From 79cd019cab307da12f72f29dd2bfcea2c4244603 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Tue, 3 Mar 2026 19:56:22 -0800 Subject: [PATCH 01/42] auto adjustments, pause for climb, path adjustments, less pause for outpost, stop briefly at depot --- src/main/deploy/choreo/DTtoRL.traj | 114 ++++------ src/main/deploy/choreo/FLMtoML.traj | 187 +++++++++------- src/main/deploy/choreo/FLtoSL.traj | 136 +++++------- src/main/deploy/choreo/FRMtoCR.traj | 2 +- src/main/deploy/choreo/FRMtoMR.traj | 192 +++++++++------- src/main/deploy/choreo/FRtoFRM.traj | 36 ++- src/main/deploy/choreo/MLtoCL.traj | 216 +++++++++--------- src/main/deploy/choreo/MLtoSL.traj | 39 +--- src/main/deploy/choreo/MRtoCR.traj | 98 +++----- src/main/deploy/choreo/OBtoFR.traj | 259 +++++++++++----------- src/main/deploy/choreo/OTtoFR.traj | 239 ++++++++++---------- src/main/deploy/choreo/OTtoRR.traj | 116 ++++------ src/main/deploy/choreo/PLTtoD.traj | 98 ++++---- src/main/deploy/choreo/PLTtoDRO.traj | 181 +++++++-------- src/main/deploy/choreo/PRTtoDRO.traj | 164 +++++++------- src/main/deploy/choreo/PRTtoO.traj | 98 ++++---- src/main/deploy/choreo/RLtoFL.traj | 144 ++++++------ src/main/deploy/choreo/SLtoCL.traj | 156 +++++++------ src/main/deploy/choreo/SRBtoCR.traj | 2 +- src/main/deploy/choreo/rebuiltChoreo.chor | 40 ++-- src/main/deploy/choreo/testposes.traj | 130 ++++++++++- src/main/java/frc/robot/Autos.java | 37 +++- src/main/java/frc/robot/Robot.java | 5 +- 23 files changed, 1355 insertions(+), 1334 deletions(-) diff --git a/src/main/deploy/choreo/DTtoRL.traj b/src/main/deploy/choreo/DTtoRL.traj index 9ffe0897..6617270e 100644 --- a/src/main/deploy/choreo/DTtoRL.traj +++ b/src/main/deploy/choreo/DTtoRL.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.0073800086975098, "y":7.3907060623168945, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.603864669799805, "y":7.405058860778809, "heading":0.0, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.929198145866394, "y":7.364913940429688, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.0073800086975098 m", "val":3.0073800086975098}, "y":{"exp":"7.3907060623168945 m", "val":7.3907060623168945}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.603864669799805 m", "val":4.603864669799805}, "y":{"exp":"7.405058860778809 m", "val":7.405058860778809}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.929198145866394 m", "val":1.929198145866394}, "y":{"exp":"7.3649139404296875 m", "val":7.364913940429688}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RLL.x", "val":2.660629749298096}, "y":{"exp":"RLL.y", "val":7.363339424133301}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -53,70 +53,46 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.63283,2.69796], + "waypoints":[0.0,1.02624,1.51535], "samples":[ - {"t":0.0, "x":0.80987, "y":6.31261, "heading":3.14159, "vx":1.34331, 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"y":{"exp":"0.6756622195243835 m", "val":0.6756622195243835}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.641608238220215 m", "val":4.641608238220215}, "y":{"exp":"0.6834654211997986 m", "val":0.6834654211997986}, "heading":{"exp":"3.1309276014165053 rad", "val":3.1309276014165053}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/FRMtoMR.traj b/src/main/deploy/choreo/FRMtoMR.traj index ca96c5b8..b7ecfd2a 100644 --- a/src/main/deploy/choreo/FRMtoMR.traj +++ b/src/main/deploy/choreo/FRMtoMR.traj @@ -4,8 +4,8 @@ "snapshot":{ "waypoints":[ {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.557889461517334, "y":0.688210129737854, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,8 +16,8 @@ "params":{ "waypoints":[ {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"MR.x", "val":4.557889461517334}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":2.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -53,84 +53,114 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.00159,3.57913], + "waypoints":[0.0,2.00159,5.06492], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.44166, "vy":-1.43216, "omega":0.8161, "ax":-0.00611, "ay":-0.0198, "alpha":-0.00059, "fx":[-0.09263,-0.09599,-0.09599,-0.09264], "fy":[-0.30413,-0.30414,-0.3075,-0.30749]}, - {"t":0.04655, "x":7.7998, "y":3.4903, "heading":1.60878, "vx":-0.44195, "vy":-1.43308, "omega":0.81608, "ax":0.0, "ay":0.0, "alpha":0.00092, 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"events":[] diff --git a/src/main/deploy/choreo/MLtoSL.traj b/src/main/deploy/choreo/MLtoSL.traj index 72f72075..bc73f00a 100644 --- a/src/main/deploy/choreo/MLtoSL.traj +++ b/src/main/deploy/choreo/MLtoSL.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.544271945953369, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MLL.x", "val":4.544271945953369}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -51,33 +51,16 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.15606], + "waypoints":[0.0,0.33291], "samples":[ - {"t":0.0, "x":4.54427, 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"heading":-3.14159, "vx":1.45683, "vy":-0.35596, "omega":0.0, "ax":-0.00644, "ay":0.00157, "alpha":0.0, "fx":[-0.09951,-0.09951,-0.09953,-0.09953], "fy":[0.0243,0.02433,0.02433,0.0243]}, + {"t":0.33291, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":1.45652, "vy":-0.35589, "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/MRtoCR.traj b/src/main/deploy/choreo/MRtoCR.traj index 9de690e4..6cefdaa8 100644 --- a/src/main/deploy/choreo/MRtoCR.traj +++ b/src/main/deploy/choreo/MRtoCR.traj @@ -3,9 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.557889461517334, "y":0.688210129737854, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.0365591049194336, "y":0.6721228361129761, "heading":-3.128402086626287, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,9 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":4.557889461517334}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.0365591049194336 m", "val":3.0365591049194336}, "y":{"exp":"0.6721228361129761 m", "val":0.6721228361129761}, "heading":{"exp":"-3.128402086626287 rad", "val":-3.128402086626287}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"MR.x", "val":2.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"CR.heading", 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"y":5.86585, "heading":-1.5708, "vx":0.16614, "vy":-1.49009, "omega":0.59887, "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/PRTtoDRO.traj b/src/main/deploy/choreo/PRTtoDRO.traj index fd847fa1..eef8b1ef 100644 --- a/src/main/deploy/choreo/PRTtoDRO.traj +++ b/src/main/deploy/choreo/PRTtoDRO.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7242095470428462, "y":0.7309682965278625, "heading":3.141592690548533, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.997579574584961, "y":0.722095251083374, "heading":3.141592690548533, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.997579574584961, "y":0.722095251083374, "heading":1.5707963452742666, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.710022926330566, "y":0.8485172390937805, "heading":1.867343098442764, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.997579574584961 m", "val":5.997579574584961}, "y":{"exp":"0.722095251083374 m", "val":0.722095251083374}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.997579574584961 m", "val":5.997579574584961}, "y":{"exp":"0.722095251083374 m", "val":0.722095251083374}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.710022926330566 m", "val":7.710022926330566}, "y":{"exp":"0.8485172390937805 m", "val":0.8485172390937805}, "heading":{"exp":"1.8673430984427641 rad", "val":1.867343098442764}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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"fy":[-2.63419,-2.54236,2.42896,2.33713]}, + {"t":3.64484, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":0.26432, "vy":1.47588, "omega":-0.25677, "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/PRTtoO.traj b/src/main/deploy/choreo/PRTtoO.traj index 693773d1..569f333c 100644 --- a/src/main/deploy/choreo/PRTtoO.traj +++ b/src/main/deploy/choreo/PRTtoO.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.5344297885894775, "y":0.7714175581932068, "heading":1.723445672867714, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.7400096654891968, "y":0.7318795323371887, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":96, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.7400096654891968, "y":0.7318795323371887, "heading":0.0, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.8321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "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":false}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"3.5344297885894775 m", "val":3.5344297885894775}, "y":{"exp":"0.7714175581932068 m", "val":0.7714175581932068}, "heading":{"exp":"1.723445672867714 rad", 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"x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.68881, "vy":-1.87662, "omega":-1.02581, "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/SLtoCL.traj b/src/main/deploy/choreo/SLtoCL.traj index 87e65e28..654b24b9 100644 --- a/src/main/deploy/choreo/SLtoCL.traj +++ b/src/main/deploy/choreo/SLtoCL.traj @@ -4,9 +4,9 @@ "snapshot":{ "waypoints":[ {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.2315946817398071, "y":4.864363193511963, "heading":1.5728533535678788, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.3828084468841553, "y":4.868075847625732, "heading":1.5728533535678788, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8873613476753235, "y":4.874957084655762, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,9 +18,9 @@ "params":{ "waypoints":[ {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.439544916152954 m", "val":2.439544916152954}, "y":{"exp":"4.924097061157227 m", "val":4.924097061157227}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.2315946817398071 m", "val":1.2315946817398071}, "y":{"exp":"4.864363193511963 m", "val":4.864363193511963}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"2.439544916152954 m", "val":2.439544916152954}, "y":{"exp":"4.924097061157227 m", "val":4.924097061157227}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.3828084468841553 m", "val":1.3828084468841553}, "y":{"exp":"4.868075847625732 m", "val":4.868075847625732}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.8873613476753235 m", "val":0.8873613476753235}, "y":{"exp":"4.874957084655762 m", "val":4.874957084655762}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", 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"ay":-0.29267, "alpha":0.0245, "fx":[295.92277,295.94917,295.95258,295.92619], "fy":[-4.64884,-4.6447,-4.3908,-4.3947]}, + {"t":3.22044, "x":0.88736, "y":4.87496, "heading":1.57285, "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/SRBtoCR.traj b/src/main/deploy/choreo/SRBtoCR.traj index c057bfe2..6710cf19 100644 --- a/src/main/deploy/choreo/SRBtoCR.traj +++ b/src/main/deploy/choreo/SRBtoCR.traj @@ -15,7 +15,7 @@ "params":{ "waypoints":[ {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 89e642d4..84234cd5 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -50,12 +50,12 @@ }, "CR":{ "x":{ - "exp":"1.9429377317428589 m", - "val":1.9429377317428589 + "exp":"1.8024730682373047 m", + "val":1.802473068237305 }, "y":{ - "exp":"2.7734005451202393 m", - "val":2.7734005451202393 + "exp":"2.449967384338379 m", + "val":2.449967384338379 }, "heading":{ "exp":"-1.5737992594811685 rad", @@ -218,8 +218,8 @@ }, "MLL":{ "x":{ - "exp":"4.544271945953369 