVal":{ "dimension":"Number", "var":{ diff --git a/src/main/java/frc/robot/autons/SimpleAutons.java b/src/main/java/frc/robot/autons/SimpleAutons.java index 331b0ae3..f32ccba2 100644 --- a/src/main/java/frc/robot/autons/SimpleAutons.java +++ b/src/main/java/frc/robot/autons/SimpleAutons.java @@ -34,35 +34,6 @@ private static BooleanSupplier nearPoseXY(Swerve swerve, Pose2d dest, double tol } - // move these maybe - private static final Transform2d partnerPushBlue = new Transform2d(Meters.of(0.4), Meters.of(0), Rotation2d.kZero); - private static final Transform2d partnerPushRed = new Transform2d(Meters.of(-0.4), Meters.of(0), Rotation2d.kZero); - - // private static Command pushPartnerNeedsDefer(Swerve swerve) { - // Pose2d startPose = swerve.getState().Pose; - // Transform2d transform = partnerPushBlue; - // var allianceOpt = DriverStation.getAlliance(); - // if (allianceOpt.isPresent() && allianceOpt.get().equals(Alliance.Red)) { - // transform = partnerPushRed; - // } - // Pose2d destinationPose = startPose.transformBy(transform); - - // System.out.println("PUSH_PARTNER Going from " + startPose.toString() + " to " + destinationPose.toString()); - - // return Commands.sequence( - // swerve.moveToPose(destinationPose), - // Commands.print("Moving to dest"), - // Commands.waitUntil(nearPoseXY(swerve, destinationPose, 0.05)), - // Commands.print("Returning to start"), - // swerve.moveToPose(startPose), - // Commands.waitUntil(nearPoseXY(swerve, startPose, 0.05)) - // ); - // } - - // public static Command pushPartner(Swerve swerve) { - // return Commands.defer(() -> pushPartnerNeedsDefer(swerve), Set.of()); - // } - public AutoRoutine moveForward() { AutoRoutine routine = m_autoFactory.newRoutine("drive forward"); diff --git a/src/main/java/frc/robot/autons/TrajsAndLocs.java b/src/main/java/frc/robot/autons/TrajsAndLocs.java index 3e19edec..bdfeebc0 100644 --- a/src/main/java/frc/robot/autons/TrajsAndLocs.java +++ b/src/main/java/frc/robot/autons/TrajsAndLocs.java @@ -158,7 +158,6 @@ public static class Trajectories { public static HashMap, String> ReefToHPShortTrajs = new HashMap<>(); public static HashMap, String> HPToReefTrajs = new HashMap<>(); public static HashMap, String> HPToReefShortTrajs = new HashMap<>(); - public static HashMap PushingTrajs = new HashMap<>(); static { // fill in maps here diff --git a/src/main/java/frc/robot/autons/WaltAutonBuilder.java b/src/main/java/frc/robot/autons/WaltAutonBuilder.java index 5ddd75bc..8eef23a9 100644 --- a/src/main/java/frc/robot/autons/WaltAutonBuilder.java +++ b/src/main/java/frc/robot/autons/WaltAutonBuilder.java @@ -15,7 +15,6 @@ public class WaltAutonBuilder { public static GenericEntry nte_autonEntry; public static GenericEntry nte_customAutonReady; - public static GenericEntry nte_autonRobotPush; // button to select if we are pushing another robot b4 starting path public static GenericEntry nte_clearAll; public static GenericEntry nte_autonReadyToGo; // to let the user know that an auton is loaded @@ -55,11 +54,6 @@ public class WaltAutonBuilder { .withWidget(BuiltInWidgets.kToggleSwitch) .getEntry(); - nte_autonRobotPush = Shuffleboard.getTab("AutonChooser") - .add("Push another robot?", false) - .withWidget(BuiltInWidgets.kToggleSwitch) - .getEntry(); - nte_clearAll = Shuffleboard.getTab("AutonChooser") .add("CLEAR AUTON", false) .withWidget(BuiltInWidgets.kToggleSwitch)