m", - "val":4.544271945953369 + "exp":"2.32966947555542 m", + "val":2.32966947555542 }, "y":{ "exp":"7.44913311004639 m", @@ -232,8 +232,8 @@ }, "MR":{ "x":{ - "exp":"4.557889461517334 m", - "val":4.557889461517334 + "exp":"2.32966947555542 m", + "val":2.32966947555542 }, "y":{ "exp":"0.688210129737854 m", @@ -246,8 +246,8 @@ }, "O":{ "x":{ - "exp":"0.5321799635887146 m", - "val":0.5321799635887146 + "exp":"0.8321799635887146 m", + "val":0.8321799635887146 }, "y":{ "exp":"0.7198631167411804 m", @@ -310,28 +310,28 @@ "val":0.7309682965278625 }, "heading":{ - "exp":"3.141592690548533 rad", - "val":3.141592690548533 + "exp":"3.141592690548533 / 2 rad", + "val":1.5707963452742666 } }, "RLL":{ "x":{ - "exp":"4.560821533203125 m", - "val":4.560821533203125 + "exp":"2.660629749298096 m", + "val":2.660629749298096 }, "y":{ - "exp":"7.364652156829834 m", - "val":7.364652156829834 + "exp":"7.363339424133301 m", + "val":7.363339424133301 }, "heading":{ - "exp":"-6.559104275229499 mrad", - "val":-0.006559104275229499 + "exp":"0 deg", + "val":0.0 } }, "RR":{ "x":{ - "exp":"4.659694671630859 m", - "val":4.659694671630859 + "exp":"2.659694671630859 m", + "val":2.659694671630859 }, "y":{ "exp":"0.6415539979934692 m", diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index 89a47d32..0639e67c 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -2,17 +2,23 @@ "name":"testposes", "version":3, "snapshot":{ - "waypoints":[], - "constraints":[], + "waypoints":[ + {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.705504417419434 m", "val":4.705504417419434}, "y":{"exp":"7.340907096862793 m", "val":7.340907096862793}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.255559921264648 m", "val":4.255559921264648}, "y":{"exp":"0.9663175344467163 m", "val":0.9663175344467164}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.704 m", "val":4.704}, "y":{"exp":"0.741 m", "val":0.741}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "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}, @@ -23,11 +29,111 @@ } }, "trajectory":{ - "config":null, - "sampleType":null, - "waypoints":[], - "samples":[], - "splits":[] + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":61.77279533029374, + "inertia":6.32183239342448, + "gearing":7.03, + "radius":0.0508, + "vmax":607.3745796940267, + "tmax":54.79744136460554, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.86055,2.29677,3.96434], + "samples":[ 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"vy":-4.28977, "omega":0.00143, "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":3.21124, "x":5.29834, "y":3.53621, "heading":-0.09266, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "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":3.26504, "x":5.24926, "y":3.30545, "heading":-0.09258, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "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":3.31883, "x":5.20018, "y":3.0747, "heading":-0.09251, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "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":3.37262, "x":5.15111, "y":2.84394, "heading":-0.09243, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "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":3.42641, "x":5.10203, "y":2.61318, "heading":-0.09235, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "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":3.48021, "x":5.05295, "y":2.38243, "heading":-0.09228, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "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":3.534, "x":5.00387, "y":2.15167, "heading":-0.0922, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "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":3.58779, "x":4.9548, "y":1.92091, "heading":-0.09212, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.0,0.0,0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.64158, "x":4.90572, "y":1.69016, "heading":-0.09204, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00028,0.00028,0.00028,0.00028], "fy":[-0.00006,-0.00006,-0.00006,-0.00006]}, + {"t":3.69538, "x":4.85664, "y":1.4594, "heading":-0.09197, "vx":-0.91234, "vy":-4.28977, "omega":0.00143, "ax":0.00107, "ay":0.00042, "alpha":0.00126, "fx":[0.01324,0.01257,0.01976,0.02043], "fy":[0.01041,0.00322,0.00256,0.00975]}, + {"t":3.74917, "x":4.80757, "y":1.22864, "heading":-0.09189, "vx":-0.91228, "vy":-4.28975, "omega":0.0015, "ax":3.27715, "ay":15.4021, "alpha":15.75971, "fx":[-6.7414,-25.05958,130.99718,103.24275], "fy":[270.01502,229.1963,200.14667,252.07284]}, + {"t":3.80296, "x":4.76324, "y":1.02017, "heading":-0.09181, "vx":-0.736, "vy":-3.46123, "omega":0.84925, "ax":4.55689, "ay":21.42827, "alpha":-5.17298, "fx":[104.40968,93.30037,40.9709,42.81106], "fy":[323.07911,326.6187,337.18886,336.79727]}, + {"t":3.85675, "x":4.73024, "y":0.86499, "heading":-0.04613, "vx":-0.49087, "vy":-2.30856, "omega":0.57098, "ax":4.56186, "ay":21.45375, "alpha":-5.28846, "fx":[106.38715,92.46349,39.19511,43.7531], "fy":[322.95504,327.29311,337.82698,337.18271]}, + {"t":3.91055, "x":4.71043, "y":0.77184, "heading":-0.01541, "vx":-0.24548, "vy":-1.15451, "omega":0.2865, "ax":4.56344, "ay":21.4623, "alpha":-5.32613, "fx":[107.36328,91.67378,38.20108,44.65852], "fy":[322.80672,327.66071,338.08395,337.23486]}, + {"t":3.96434, "x":4.70383, "y":0.74079, "heading":0.0, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 209b9e21..3c5cf914 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -136,9 +136,9 @@ public enum Path { MLtoCL("ML", "CL", Action.CLIMB), MRtoCR("MR", "CR", Action.CLIMB), DtoRL("DT", "RL", Action.SCORE), - RLtoFL("RL", "FL", Action.FEED), + RLtoIL("RL", "FL", Action.INTAKE), OtoRR("OT", "RR", Action.SCORE), - RRtoFR("RR", "FR", Action.FEED), + RRtoIR("RR", "FR", Action.INTAKE), RUNtoTEST("RUN", "TEST", Action.NOTHING); private final String start; @@ -229,9 +229,10 @@ public Command climbPath(Path path, AutoRoutine routine) { path.getTrajectory(routine).getRawTrajectory().getTotalTime() - (0.3)))), setAutoPreClimbReqTrue(), + Commands.waitSeconds(1), swerve .alignToClimb(() -> getClimbAutoTarget()) - .until(() -> swerve.isInTolerance(getClimbAutoTarget().getPose(), 0.05, 0.05)), + .until(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose())), setAutoClimbReqTrue()); } @@ -273,7 +274,7 @@ public Command flowPath(Path path, AutoRoutine routine) { path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } - public ClimbTargets getClimbAutoTarget() { + public ClimbTargets getClimbAutoTarget() { return ClimbTargets.CLIMB_TARGETS_LIST.stream() .filter(target -> target.getLeftHanded() == leftClimbAuto) .filter( @@ -290,7 +291,7 @@ public Command outpostPath(Path path, AutoRoutine routine) { setAutoFlowReqTrue(), setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - Commands.waitSeconds(1.5)); + Commands.waitSeconds(0.5)); } public void lockHoodUnderTrench(AutoRoutine routine, Pose2d trench, double tolerance) { @@ -368,11 +369,15 @@ public Command setleftClimbAutoTrue() { return Commands.runOnce(() -> leftClimbAuto = true); } + public Command setleftClimbAutoFalse() { + return Commands.runOnce(() -> leftClimbAuto = false); + } + public Command getDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = { - Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoML, Path.MLtoCL + Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.ILtoILM, Path.ILMtoML, Path.MLtoCL + // Path.DtoIL, }; // , Path.SLtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); @@ -388,8 +393,13 @@ public Command getDepotScoreClimbAuto() { public Command getOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); - Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoMR, Path.MRtoSR, Path.SRtoCR}; - Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = { + Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.IRMtoMR, Path.MRtoCR // , Path.SRtoCR + }; + // Path.OtoIR, + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); @@ -402,7 +412,8 @@ public Command getOutpostScoreClimbAuto() { public Command getDepotFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); - Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoFL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL}; + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); @@ -417,8 +428,10 @@ public Command getDepotFeedClimbAuto() { public Command getOutpostFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); - Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoFR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR}; - Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR}; + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 10e998eb..7ae124cc 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -697,7 +697,10 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta .leftBumper() .or(Autos.autoLeftClimbReq) .onTrue(Commands.runOnce(() -> leftClimbTarget = true)); - operator.rightBumper().onTrue(Commands.runOnce(() -> leftClimbTarget = false)); + operator + .rightBumper() + .or(Autos.autoLeftClimbReq.negate()) + .onTrue(Commands.runOnce(() -> leftClimbTarget = false)); // TODO: ACTUAL BINDING LOL // test shot From 44c7b731e2cde14e4e5af0ba2deb3427b72b4623 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 5 Mar 2026 15:22:48 -0800 Subject: [PATCH 02/42] generate ungenerated paths + can't make triggers from triggers + make climb go in parallel w aligning --- src/main/deploy/choreo/FRMtoCR.traj | 254 ++++++++++---------- src/main/deploy/choreo/MRtoSR.traj | 38 +-- src/main/deploy/choreo/RRtoFR.traj | 152 +++++++----- src/main/deploy/choreo/SRBtoCR.traj | 42 ++-- src/main/java/frc/robot/Autos.java | 18 +- src/main/java/frc/robot/Superstructure.java | 4 +- 6 files changed, 258 insertions(+), 250 deletions(-) diff --git a/src/main/deploy/choreo/FRMtoCR.traj b/src/main/deploy/choreo/FRMtoCR.traj index aec548d3..aa5e047e 100644 --- a/src/main/deploy/choreo/FRMtoCR.traj +++ b/src/main/deploy/choreo/FRMtoCR.traj @@ -6,8 +6,8 @@ {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.002846717834473, "y":0.6756622195243835, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.641608238220215, "y":0.6834654211997986, "heading":3.1309276014165053, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -20,7 +20,7 @@ {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.002846717834473 m", "val":6.002846717834473}, "y":{"exp":"0.6756622195243835 m", "val":0.6756622195243835}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.641608238220215 m", "val":4.641608238220215}, "y":{"exp":"0.6834654211997986 m", "val":0.6834654211997986}, "heading":{"exp":"3.1309276014165053 rad", "val":3.1309276014165053}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -57,132 +57,130 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.2747,3.18537,4.15151,5.76241], + "waypoints":[0.0,2.27471,3.18537,4.15081,5.64157], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.79298, "vy":-1.27174, "omega":0.73013, 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"fx":[88.09032,122.86765,132.50274,96.47273], "fy":[-153.32637,-145.09527,-112.93882,-120.7223]}, + {"t":5.59639, "x":1.81679, "y":2.43265, "heading":-1.57384, "vx":-0.63389, "vy":0.76666, "omega":0.00085, "ax":14.032, "ay":-16.97117, "alpha":-0.0188, "fx":[216.58233,216.70979,216.81556,216.68813], "fy":[-262.18551,-262.08041,-261.99263,-262.0978]}, + {"t":5.64157, "x":1.80247, "y":2.44997, "heading":-1.5738, "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/MRtoSR.traj b/src/main/deploy/choreo/MRtoSR.traj index f21c3802..de85af82 100644 --- a/src/main/deploy/choreo/MRtoSR.traj +++ b/src/main/deploy/choreo/MRtoSR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.557889461517334, "y":0.688210129737854, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":4.557889461517334}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":2.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -51,33 +51,15 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.19332], + "waypoints":[0.0,0.29349], "samples":[ - {"t":0.0, "x":4.55789, "y":0.68821, "heading":3.14159, "vx":-1.49855, "vy":0.0271, "omega":0.0, "ax":-0.0182, "ay":0.00033, "alpha":0.0, "fx":[-0.28104,-0.28104,-0.28104,-0.28104], "fy":[0.00508,0.00508,0.00508,0.00508]}, - {"t":0.04972, "x":4.48336, "y":0.68956, "heading":3.14159, "vx":-1.49945, "vy":0.02712, "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":0.09944, "x":4.4088, "y":0.69091, 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"intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.659694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RR.x", "val":4.659694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RR.x", "val":2.659694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.933488368988037 m", "val":5.933488368988037}, "y":{"exp":"0.6496047973632812 m", "val":0.6496047973632812}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, 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"alpha":-0.09028, "fx":[0.07682,0.5172,0.87997,0.43959], "fy":[0.03492,-0.32784,0.11254,0.47531]}, + {"t":4.59244, "x":1.99149, "y":2.4791, "heading":-1.74795, "vx":-0.1614, "vy":-0.02488, "omega":0.15719, "ax":0.04317, "ay":0.00665, "alpha":-0.06608, "fx":[0.39174,0.7397,0.94162,0.59366], "fy":[0.02973,-0.17219,0.17577,0.37769]}, + {"t":4.97514, "x":1.93288, "y":2.47007, "heading":-1.68779, "vx":-0.14488, "vy":-0.02233, "omega":0.13191, "ax":0.05838, "ay":0.009, "alpha":-0.16198, "fx":[0.314,1.21509,1.48906,0.58798], "fy":[-0.17461,-0.44858,0.4525,0.72648]}, + {"t":5.35784, "x":1.88171, "y":2.46218, "heading":-1.63731, "vx":-0.12254, "vy":-0.01889, "omega":0.06991, "ax":0.07794, "ay":0.01201, "alpha":-0.01365, "fx":[1.15796,1.23528,1.24929,1.17198], "fy":[0.15385,0.13984,0.21716,0.23118]}, + {"t":5.74055, "x":1.84052, "y":2.45583, "heading":-1.61055, "vx":-0.09271, "vy":-0.01429, "omega":0.06469, "ax":0.10362, "ay":0.01597, "alpha":-0.08712, "fx":[1.33921,1.83718,1.86114,1.36318], "fy":[0.00962,-0.01434,0.48363,0.5076]}, + {"t":6.12325, "x":1.81263, "y":2.45153, "heading":-1.5858, "vx":-0.05306, "vy":-0.00818, "omega":0.03135, "ax":0.13864, "ay":0.02137, "alpha":-0.08192, "fx":[1.89041,2.35871,2.39162,1.92333], "fy":[0.11229,0.07937,0.54767,0.5806]}, + {"t":6.50595, "x":1.80247, "y":2.44997, "heading":-1.5738, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 3c5cf914..a5c9da5c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -229,25 +229,25 @@ public Command climbPath(Path path, AutoRoutine routine) { path.getTrajectory(routine).getRawTrajectory().getTotalTime() - (0.3)))), setAutoPreClimbReqTrue(), - Commands.waitSeconds(1), - swerve - .alignToClimb(() -> getClimbAutoTarget()) - .until(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose())), - setAutoClimbReqTrue()); + Commands.waitSeconds(1), // we shouldn't rly be waiting + Commands.parallel( + swerve.alignToClimb(() -> getClimbAutoTarget()), + Commands.waitUntil(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose())) + .andThen(setAutoClimbReqTrue()))); } public Command feedPath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoScoreReqFalse(), setAutoFeedReqTrue(), - setAutoIntakeReqTrue(), + // setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoFeedReqFalse()); } public Command scorePath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoIntakeReqFalse(), + // setAutoIntakeReqFalse(), setAutoScoreReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoScoreReqFalse()); @@ -260,7 +260,7 @@ public Command emptyPath(Path path, AutoRoutine routine) { public Command intakePath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqFalse(), + // setAutoScoreReqFalse(), setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoIntakeReqFalse()); @@ -270,7 +270,7 @@ public Command flowPath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoScoreReqTrue(), setAutoFlowReqTrue(), - setAutoIntakeReqTrue(), + // setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 675271ea..128ed9c6 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -170,12 +170,12 @@ private void addTriggers() { operator .a() .and(DriverStation::isTeleop) - .or(new Trigger(Autos.autoFlowReq)) + .or(Autos.autoFlowReq) .onTrue(Commands.runOnce(() -> flowState = true)); operator .b() .and(DriverStation::isTeleop) - .or(new Trigger(Autos.autoFlowReq).negate()) + .or(Autos.autoFlowReq.negate()) .onTrue(Commands.runOnce(() -> flowState = false)); operator.leftBumper().onTrue(Commands.runOnce(() -> feedTarget = FeedTarget.LEFT)); From 966a57068a5269890fbcd7fea08785f2786c9b16 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 5 Mar 2026 15:23:33 -0800 Subject: [PATCH 03/42] maybe don't comment those out idk --- src/main/java/frc/robot/Autos.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index a5c9da5c..921960cb 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -240,14 +240,14 @@ public Command feedPath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoScoreReqFalse(), setAutoFeedReqTrue(), - // setAutoIntakeReqTrue(), + setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoFeedReqFalse()); } public Command scorePath(Path path, AutoRoutine routine) { return Commands.sequence( - // setAutoIntakeReqFalse(), + setAutoIntakeReqFalse(), setAutoScoreReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoScoreReqFalse()); @@ -260,7 +260,7 @@ public Command emptyPath(Path path, AutoRoutine routine) { public Command intakePath(Path path, AutoRoutine routine) { return Commands.sequence( - // setAutoScoreReqFalse(), + setAutoScoreReqFalse(), setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoIntakeReqFalse()); From 5ff437fe3523731bab7febfc56e5bd25890b2ed6 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 5 Mar 2026 22:01:35 -0800 Subject: [PATCH 04/42] auto tuning - worked when slow but not at full vel :( --- src/main/deploy/choreo/DBtoFL.traj | 248 ++--- src/main/deploy/choreo/DLOtoDLT.traj | 6 +- src/main/deploy/choreo/DLTtoDRO.traj | 32 +- src/main/deploy/choreo/DLTtoSRB.traj | 168 +-- src/main/deploy/choreo/DLTtoSRT.traj | 178 ++-- src/main/deploy/choreo/DROtoDRT.traj | 6 +- src/main/deploy/choreo/DRTtoDLO.traj | 32 +- src/main/deploy/choreo/DRTtoSLB.traj | 154 +-- src/main/deploy/choreo/DRTtoSLT.traj | 164 +-- src/main/deploy/choreo/DTtoFL.traj | 310 +++--- src/main/deploy/choreo/FLMtoCL.traj | 338 +++--- src/main/deploy/choreo/FLMtoEL.traj | 219 ++-- src/main/deploy/choreo/FLMtoML.traj | 208 ++-- src/main/deploy/choreo/FLMtoSLB.traj | 154 +-- src/main/deploy/choreo/FLMtoSLT.traj | 970 +++++++++--------- src/main/deploy/choreo/FLtoFLM.traj | 6 +- src/main/deploy/choreo/FLtoSL.traj | 90 +- src/main/deploy/choreo/FRMtoCR.traj | 244 ++--- src/main/deploy/choreo/FRMtoER.traj | 210 ++-- src/main/deploy/choreo/FRMtoMR.traj | 161 +-- src/main/deploy/choreo/FRMtoSR.traj | 198 ++-- src/main/deploy/choreo/FRMtoSRB.traj | 156 +-- src/main/deploy/choreo/FRtoFRM.traj | 31 +- src/main/deploy/choreo/FRtoSRT.traj | 174 ++-- src/main/deploy/choreo/MLtoCL.traj | 174 ++-- src/main/deploy/choreo/MLtoSL.traj | 6 +- src/main/deploy/choreo/MRtoCR.traj | 56 +- src/main/deploy/choreo/MRtoSR.traj | 24 +- src/main/deploy/choreo/OBtoFR.traj | 262 ++--- src/main/deploy/choreo/OTtoFR.traj | 238 ++--- src/main/deploy/choreo/OTtoRR.traj | 77 +- src/main/deploy/choreo/PLBtoDLO.traj | 178 ++-- src/main/deploy/choreo/PLTtoDRO.traj | 180 ++-- src/main/deploy/choreo/PRBtoDRO.traj | 160 +-- src/main/deploy/choreo/PRTtoDRO.traj | 154 +-- src/main/deploy/choreo/PRTtoO.traj | 100 +- src/main/deploy/choreo/RLtoFL.traj | 134 +-- src/main/deploy/choreo/RRtoFR.traj | 142 +-- src/main/deploy/choreo/RUNtoTEST.traj | 136 +-- src/main/deploy/choreo/SLBtoCL.traj | 98 +- src/main/deploy/choreo/SLTtoFL.traj | 176 ++-- src/main/deploy/choreo/SLtoCL.traj | 138 +-- src/main/deploy/choreo/SLtoCM.traj | 58 +- src/main/deploy/choreo/SRBtoCR.traj | 40 +- src/main/deploy/choreo/SRTtoCR.traj | 86 +- src/main/deploy/choreo/SRTtoER.traj | 28 +- src/main/deploy/choreo/SRtoCM.traj | 10 +- src/main/deploy/choreo/SRtoFR.traj | 204 ++-- src/main/deploy/choreo/rebuiltChoreo.chor | 16 +- src/main/deploy/choreo/testposes.traj | 165 +-- src/main/java/frc/robot/Autos.java | 28 +- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/Superstructure.java | 4 +- .../subsystems/climber/ClimberSubsystem.java | 6 + .../indexer/SpindexerSubsystem.java | 2 +- 55 files changed, 3700 insertions(+), 3839 deletions(-) diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj index ca0bc25b..c2b3e0bc 100644 --- a/src/main/deploy/choreo/DBtoFL.traj +++ b/src/main/deploy/choreo/DBtoFL.traj @@ -44,7 +44,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -61,129 +61,129 @@ "sampleType":"Swerve", "waypoints":[0.0,1.93267,2.62507,3.34617,4.76179,5.56579], "samples":[ - {"t":0.0, "x":0.80987, "y":6.31261, "heading":3.14159, "vx":1.48091, "vy":-0.22958, "omega":1.67673, "ax":0.02411, "ay":-0.00374, "alpha":-0.0023, "fx":[0.36573,0.36573,0.37891,0.37891], "fy":[-0.05113,-0.06432,-0.06432,-0.05113]}, - {"t":0.04295, "x":0.8735, "y":6.30274, "heading":-3.06958, "vx":1.48195, "vy":-0.22974, "omega":1.67663, "ax":0.0, "ay":0.0, "alpha":-0.00248, "fx":[-0.00758,-0.00656,0.00758,0.00656], "fy":[0.00656,-0.00758,-0.00656,0.00758]}, - {"t":0.0859, "x":0.93714, "y":6.29288, "heading":-2.99757, "vx":1.48195, "vy":-0.22974, "omega":1.67653, "ax":0.0, "ay":0.0, "alpha":-0.00257, "fx":[-0.00832,-0.00621,0.00832,0.00621], "fy":[0.00621,-0.00832,-0.00621,0.00832]}, - {"t":0.12884, "x":1.00079, "y":6.28301, "heading":-2.92557, "vx":1.48195, "vy":-0.22974, "omega":1.67642, "ax":0.0, "ay":0.0, "alpha":-0.00254, "fx":[-0.00867,-0.00555,0.00867,0.00555], "fy":[0.00555,-0.00867,-0.00555,0.00867]}, - {"t":0.17179, "x":1.06444, "y":6.27314, "heading":-2.85357, "vx":1.48195, "vy":-0.22974, "omega":1.67631, "ax":0.0, "ay":0.0, "alpha":-0.00236, "fx":[-0.0084,-0.00456,0.0084,0.00456], "fy":[0.00456,-0.0084,-0.00456,0.0084]}, - {"t":0.21474, "x":1.12808, "y":6.26328, "heading":-2.78157, "vx":1.48195, "vy":-0.22974, "omega":1.6762, "ax":0.0, "ay":0.0, "alpha":-0.00203, "fx":[-0.00748,-0.00339,0.00748,0.00339], "fy":[0.00339,-0.00748,-0.00339,0.00748]}, - {"t":0.25769, "x":1.19173, "y":6.25341, "heading":-2.70958, "vx":1.48195, "vy":-0.22974, "omega":1.67612, "ax":0.0, "ay":0.0, "alpha":-0.00156, "fx":[-0.00592,-0.00218,0.00592,0.00218], "fy":[0.00218,-0.00592,-0.00219,0.00592]}, - {"t":0.30064, "x":1.25538, "y":6.24354, "heading":-2.6376, "vx":1.48195, "vy":-0.22974, "omega":1.67605, "ax":0.0, "ay":0.0, "alpha":-0.00098, "fx":[-0.0038,-0.0011,0.0038,0.0011], "fy":[0.0011,-0.0038,-0.0011,0.0038]}, - {"t":0.34359, "x":1.31903, "y":6.23367, "heading":-2.56561, "vx":1.48195, "vy":-0.22974, "omega":1.67601, "ax":0.0, "ay":0.0, "alpha":-0.00033, "fx":[-0.00132,-0.00028,0.00132,0.00028], "fy":[0.00028,-0.00133,-0.00028,0.00132]}, - {"t":0.38653, "x":1.38267, "y":6.22381, "heading":-2.49363, "vx":1.48195, "vy":-0.22974, "omega":1.67599, "ax":0.0, "ay":0.0, "alpha":0.00033, "fx":[0.00134,0.00018,-0.00134,-0.00019], "fy":[-0.00019,0.00134,0.00018,-0.00134]}, - {"t":0.42948, "x":1.44632, "y":6.21394, "heading":-2.42165, "vx":1.48195, "vy":-0.22974, "omega":1.67601, "ax":0.0, "ay":0.0, "alpha":0.00096, "fx":[0.00387,0.00025,-0.00387,-0.00025], "fy":[-0.00026,0.00387,0.00025,-0.00387]}, - {"t":0.47243, "x":1.50997, "y":6.20407, "heading":-2.34967, "vx":1.48195, "vy":-0.22974, "omega":1.67605, "ax":0.0, "ay":0.0, "alpha":0.00151, "fx":[0.00609,-0.00004,-0.00609,0.00004], "fy":[0.00004,0.00609,-0.00004,-0.00609]}, - {"t":0.51538, "x":1.57361, "y":6.19421, "heading":-2.27769, "vx":1.48195, "vy":-0.22974, "omega":1.67611, "ax":0.0, 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b/src/main/deploy/choreo/DLOtoDLT.traj @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -53,7 +53,7 @@ "sampleType":"Swerve", "waypoints":[0.0,2.44129], "samples":[ - {"t":0.0, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.0, "vy":-1.4988, "omega":0.0, "ax":0.0, "ay":-0.01813, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.27996,-0.27996,-0.27996,-0.27996]}, + {"t":0.0, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.0, "vy":-1.4988, "omega":0.0, "ax":0.0, "ay":-0.01813, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.30219,-0.30219,-0.30219,-0.30219]}, {"t":0.04982, "x":8.57957, "y":5.79115, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "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":0.09964, "x":8.57957, "y":5.71643, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, 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"heading":1.57188, "vx":-1.48967, "vy":0.16994, "omega":-0.69687, "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/FRMtoMR.traj b/src/main/deploy/choreo/FRMtoMR.traj index b7ecfd2a..ec0936ba 100644 --- a/src/main/deploy/choreo/FRMtoMR.traj +++ b/src/main/deploy/choreo/FRMtoMR.traj @@ -3,26 +3,26 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":false}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"MR.x", "val":2.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":false}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -38,7 +38,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -53,114 +53,43 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.00159,5.06492], + "waypoints":[0.0,0.80138,1.62952], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.44168, "vy":-1.43215, "omega":0.81651, "ax":-0.00611, "ay":-0.0198, "alpha":-0.0007, "fx":[-0.09232,-0.09631,-0.09631,-0.09232], "fy":[-0.30382,-0.30382,-0.30781,-0.30781]}, - 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"y":2.60031, "heading":-3.14138, "vx":-1.49954, "vy":0.02084, "omega":-0.00437, "ax":0.00652, "ay":-0.00009, "alpha":-0.01722, "fx":[0.05959,0.05939,0.15792,0.15812], "fy":[0.04785,-0.05067,-0.05087,0.04765]}, + {"t":3.5273, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.49923, "vy":0.02084, "omega":-0.0052, "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/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index a8d3e930..2b9d5ba6 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -3,24 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":false}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":false}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -51,19 +51,16 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.4468], + "waypoints":[0.0,0.30564], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":2.99731, "omega":0.0, "ax":0.0, "ay":0.04522, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.69834,0.69834,0.69834,0.69834]}, - {"t":0.04468, "x":7.82037, "y":2.35091, "heading":1.5708, "vx":0.0, "vy":2.99933, "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":0.08936, "x":7.82037, "y":2.48492, "heading":1.5708, "vx":0.0, "vy":2.99933, 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"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/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj index 962194a1..f28d0858 100644 --- a/src/main/deploy/choreo/FRtoSRT.traj +++ b/src/main/deploy/choreo/FRtoSRT.traj @@ -40,7 +40,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -57,92 +57,92 @@ "sampleType":"Swerve", "waypoints":[0.0,1.10072,2.66177,3.97816], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":-0.66107, "vy":-1.34496, "omega":1.0694, "ax":-0.01021, "ay":-0.02077, "alpha":-0.00125, "fx":[-0.15411,-0.16124,-0.16124,-0.15411], "fy":[-0.31722,-0.31722,-0.32435,-0.32435]}, - {"t":0.04403, "x":7.79125, "y":2.15771, "heading":1.61788, "vx":-0.66152, "vy":-1.34587, "omega":1.06935, "ax":0.0, "ay":0.0, "alpha":-0.00133, 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{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":false}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":2.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, 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"heading":3.141592653589793, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":2.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -51,15 +51,17 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.29349], + "waypoints":[0.0,0.37478], "samples":[ - {"t":0.0, "x":2.32967, "y":0.68821, "heading":3.14159, "vx":1.49472, "vy":0.11019, "omega":0.0, "ax":0.01876, "ay":0.00138, "alpha":0.0, 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"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/OTtoFR.traj b/src/main/deploy/choreo/OTtoFR.traj index fd01b360..a5c652f9 100644 --- a/src/main/deploy/choreo/OTtoFR.traj +++ b/src/main/deploy/choreo/OTtoFR.traj @@ -12,7 +12,7 @@ "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.017363756895065308, "w":16.541, "h":8.0692}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.017363756895065308, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, @@ -27,7 +27,7 @@ "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"17.363756895065308 mm", "val":0.017363756895065308}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"17.363756895065308 mm", "val":0.017363756895065308}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", @@ -44,7 +44,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, 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"alpha":-1.30559, "fx":[3.94647,-3.51164,-3.94647,3.51164], "fy":[3.51164,3.94647,-3.51164,-3.94647]}, + {"t":5.25275, "x":7.80184, "y":2.15108, "heading":1.54304, "vx":0.40595, "vy":1.44368, "omega":0.60834, "ax":-0.00194, "ay":-0.00691, "alpha":-1.98493, "fx":[5.80214,-5.55168,-5.86682,5.48677], "fy":[5.40402,5.71925,-5.63443,-5.94971]}, + {"t":5.29838, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.40587, "vy":1.44337, "omega":0.51776, "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/OTtoRR.traj b/src/main/deploy/choreo/OTtoRR.traj index 857bee03..8ee0ad51 100644 --- a/src/main/deploy/choreo/OTtoRR.traj +++ b/src/main/deploy/choreo/OTtoRR.traj @@ -3,24 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.8321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.659694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.959694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":false}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"O.x", "val":0.8321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"RR.x", "val":2.659694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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b/src/main/deploy/choreo/PRTtoO.traj @@ -3,26 +3,28 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.7400096654891968, "y":0.7318795323371887, "heading":0.0, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":0.8321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.19704008102417, "y":0.7344949245452881, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "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":false}, + {"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":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":5.0}}, "enabled":true}, + {"from":1, "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", 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"val":2.19704008102417}, "y":{"exp":"0.7344949245452881 m", "val":0.7344949245452881}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":9, "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":false}, + {"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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - 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a/src/main/deploy/choreo/RRtoFR.traj b/src/main/deploy/choreo/RRtoFR.traj index 3d620ce9..4a055347 100644 --- a/src/main/deploy/choreo/RRtoFR.traj +++ b/src/main/deploy/choreo/RRtoFR.traj @@ -3,28 +3,28 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.659694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.959694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, 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--git a/src/main/deploy/choreo/RUNtoTEST.traj b/src/main/deploy/choreo/RUNtoTEST.traj index 5d56cdf5..98109cfa 100644 --- a/src/main/deploy/choreo/RUNtoTEST.traj +++ b/src/main/deploy/choreo/RUNtoTEST.traj @@ -48,7 +48,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -65,73 +65,73 @@ "sampleType":"Swerve", "waypoints":[0.0,0.91984,1.8248,3.04386,3.63184], "samples":[ - {"t":0.0, "x":2.4426, "y":0.55577, "heading":1.57916, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.80338, "ay":21.25148, "alpha":-0.47421, "fx":[91.41446,86.41265,87.79866,92.86553], "fy":[327.71054,329.06349,328.69155,327.29749]}, - {"t":0.05411, "x":2.4511, "y":0.58688, "heading":1.57916, "vx":0.31401, "vy":1.14988, "omega":-0.02566, "ax":5.8008, "ay":21.24202, "alpha":-0.4713, "fx":[91.36328,86.39396,87.77046,92.804], "fy":[327.56895,328.91252,328.54066,327.15653]}, - {"t":0.10822, "x":2.47658, "y":0.68019, 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a/src/main/deploy/choreo/SRtoCM.traj b/src/main/deploy/choreo/SRtoCM.traj index d4d5354d..236a4ea8 100644 --- a/src/main/deploy/choreo/SRtoCM.traj +++ b/src/main/deploy/choreo/SRtoCM.traj @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -53,7 +53,7 @@ "sampleType":"Swerve", "waypoints":[0.0,2.17869], "samples":[ - {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-0.47558, "vy":1.42136, "omega":0.0, "ax":-0.00556, "ay":0.01662, "alpha":0.0, "fx":[-0.08587,-0.08587,-0.08587,-0.08587], "fy":[0.25664,0.25664,0.25664,0.25664]}, + {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-0.47558, "vy":1.42136, "omega":0.0, "ax":-0.00556, "ay":0.01662, "alpha":0.0, "fx":[-0.09269,-0.09269,-0.09269,-0.09269], "fy":[0.27702,0.27702,0.27702,0.27702]}, {"t":0.05067, "x":2.74448, "y":0.79261, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, 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"omega":0.17417, "ax":0.00035, "ay":-0.00626, "alpha":0.00554, "fx":[-0.00849,0.02321,0.02016,-0.01154], "fy":[-0.12179,-0.11873,-0.08703,-0.09009]}, + {"t":4.73893, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.07945, "vy":1.34708, "omega":0.17443, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 84234cd5..bcf15ffc 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -232,8 +232,8 @@ }, "MR":{ "x":{ - "exp":"2.32966947555542 m", - "val":2.32966947555542 + "exp":"3.32966947555542 m", + "val":3.32966947555542 }, "y":{ "exp":"0.688210129737854 m", @@ -246,8 +246,8 @@ }, "O":{ "x":{ - "exp":"0.8321799635887146 m", - "val":0.8321799635887146 + "exp":"0.5321799635887146 m", + "val":0.5321799635887146 }, "y":{ "exp":"0.7198631167411804 m", @@ -330,8 +330,8 @@ }, "RR":{ "x":{ - "exp":"2.659694671630859 m", - "val":2.659694671630859 + "exp":"2.959694671630859 m", + "val":2.959694671630859 }, "y":{ "exp":"0.6415539979934692 m", @@ -422,8 +422,8 @@ } }, "mass":{ - "exp":"136.185702 lb", - "val":61.77279533029374 + "exp":"147 lb", + "val":66.67807839000001 }, "inertia":{ "exp":"21602.788 in ^ 2 lb", diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index 0639e67c..8c61e722 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -15,7 +15,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -38,7 +38,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":61.77279533029374, + "mass":66.67807839000001, 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"vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.04071, "x":5.49229, "y":4.45913, "heading":-0.0962, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.09449, "x":5.44336, "y":4.22838, "heading":-0.09613, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.14827, "x":5.39443, "y":3.99763, "heading":-0.09607, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.20206, "x":5.3455, "y":3.76688, "heading":-0.096, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.25584, "x":5.29657, "y":3.53614, "heading":-0.09593, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.30962, "x":5.24764, "y":3.30539, "heading":-0.09586, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.3634, "x":5.19871, "y":3.07464, "heading":-0.09579, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.41719, "x":5.14978, "y":2.8439, "heading":-0.09572, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.47097, "x":5.10085, "y":2.61315, "heading":-0.09566, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.52475, "x":5.05192, "y":2.3824, "heading":-0.09559, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.57854, "x":5.00299, "y":2.15166, "heading":-0.09552, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "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":3.63232, "x":4.95406, "y":1.92091, "heading":-0.09545, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.0,0.0,0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.6861, "x":4.90513, "y":1.69016, "heading":-0.09538, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00025,0.00025,0.00025,0.00025], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]}, + {"t":3.73989, "x":4.8562, "y":1.45941, "heading":-0.09531, "vx":-0.90977, "vy":-4.29033, "omega":0.00127, "ax":0.0009, "ay":0.00043, "alpha":0.0011, "fx":[0.01213,0.01152,0.01781,0.01842], "fy":[0.01066,0.00437,0.00377,0.01006]}, + {"t":3.79367, "x":4.80727, "y":1.22867, "heading":-0.09525, "vx":-0.90972, "vy":-4.2903, "omega":0.00133, "ax":3.26659, "ay":15.39872, "alpha":16.34409, "fx":[-5.27474,-23.80058,137.25646,109.62873], "fy":[290.14166,247.64741,217.70997,271.25785]}, + {"t":3.84745, "x":4.76307, "y":1.02019, "heading":-0.09517, "vx":-0.73403, "vy":-3.46211, "omega":0.88037, "ax":4.54544, "ay":21.43729, "alpha":-5.36021, "fx":[110.88163,99.74817,45.29053,47.16086], "fy":[349.31913,352.82409,363.83045,363.42395]}, + {"t":3.90124, "x":4.73016, "y":0.865, "heading":-0.04782, "vx":-0.48957, "vy":-2.30915, "omega":0.59208, "ax":4.55049, "ay":21.46295, "alpha":-5.4839, "fx":[113.00969,98.85045,43.38273,48.1752], "fy":[349.19756,353.54951,364.52551,363.83583]}, + {"t":3.95502, "x":4.71041, "y":0.77184, "heading":-0.01598, "vx":-0.24483, "vy":-1.15481, "omega":0.29714, "ax":4.55211, "ay":21.47155, "alpha":-5.52473, "fx":[114.06588,98.0003,42.31248,49.14725], "fy":[349.04204,353.94374,364.80632,363.8896]}, + {"t":4.0088, "x":4.70383, "y":0.74079, "heading":0.0, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 921960cb..5a744ccd 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.subsystems.climber.ClimberSubsystem; import frc.robot.subsystems.swerve.SwerveSubsystem; import frc.robot.utils.FieldUtils.ClimbTargets; import frc.robot.utils.FieldUtils.TrenchPoses; @@ -22,6 +23,7 @@ /** Add your docs here. */ public class Autos { private final SwerveSubsystem swerve; + private final ClimberSubsystem climber; private final AutoFactory factory; private static boolean autoFeed; private static boolean autoIntake; @@ -158,8 +160,9 @@ public AutoTrajectory getTrajectory(AutoRoutine routine) { } } - public Autos(SwerveSubsystem swerve) { + public Autos(SwerveSubsystem swerve, ClimberSubsystem climber) { this.swerve = swerve; + this.climber = climber; factory = new AutoFactory( swerve::getPose, @@ -174,6 +177,7 @@ public Autos(SwerveSubsystem swerve) { && DriverStation.getAlliance().get().equals(Alliance.Blue) ? traj.getPoses() : traj.flipped().getPoses()); + Logger.recordOutput("Choreo/Active Traj Name", traj.name()); }); } @@ -220,6 +224,8 @@ public Command climbPath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoScoreReqTrue(), setAutoIntakeReqFalse(), + setAutoPreClimbReqTrue(), + // Commands.parallel( path.getTrajectory(routine) .cmd() .until( @@ -228,12 +234,24 @@ public Command climbPath(Path path, AutoRoutine routine) { .atTime( path.getTrajectory(routine).getRawTrajectory().getTotalTime() - (0.3)))), - setAutoPreClimbReqTrue(), - Commands.waitSeconds(1), // we shouldn't rly be waiting + // Commands.waitUntil( + // routine.observe( + // path.getTrajectory(routine) + // .atTime( + // path.getTrajectory(routine).getRawTrajectory().getTotalTime() + // - (1.3)))) + // .andThen(setAutoClimbReqTrue())), // TODo deadline? + // setAutoPreClimbReqTrue(), + // Commands.waitSeconds(1), // we shouldn't rly be waiting + // Commands.waitUntil() + // swerve.stop().until(new Trigger(() -> climber.atFullExtension()).debounce(0.1)), Commands.parallel( swerve.alignToClimb(() -> getClimbAutoTarget()), Commands.waitUntil(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose())) - .andThen(setAutoClimbReqTrue()))); + .andThen( + Commands.print("hooray!") + // setAutoClimbReqTrue() + ))); } public Command feedPath(Path path, AutoRoutine routine) { @@ -291,7 +309,7 @@ public Command outpostPath(Path path, AutoRoutine routine) { setAutoFlowReqTrue(), setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - Commands.waitSeconds(0.5)); + Commands.waitSeconds(1)); } public void lockHoodUnderTrench(AutoRoutine routine, Pose2d trench, double tolerance) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index fc48cfaf..3a2ed7bd 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -544,7 +544,7 @@ public Robot() { addControllerBindings(indexer, shooter, intake); // Auto things - autos = new Autos(swerve); + autos = new Autos(swerve, climber); autoChooser.addDefaultOption("None", Commands.none()); // Run auto when auto starts. Matches Choreolib's defer impl diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 128ed9c6..7d26226a 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -203,6 +203,7 @@ private void addTriggers() { new Trigger(shooter::atFlywheelVelocitySetpoint) .debounce(0.05) .and(new Trigger(shooter::atHoodSetpoint).debounce(0.05)) + .and(new Trigger(shooter::atTurretSetpoint).debounce(0.05)) // .and( // new Trigger( // () -> { @@ -230,7 +231,7 @@ private void addTransitions() { bindTransition(SuperState.SPIN_UP_SCORE, SuperState.SCORE, readyTrigger); - // bindTransition(SuperState.SCORE, SuperState.SPIN_UP_SCORE, readyTrigger.negate()); + bindTransition(SuperState.SCORE, SuperState.SPIN_UP_SCORE, readyTrigger.negate()); bindTransition(SuperState.SPIN_UP_SCORE, SuperState.IDLE, shootReq.negate()); @@ -621,6 +622,7 @@ public boolean inScoringArea() { // && (swerve.getPose().getX() <= 4.6914191246032715) // || DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red // && (swerve.getPose().getX() >= 11.889562606811523)); + // TODO within alliance box AND not near trench } public boolean canScore() { diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java index 295af21d..39efbf5f 100644 --- a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java +++ b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java @@ -2,6 +2,7 @@ import static edu.wpi.first.units.Units.Volts; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Alert; @@ -115,4 +116,9 @@ public double getClimberExtensionMeters() { public double getClimberSetpointMeters() { return io.getClimberSetpointMeters(); } + + public boolean atFullExtension() { + return MathUtil.isNear( + getClimberExtensionMeters(), MAX_EXTENSION_METERS, Units.inchesToMeters(1)); + } } diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index cc3011b7..c949f14f 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -81,7 +81,7 @@ public Command kick() { return this.run( () -> { // spinnerIO.setRollerVoltage(12); - spinnerIO.setRollerVelocity(40); + spinnerIO.setRollerVelocity(30); // kickerIO.setRollerVoltage(11); kickerIO.setRollerVelocity(40); }); From 61ef7020885f87fe0db71f29cd104efdd0d260d5 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 6 Mar 2026 07:56:47 -0800 Subject: [PATCH 05/42] [not tested irl] fix drifting at outpost, slow down some paths although i think the correct way to fix that is thru actually changing configs --- src/main/deploy/choreo/DBtoFL.traj | 250 ++--- src/main/deploy/choreo/DLOtoDLT.traj | 6 +- src/main/deploy/choreo/DLTtoDRO.traj | 32 +- src/main/deploy/choreo/DLTtoSRB.traj | 168 +-- src/main/deploy/choreo/DLTtoSRT.traj | 185 ++-- src/main/deploy/choreo/DROtoDRT.traj | 6 +- src/main/deploy/choreo/DRTtoDLO.traj | 32 +- src/main/deploy/choreo/DRTtoSLB.traj | 156 +-- src/main/deploy/choreo/DRTtoSLT.traj | 164 +-- src/main/deploy/choreo/DTtoFL.traj | 310 +++--- src/main/deploy/choreo/FLMtoCL.traj | 340 +++--- src/main/deploy/choreo/FLMtoEL.traj | 214 ++-- src/main/deploy/choreo/FLMtoML.traj | 208 ++-- src/main/deploy/choreo/FLMtoSLB.traj | 154 +-- src/main/deploy/choreo/FLMtoSLT.traj | 970 +++++++++--------- src/main/deploy/choreo/FLtoFLM.traj | 6 +- src/main/deploy/choreo/FLtoSL.traj | 90 +- src/main/deploy/choreo/FRMtoCR.traj | 244 ++--- src/main/deploy/choreo/FRMtoER.traj | 210 ++-- src/main/deploy/choreo/FRMtoMR.traj | 74 +- src/main/deploy/choreo/FRMtoSR.traj | 198 ++-- src/main/deploy/choreo/FRMtoSRB.traj | 156 +-- src/main/deploy/choreo/FRtoFRM.traj | 10 +- src/main/deploy/choreo/FRtoSRT.traj | 174 ++-- src/main/deploy/choreo/MLtoCL.traj | 176 ++-- src/main/deploy/choreo/MLtoSL.traj | 6 +- src/main/deploy/choreo/MRtoCR.traj | 34 +- src/main/deploy/choreo/MRtoSR.traj | 6 +- src/main/deploy/choreo/OBtoFR.traj | 260 ++--- src/main/deploy/choreo/OTtoFR.traj | 232 ++--- src/main/deploy/choreo/OTtoRR.traj | 40 +- src/main/deploy/choreo/PLBtoDLO.traj | 178 ++-- src/main/deploy/choreo/PLTtoDRO.traj | 180 ++-- src/main/deploy/choreo/PRBtoDRO.traj | 160 +-- src/main/deploy/choreo/PRTtoDRO.traj | 154 +-- src/main/deploy/choreo/PRTtoO.traj | 75 +- src/main/deploy/choreo/RLtoFL.traj | 134 +-- src/main/deploy/choreo/RRtoFR.traj | 96 +- src/main/deploy/choreo/RUNtoTEST.traj | 134 +-- src/main/deploy/choreo/SLBtoCL.traj | 98 +- src/main/deploy/choreo/SLTtoEL.traj | 32 +- src/main/deploy/choreo/SLTtoFL.traj | 176 ++-- src/main/deploy/choreo/SLtoCM.traj | 14 +- src/main/deploy/choreo/SRBtoCR.traj | 40 +- src/main/deploy/choreo/SRTtoCR.traj | 86 +- src/main/deploy/choreo/SRTtoER.traj | 28 +- src/main/deploy/choreo/SRtoCM.traj | 8 +- src/main/deploy/choreo/SRtoFR.traj | 204 ++-- src/main/deploy/choreo/rebuiltChoreo.chor | 4 +- src/main/deploy/choreo/testposes.traj | 162 +-- src/main/java/frc/robot/Autos.java | 4 +- .../subsystems/swerve/SwerveSubsystem.java | 5 +- 52 files changed, 3544 insertions(+), 3539 deletions(-) diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj index c2b3e0bc..2b16ae1e 100644 --- a/src/main/deploy/choreo/DBtoFL.traj +++ b/src/main/deploy/choreo/DBtoFL.traj @@ -44,7 +44,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -59,131 +59,131 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.93267,2.62507,3.34617,4.76179,5.56579], + 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"splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/DLOtoDLT.traj b/src/main/deploy/choreo/DLOtoDLT.traj index 0d58b7ad..01a13e6c 100644 --- a/src/main/deploy/choreo/DLOtoDLT.traj +++ b/src/main/deploy/choreo/DLOtoDLT.traj @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -53,7 +53,7 @@ "sampleType":"Swerve", "waypoints":[0.0,2.44129], "samples":[ - {"t":0.0, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.0, "vy":-1.4988, "omega":0.0, "ax":0.0, "ay":-0.01813, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.30219,-0.30219,-0.30219,-0.30219]}, + {"t":0.0, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.0, "vy":-1.4988, "omega":0.0, "ax":0.0, "ay":-0.01813, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.32275,-0.32275,-0.32275,-0.32275]}, {"t":0.04982, "x":8.57957, "y":5.79115, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.0, 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b/src/main/deploy/choreo/DROtoDRT.traj @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -53,7 +53,7 @@ "sampleType":"Swerve", "waypoints":[0.0,2.43484], "samples":[ - {"t":0.0, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":0.0, "vy":1.49879, "omega":0.0, "ax":0.0, "ay":0.01822, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.30379,0.30379,0.30379,0.30379]}, + {"t":0.0, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":0.0, "vy":1.49879, "omega":0.0, "ax":0.0, "ay":0.01822, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.32446,0.32446,0.32446,0.32446]}, {"t":0.04969, "x":7.97995, "y":2.30004, "heading":1.57527, "vx":0.0, "vy":1.4997, "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":0.09938, "x":7.97995, "y":2.37457, "heading":1.57527, "vx":0.0, "vy":1.4997, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, 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"vx":-1.49954, "vy":0.02084, "omega":0.00249, "ax":0.00652, "ay":-0.00005, "alpha":-0.0209, "fx":[0.05644,0.0563,0.17589,0.17603], "fy":[0.05904,-0.06055,-0.06069,0.0589]}, + {"t":3.5273, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.49923, "vy":0.02084, "omega":0.00149, "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/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index 2b9d5ba6..4aed4104 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -53,13 +53,13 @@ "sampleType":"Swerve", "waypoints":[0.0,0.30564], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":4.38097, "omega":0.0, "ax":0.0, "ay":0.09187, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], 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a/src/main/deploy/choreo/OBtoFR.traj b/src/main/deploy/choreo/OBtoFR.traj index c0001233..f0ca4b5c 100644 --- a/src/main/deploy/choreo/OBtoFR.traj +++ b/src/main/deploy/choreo/OBtoFR.traj @@ -44,7 +44,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -61,135 +61,135 @@ "sampleType":"Swerve", "waypoints":[0.0,2.10417,2.99445,3.75368,5.19627,5.88543], "samples":[ - {"t":0.0, "x":0.53218, "y":0.71986, "heading":1.5708, "vx":1.30158, "vy":0.74293, "omega":-0.75863, "ax":0.01867, "ay":0.01066, "alpha":0.00072, "fx":[0.30916,0.31329,0.31329,0.30916], "fy":[0.17558,0.17558,0.17971,0.17971]}, - {"t":0.04574, "x":0.59174, "y":0.75386, "heading":1.53609, "vx":1.30244, "vy":0.74342, "omega":-0.7586, "ax":0.0, "ay":0.0, "alpha":0.00049, "fx":[-0.00146,0.00136,0.00146,-0.00136], "fy":[-0.00136,-0.00146,0.00136,0.00146]}, - {"t":0.09149, "x":0.65131, "y":0.78786, "heading":1.50139, 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"omega":0.6026, "ax":-0.00194, "ay":-0.00691, "alpha":-2.19635, "fx":[6.4198,-6.14347,-6.48887,6.07413], "fy":[5.98574,6.33126,-6.23182,-6.5774]}, + {"t":5.29838, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.40587, "vy":1.44337, "omega":0.50238, "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/OTtoRR.traj b/src/main/deploy/choreo/OTtoRR.traj index 8ee0ad51..67bdddc9 100644 --- a/src/main/deploy/choreo/OTtoRR.traj +++ b/src/main/deploy/choreo/OTtoRR.traj @@ -6,7 +6,7 @@ {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.959694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":false}], @@ -17,7 +17,7 @@ {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RR.x", "val":2.959694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":false}], @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -51,24 +51,24 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.66668], + "waypoints":[0.0,0.74241], "samples":[ - {"t":0.0, "x":0.53218, "y":0.71986, "heading":1.5708, "vx":0.9882, "vy":-0.00165, 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"data":{"type":"MaxVelocity", "props":{"max":{"exp":"5 m / s", "val":5.0}}}, "enabled":true}, - {"from":1, "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}], + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}, + {"from":1, "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"0 m / s ^ 2", "val":0.0}}}, "enabled":false}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -40,7 +40,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -55,41 +55,30 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.45177,1.26806], + "waypoints":[0.0,0.36393,1.12979], "samples":[ - {"t":0.0, "x":3.72421, "y":0.73097, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-22.03179, "ay":0.0856, "alpha":0.0005, 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a/src/main/deploy/choreo/RRtoFR.traj +++ b/src/main/deploy/choreo/RRtoFR.traj @@ -3,28 +3,28 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.959694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.959694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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{"x":{"exp":"5.933488368988037 m", "val":5.933488368988037}, "y":{"exp":"0.6496047973632812 m", "val":0.6496047973632812}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -40,7 +40,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -55,40 +55,52 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.68131,1.15138,1.43082], + "waypoints":[0.0,0.99169,1.55696,1.92081], "samples":[ - {"t":0.0, "x":2.95969, "y":0.64155, "heading":0.0, "vx":4.38176, "vy":0.02433, "omega":-0.00002, 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"vy":-1.06366, "omega":0.0, "ax":6.30083, "ay":21.10597, "alpha":0.0, "fx":[112.1768,112.1768,112.1768,112.1768], "fy":[375.76009,375.76009,375.76009,375.76009]}, {"t":2.51981, "x":1.75006, "y":3.76463, "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] }, diff --git a/src/main/deploy/choreo/SRBtoCR.traj b/src/main/deploy/choreo/SRBtoCR.traj index d3510fea..8b0d5e66 100644 --- a/src/main/deploy/choreo/SRBtoCR.traj +++ b/src/main/deploy/choreo/SRBtoCR.traj @@ -36,7 +36,7 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":66.67807839000001, + "mass":71.21400209000001, "inertia":6.32183239342448, "gearing":7.03, "radius":0.0508, @@ -51,26 +51,26 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.00596], + "waypoints":[0.0,10.9131], "samples":[ - {"t":0.0, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-0.71083, "vy":-0.10956, "omega":1.47649, "ax":-0.01171, 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"fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.92978, "x":5.58833, "y":4.92071, "heading":-0.09943, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":2.98356, "x":5.5395, "y":4.68996, "heading":-0.09936, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.03734, "x":5.49067, "y":4.45921, "heading":-0.0993, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.09112, "x":5.44184, "y":4.22846, "heading":-0.09924, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.14489, "x":5.39302, "y":3.99771, "heading":-0.09918, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.19867, "x":5.34419, "y":3.76696, "heading":-0.09912, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.25245, "x":5.29536, "y":3.53621, "heading":-0.09905, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.30623, "x":5.24653, "y":3.30547, "heading":-0.09899, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.36001, "x":5.1977, "y":3.07472, "heading":-0.09893, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.41379, "x":5.14887, "y":2.84397, "heading":-0.09887, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.46757, "x":5.10004, "y":2.61322, "heading":-0.09881, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.52134, "x":5.05121, "y":2.38247, "heading":-0.09874, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.57512, "x":5.00238, "y":2.15172, "heading":-0.09868, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "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":3.6289, "x":4.95356, "y":1.92097, "heading":-0.09862, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.0,0.0,0.00001], "fy":[0.00001,0.00001,-0.00001,-0.00001]}, + {"t":3.68268, "x":4.90473, "y":1.69022, "heading":-0.09856, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00024,0.00022,0.00022,0.00024], "fy":[-0.00004,-0.00004,-0.00006,-0.00006]}, + {"t":3.73646, "x":4.8559, "y":1.45947, "heading":-0.0985, "vx":-0.90796, "vy":-4.29072, "omega":0.00115, "ax":0.00078, "ay":0.00044, "alpha":0.00099, "fx":[0.01134,0.01076,0.01638,0.01696], "fy":[0.01096,0.00534,0.00476,0.01038]}, + {"t":3.79024, "x":4.80707, "y":1.22873, "heading":-0.09843, "vx":-0.90792, "vy":-4.29069, "omega":0.00121, "ax":3.25828, "ay":15.39218, "alpha":16.89578, "fx":[-3.89128,-22.72894,143.09061,115.56512], "fy":[308.71945,264.64493,233.83019,288.94414]}, + {"t":3.84402, "x":4.76295, "y":1.02024, "heading":-0.09837, "vx":-0.73269, "vy":-3.46292, "omega":0.90984, "ax":4.53746, "ay":21.444, "alpha":-5.53661, "fx":[116.90635,105.74553,49.30361,51.17504], "fy":[373.56277,377.04435,388.46129,388.04487]}, + {"t":3.89779, "x":4.73011, "y":0.86501, "heading":-0.04944, "vx":-0.48867, "vy":-2.30969, "omega":0.61209, "ax":4.54257, "ay":21.46978, "alpha":-5.66875, "fx":[119.184,104.78984,47.26406,52.25654], "fy":[373.43986,377.81751,389.21018,388.48113]}, + {"t":3.95157, "x":4.7104, "y":0.77185, "heading":-0.01652, "vx":-0.24438, "vy":-1.15508, "omega":0.30723, "ax":4.54421, "ay":21.4784, "alpha":-5.71283, "fx":[120.31938,103.88106,46.11797,53.29284], "fy":[373.27587,378.23721,389.51365,388.53608]}, + {"t":4.00535, "x":4.70383, "y":0.74079, "heading":0.0, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 5a744ccd..3363682d 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -309,7 +309,9 @@ public Command outpostPath(Path path, AutoRoutine routine) { setAutoFlowReqTrue(), setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - Commands.waitSeconds(1)); + swerve.stop().repeatedly().withTimeout(1) + // Commands.waitSeconds(1) + ); } public void lockHoodUnderTrench(AutoRoutine routine, Pose2d trench, double tolerance) { diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index b3aba139..8889d571 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -128,6 +128,7 @@ public class SwerveSubsystem extends SubsystemBase { private final SysIdRoutine turnSysid; // Maple Sim Stuff + // TODO: UPDATE DRIVETRAIN SIM!!! private final DriveTrainSimulationConfig driveTrainSimConfig = DriveTrainSimulationConfig.Default() .withGyro(COTS.ofPigeon2()) @@ -875,8 +876,8 @@ private SwerveModuleState[] getModuleStates() { @SuppressWarnings("resource") public Consumer choreoDriveController() { // TODO: TUNE - final PIDController xController = new PIDController(5.0, 0.0, 0.0); - final PIDController yController = new PIDController(5.0, 0.0, 0.0); + final PIDController xController = new PIDController(10.0, 0.0, 0.0); + final PIDController yController = new PIDController(10.0, 0.0, 0.0); final PIDController headingController = new PIDController(6.0, 0.0, 0.0); headingController.enableContinuousInput(-Math.PI, Math.PI); return (sample) -> { From 0ed039484dc76236fd18dda3fd00ff7c574a47c7 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 6 Mar 2026 11:07:37 -0800 Subject: [PATCH 06/42] mess around with choreo configs + slow down paths + keep in lane for going thru the trench. seems better but feels like a bandaid??? --- src/main/deploy/choreo/DBtoFL.traj | 264 ++--- src/main/deploy/choreo/DLOtoDLT.traj | 10 +- src/main/deploy/choreo/DLTtoDRO.traj | 43 +- src/main/deploy/choreo/DLTtoSRB.traj | 179 ++-- src/main/deploy/choreo/DLTtoSRT.traj | 184 ++-- src/main/deploy/choreo/DROtoDRT.traj | 10 +- src/main/deploy/choreo/DRTtoDLO.traj | 43 +- src/main/deploy/choreo/DRTtoSLB.traj | 165 +-- src/main/deploy/choreo/DRTtoSLT.traj | 168 +-- src/main/deploy/choreo/DTtoFL.traj | 324 +++--- src/main/deploy/choreo/FLMtoCL.traj | 356 +++---- src/main/deploy/choreo/FLMtoEL.traj | 218 ++-- src/main/deploy/choreo/FLMtoML.traj | 212 ++-- src/main/deploy/choreo/FLMtoSLB.traj | 158 +-- src/main/deploy/choreo/FLMtoSLT.traj | 982 +++++++++--------- src/main/deploy/choreo/FLtoFLM.traj | 10 +- src/main/deploy/choreo/FLtoSL.traj | 94 +- src/main/deploy/choreo/FRMtoCR.traj | 257 ++--- src/main/deploy/choreo/FRMtoER.traj | 226 ++-- src/main/deploy/choreo/FRMtoMR.traj | 136 ++- src/main/deploy/choreo/FRMtoSR.traj | 200 ++-- src/main/deploy/choreo/FRMtoSRB.traj | 167 +-- src/main/deploy/choreo/FRtoFRM.traj | 29 +- src/main/deploy/choreo/FRtoSRT.traj | 178 ++-- src/main/deploy/choreo/MLtoCL.traj | 180 ++-- src/main/deploy/choreo/MLtoSL.traj | 12 +- src/main/deploy/choreo/MRtoCR.traj | 50 +- src/main/deploy/choreo/MRtoSR.traj | 10 +- src/main/deploy/choreo/OBtoFR.traj | 264 ++--- src/main/deploy/choreo/OTtoFR.traj | 253 ++--- src/main/deploy/choreo/OTtoRR.traj | 47 +- src/main/deploy/choreo/PLBtoDLO.traj | 194 ++-- src/main/deploy/choreo/PLTtoD.traj | 30 +- src/main/deploy/choreo/PLTtoDRO.traj | 191 ++-- src/main/deploy/choreo/PRBtoDRO.traj | 171 +-- src/main/deploy/choreo/PRTtoDRO.traj | 158 +-- src/main/deploy/choreo/PRTtoO.traj | 57 +- src/main/deploy/choreo/RLtoFL.traj | 138 +-- src/main/deploy/choreo/RRtoFR.traj | 102 +- src/main/deploy/choreo/RUNtoTEST.traj | 174 ++-- src/main/deploy/choreo/SLBtoCL.traj | 109 +- src/main/deploy/choreo/SLTtoEL.traj | 38 +- src/main/deploy/choreo/SLTtoFL.traj | 187 ++-- src/main/deploy/choreo/SLtoCL.traj | 151 +-- src/main/deploy/choreo/SLtoCM.traj | 26 +- src/main/deploy/choreo/SRBtoCR.traj | 44 +- src/main/deploy/choreo/SRTtoCR.traj | 90 +- src/main/deploy/choreo/SRTtoER.traj | 32 +- src/main/deploy/choreo/SRtoCM.traj | 14 +- src/main/deploy/choreo/SRtoFR.traj | 208 ++-- src/main/deploy/choreo/rebuiltChoreo.chor | 12 +- src/main/deploy/choreo/testposes.traj | 194 ++-- .../constants/comp/R1WispSwerveConstants.java | 2 +- 53 files changed, 3930 insertions(+), 3821 deletions(-) diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj index 2b16ae1e..62fa464a 100644 --- a/src/main/deploy/choreo/DBtoFL.traj +++ b/src/main/deploy/choreo/DBtoFL.traj @@ -3,10 +3,10 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.527308464050293, "y":7.016829490661621, "heading":-1.369478506668525, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -18,10 +18,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.6742305755615234 m", "val":3.674230575561523}, "y":{"exp":"5.870871067047119 m", "val":5.870871067047119}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.712236404418945 m", "val":4.712236404418945}, "y":{"exp":"5.845959186553955 m", "val":5.845959186553955}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.791762351989746 m", "val":5.791762351989746}, "y":{"exp":"5.82935094833374 m", "val":5.82935094833374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.791762351989746 m", "val":5.791762351989746}, "y":{"exp":"5.82935094833374 m", "val":5.82935094833374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.527308464050293 m", "val":7.527308464050293}, "y":{"exp":"7.016829490661621 m", "val":7.016829490661621}, "heading":{"exp":"-1.3694785066685253 rad", "val":-1.369478506668525}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, 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"vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.00605, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.09998,0.09998,0.09998,0.09998]}, {"t":2.44129, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":0.0, "vy":-1.4994, "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] }, diff --git a/src/main/deploy/choreo/DLTtoDRO.traj b/src/main/deploy/choreo/DLTtoDRO.traj index b48567e8..cfcd45bd 100644 --- a/src/main/deploy/choreo/DLTtoDRO.traj +++ b/src/main/deploy/choreo/DLTtoDRO.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.979954719543457, "y":2.225545644760132, 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"fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -36,11 +36,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":607.3745796940267, + "vmax":502.6548245743669, "tmax":54.79744136460554, "cof":2.25, "bumper":{ @@ -51,23 +51,24 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.40319], + "waypoints":[0.0,0.48003], "samples":[ - {"t":0.0, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":-1.4882, "vy":0.00108, "omega":-8.20178, "ax":0.7768, "ay":10.76433, "alpha":2.46403, "fx":[22.15753,5.01835,5.19799,22.94535], "fy":[196.78252,197.25881,186.51153,186.01805]}, - {"t":0.0288, "x":8.53703, "y":2.20918, "heading":-1.807, "vx":-1.46583, "vy":0.31108, "omega":-8.13082, "ax":-0.43377, "ay":-2.31635, "alpha":15.44161, 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"y":2.6069321632385254, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.331108093261719, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":41, "split":false, 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"y":0.72122, "heading":-3.14085, "vx":-1.49962, "vy":-0.01368, "omega":-0.01564, "ax":0.00665, "ay":0.00006, "alpha":0.1146, "fx":[0.35913,0.35876,-0.13914,-0.13877], "fy":[-0.24776,0.25013,0.24977,-0.24813]}, + {"t":4.09962, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.49931, "vy":-0.01367, "omega":-0.0102, "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/DROtoDRT.traj b/src/main/deploy/choreo/DROtoDRT.traj index bdf4341c..10e853c1 100644 --- a/src/main/deploy/choreo/DROtoDRT.traj +++ b/src/main/deploy/choreo/DROtoDRT.traj @@ -36,11 +36,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":607.3745796940267, + "vmax":502.6548245743669, "tmax":54.79744136460554, "cof":2.25, "bumper":{ @@ -53,7 +53,7 @@ "sampleType":"Swerve", "waypoints":[0.0,2.43484], 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}, "events":[] diff --git a/src/main/deploy/choreo/DRTtoSLB.traj b/src/main/deploy/choreo/DRTtoSLB.traj index c0f4f61c..be90691c 100644 --- a/src/main/deploy/choreo/DRTtoSLB.traj +++ b/src/main/deploy/choreo/DRTtoSLB.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.891683101654053, "y":5.438096523284912, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.515060901641846, "y":5.411875247955322, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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b/src/main/deploy/choreo/FRMtoCR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.002846717834473, "y":0.6756622195243835, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.641608238220215, "y":0.6834654211997986, "heading":3.1309276014165053, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -17,7 +17,7 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"events":[] diff --git a/src/main/deploy/choreo/FRMtoER.traj b/src/main/deploy/choreo/FRMtoER.traj index ecd9493b..285a04f5 100644 --- a/src/main/deploy/choreo/FRMtoER.traj +++ b/src/main/deploy/choreo/FRMtoER.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.02736234664917, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, 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{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"6 rad / s", "val":6.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", 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--git a/src/main/deploy/choreo/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index 4aed4104..cbab00b9 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -36,11 +36,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":607.3745796940267, + "vmax":502.6548245743669, "tmax":54.79744136460554, "cof":2.25, "bumper":{ @@ -51,16 +51,17 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.30564], + "waypoints":[0.0,0.36928], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":4.38097, "omega":0.0, "ax":0.0, "ay":0.09187, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[1.63563,1.63563,1.63563,1.63563]}, - {"t":0.04366, "x":7.82037, "y":2.40832, "heading":1.5708, "vx":0.0, "vy":4.38498, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00006,0.00006,0.00006,0.00006]}, - {"t":0.08732, "x":7.82037, "y":2.59978, "heading":1.5708, "vx":0.0, "vy":4.38498, "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":0.13099, "x":7.82037, "y":2.79123, "heading":1.5708, "vx":0.0, "vy":4.38498, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], 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"ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, + {"t":0.32312, "x":7.82037, "y":3.38953, "heading":1.5708, "vx":0.0, "vy":3.62913, "omega":0.0, "ax":0.0, "ay":-0.06804, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-1.12492,-1.12492,-1.12492,-1.12492]}, + {"t":0.36928, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":3.62599, "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/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj index b1385cda..b2b07ed6 100644 --- a/src/main/deploy/choreo/FRtoSRT.traj +++ b/src/main/deploy/choreo/FRtoSRT.traj @@ -40,11 +40,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":607.3745796940267, + "vmax":502.6548245743669, "tmax":54.79744136460554, "cof":2.25, 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{"t":4.00811, "x":0.81852, "y":4.85838, "heading":1.57366, "vx":-0.4999, "vy":0.00075, "omega":-0.01689, "ax":0.00217, "ay":0.0, "alpha":0.01764, "fx":[-0.00177,0.07488,0.07368,-0.00297], "fy":[-0.03898,-0.03778,0.03887,0.03767]}, + {"t":4.05607, "x":0.79455, "y":4.85842, "heading":1.57285, "vx":-0.49979, "vy":0.00075, "omega":-0.01604, "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/MLtoSL.traj b/src/main/deploy/choreo/MLtoSL.traj index 6ef4ac30..ee46584f 100644 --- a/src/main/deploy/choreo/MLtoSL.traj +++ b/src/main/deploy/choreo/MLtoSL.traj @@ -36,11 +36,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":607.3745796940267, + "vmax":502.6548245743669, "tmax":54.79744136460554, "cof":2.25, "bumper":{ @@ -53,13 +53,13 @@ "sampleType":"Swerve", 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"heading":-3.14159, "vx":1.45683, "vy":-0.35596, "omega":0.0, "ax":-0.00645, "ay":0.00158, "alpha":0.00001, "fx":[-0.10656,-0.10656,-0.10661,-0.10661], "fy":[0.02602,0.02607,0.02607,0.02602]}, {"t":0.33291, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":1.45652, "vy":-0.35589, "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] }, diff --git a/src/main/deploy/choreo/MRtoCR.traj b/src/main/deploy/choreo/MRtoCR.traj index 2bce93ad..6dd9f310 100644 --- a/src/main/deploy/choreo/MRtoCR.traj +++ b/src/main/deploy/choreo/MRtoCR.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, 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{"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RR.x", "val":2.959694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -36,11 +36,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, 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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,8 +17,8 @@ "params":{ "waypoints":[ {"x":{"exp":"PLB.x", "val":3.708786010742188}, "y":{"exp":"PLB.y", "val":5.537450790405273}, "heading":{"exp":"PLB.heading", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, "y":{"exp":"5.537623882293701 m", "val":5.537623882293701}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.146753311157227 m", "val":8.146753311157227}, "y":{"exp":"7.112152099609375 m", "val":7.112152099609375}, "heading":{"exp":"-0.941999816110815 rad", "val":-0.941999816110815}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, 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b/src/main/deploy/choreo/PLTtoDRO.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ 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"intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.691983699798584, "y":2.531209707260132, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.691983699798584, "y":2.531209707260132, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.24791955947876, "y":1.0617146492004397, "heading":0.5880028060704902, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -17,7 +17,7 @@ "params":{ "waypoints":[ {"x":{"exp":"PRB.x", "val":3.700773715972901}, "y":{"exp":"PRB.y", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":27, 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b/src/main/deploy/choreo/RLtoFL.traj index 3814687a..67984a9b 100644 --- a/src/main/deploy/choreo/RLtoFL.traj +++ b/src/main/deploy/choreo/RLtoFL.traj @@ -40,11 +40,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":607.3745796940267, + "vmax":502.6548245743669, "tmax":54.79744136460554, "cof":2.25, "bumper":{ @@ -57,72 +57,72 @@ "sampleType":"Swerve", "waypoints":[0.0,1.5417,2.37382,2.99962], "samples":[ - {"t":0.0, "x":2.66063, "y":7.36334, "heading":0.0, "vx":1.99839, "vy":0.00167, "omega":0.02658, "ax":0.02427, "ay":0.00002, "alpha":-0.00006, "fx":[0.43223,0.43223,0.4319,0.4319], "fy":[0.00019,0.00053,0.00053,0.00019]}, - {"t":0.04973, "x":2.76004, "y":7.36342, "heading":0.00132, "vx":1.9996, "vy":0.00167, "omega":0.02658, "ax":0.0, "ay":0.0, "alpha":-0.00003, "fx":[0.0001,0.0001,-0.0001,-0.0001], "fy":[-0.0001,0.0001,0.0001,-0.0001]}, - 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-24,7 +25,8 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -40,11 +42,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -38,11 +38,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":607.3745796940267, + "vmax":502.6548245743669, "tmax":54.79744136460554, "cof":2.25, "bumper":{ @@ -53,56 +53,57 @@ "differentialTrackWidth":0.5427218 }, 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"y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.304653644561768 m", "val":5.304653644561768}, "y":{"exp":"7.37657356262207 m", "val":7.37657356262207}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.304653644561768 m", "val":5.304653644561768}, "y":{"exp":"7.37657356262207 m", "val":7.37657356262207}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.739718437194824 m", "val":7.739718437194824}, "y":{"exp":"6.998943328857422 m", "val":6.998943328857422}, "heading":{"exp":"-1.650627593283163 rad", "val":-1.650627593283163}, "intervals":16, 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"overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.3828084468841553, "y":4.868075847625732, "heading":1.5728533535678788, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.8873613476753235, "y":4.874957084655762, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.439544916152954 m", "val":2.439544916152954}, "y":{"exp":"4.924097061157227 m", "val":4.924097061157227}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.3828084468841553 m", "val":1.3828084468841553}, "y":{"exp":"4.868075847625732 m", "val":4.868075847625732}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.8873613476753235 m", "val":0.8873613476753235}, "y":{"exp":"4.874957084655762 m", "val":4.874957084655762}, 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{"t":4.74818, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.05156, "vy":1.34844, "omega":0.22396, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 968c6f36..7d1decd9 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -422,12 +422,12 @@ } }, "mass":{ - "exp":"157 lb", - "val":71.21400209000001 + "exp":"145.8 lb", + "val":66.133767546 }, "inertia":{ - "exp":"21602.788 in ^ 2 lb", - "val":6.32183239342448 + "exp":"4.80002195 kg * m ^ 2", + "val":4.80002195 }, "gearing":{ "exp":"7.03", @@ -438,8 +438,8 @@ "val":0.0508 }, "vmax":{ - "exp":"5800 RPM", - "val":607.3745796940267 + "exp":"4800 RPM", + "val":502.6548245743669 }, "tmax":{ "exp":"257 / 4.69 N * m", diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index d6bb55a8..6e51a5a4 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -38,11 +38,11 @@ "x":-0.2761996, "y":0.2761996 }, - "mass":71.21400209000001, - "inertia":6.32183239342448, + "mass":66.133767546, + "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":607.3745796940267, + "vmax":502.6548245743669, "tmax":54.79744136460554, "cof":2.25, "bumper":{ @@ -53,87 +53,103 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.9011,2.33821,4.00535], + 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"fy":[354.24192,355.2051,359.86069,359.48203]}, + {"t":4.63152, "x":4.72529, "y":0.8556, "heading":-0.03732, "vx":-0.41649, "vy":-2.22801, "omega":0.4756, "ax":4.04039, "ay":21.61739, "alpha":-4.40497, "fx":[88.96975,81.71506,46.4498,50.0713], "fy":[353.04219,354.8394,361.14587,360.6123]}, + {"t":4.68305, "x":4.7092, "y":0.76949, "heading":-0.01281, "vx":-0.2083, "vy":-1.11408, "omega":0.24862, "ax":4.04227, "ay":21.62046, "alpha":-4.82485, "fx":[91.59608,82.5285,44.20159,49.00462], "fy":[352.537,354.80365,361.57863,360.92319]}, + {"t":4.73458, "x":4.70383, "y":0.74079, "heading":0.0, "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/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java index 5c711edb..af803cad 100644 --- a/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java @@ -166,7 +166,7 @@ public double getTurnGearRatio() { @Override public Mass getMass() { // From CAD (retrieved 1/29/26), with bumpers and battery - return Pound.of(136.185702); + return Pound.of(145.8); // 136.185702); } // TODO: CANCODER OFFSETS From 6a462312893ce6311e8b212d5c6c3029516a21c9 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 6 Mar 2026 13:08:57 -0800 Subject: [PATCH 07/42] those who configs --- src/main/deploy/choreo/DBtoFL.traj | 299 +++--- src/main/deploy/choreo/DLOtoDLT.traj | 111 +-- src/main/deploy/choreo/DLTtoDRO.traj | 48 +- src/main/deploy/choreo/DLTtoSRB.traj | 195 ++-- src/main/deploy/choreo/DLTtoSRT.traj | 206 ++-- src/main/deploy/choreo/DROtoDRT.traj | 110 +-- src/main/deploy/choreo/DRTtoDLO.traj | 48 +- src/main/deploy/choreo/DRTtoSLB.traj | 181 ++-- src/main/deploy/choreo/DRTtoSLT.traj | 190 ++-- src/main/deploy/choreo/DTtoFL.traj | 10 +- src/main/deploy/choreo/DTtoRL.traj | 104 +- src/main/deploy/choreo/FLMtoCL.traj | 396 ++++---- src/main/deploy/choreo/FLMtoEL.traj | 244 ++--- src/main/deploy/choreo/FLMtoML.traj | 228 ++--- src/main/deploy/choreo/FLMtoSLB.traj | 180 ++-- src/main/deploy/choreo/FLMtoSLT.traj | 1054 +++++++++++---------- src/main/deploy/choreo/FLtoFLM.traj | 50 +- src/main/deploy/choreo/FLtoSL.traj | 4 +- src/main/deploy/choreo/FRMtoCR.traj | 286 +++--- src/main/deploy/choreo/FRMtoER.traj | 244 ++--- src/main/deploy/choreo/FRMtoMR.traj | 167 ++-- src/main/deploy/choreo/FRMtoSR.traj | 224 +++-- src/main/deploy/choreo/FRMtoSRB.traj | 183 ++-- src/main/deploy/choreo/FRtoFRM.traj | 31 +- src/main/deploy/choreo/FRtoSRT.traj | 202 ++-- src/main/deploy/choreo/MLtoCL.traj | 195 ++-- src/main/deploy/choreo/MLtoSL.traj | 26 +- src/main/deploy/choreo/MRtoCR.traj | 56 +- src/main/deploy/choreo/MRtoSR.traj | 28 +- src/main/deploy/choreo/OBtoFR.traj | 305 +++--- src/main/deploy/choreo/OTtoFR.traj | 288 +++--- src/main/deploy/choreo/OTtoRR.traj | 2 +- src/main/deploy/choreo/PLBtoDLO.traj | 210 ++-- src/main/deploy/choreo/PLTtoD.traj | 4 +- src/main/deploy/choreo/PLTtoDRO.traj | 215 +++-- src/main/deploy/choreo/PRBtoDRO.traj | 191 ++-- src/main/deploy/choreo/PRTtoDRO.traj | 180 ++-- src/main/deploy/choreo/PRTtoO.traj | 4 +- src/main/deploy/choreo/RLtoFL.traj | 165 ++-- src/main/deploy/choreo/RRtoFR.traj | 126 ++- src/main/deploy/choreo/RUNtoTEST.traj | 207 ++-- src/main/deploy/choreo/SLBtoCL.traj | 119 +-- src/main/deploy/choreo/SLTtoEL.traj | 45 +- src/main/deploy/choreo/SLTtoFL.traj | 205 ++-- src/main/deploy/choreo/SLtoCL.traj | 168 ++-- src/main/deploy/choreo/SLtoCM.traj | 112 +-- src/main/deploy/choreo/SRBtoCR.traj | 52 +- src/main/deploy/choreo/SRTtoCR.traj | 101 +- src/main/deploy/choreo/SRTtoER.traj | 42 +- src/main/deploy/choreo/SRtoCM.traj | 99 +- src/main/deploy/choreo/SRtoFR.traj | 232 ++--- src/main/deploy/choreo/rebuiltChoreo.chor | 4 +- src/main/deploy/choreo/testposes.traj | 232 +++-- 53 files changed, 4619 insertions(+), 3989 deletions(-) diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj index 62fa464a..f405c02e 100644 --- a/src/main/deploy/choreo/DBtoFL.traj +++ b/src/main/deploy/choreo/DBtoFL.traj @@ -3,11 +3,11 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.527308464050293, "y":7.016829490661621, "heading":-1.369478506668525, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.527308464050293, "y":7.016829490661621, "heading":-1.369478506668525, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -18,11 +18,11 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.6742305755615234 m", "val":3.674230575561523}, "y":{"exp":"5.870871067047119 m", "val":5.870871067047119}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.712236404418945 m", "val":4.712236404418945}, "y":{"exp":"5.845959186553955 m", "val":5.845959186553955}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.791762351989746 m", "val":5.791762351989746}, "y":{"exp":"5.82935094833374 m", "val":5.82935094833374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.527308464050293 m", "val":7.527308464050293}, "y":{"exp":"7.016829490661621 m", "val":7.016829490661621}, "heading":{"exp":"-1.3694785066685253 rad", "val":-1.369478506668525}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.6742305755615234 m", "val":3.674230575561523}, "y":{"exp":"5.870871067047119 m", "val":5.870871067047119}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.712236404418945 m", "val":4.712236404418945}, "y":{"exp":"5.845959186553955 m", "val":5.845959186553955}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.791762351989746 m", "val":5.791762351989746}, "y":{"exp":"5.82935094833374 m", "val":5.82935094833374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.527308464050293 m", "val":7.527308464050293}, "y":{"exp":"7.016829490661621 m", "val":7.016829490661621}, "heading":{"exp":"-1.3694785066685253 rad", "val":-1.369478506668525}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -49,7 +49,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -59,133 +59,158 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.93268,2.62509,3.34631,4.76172,5.56599], + "waypoints":[0.0,1.93278,2.62524,3.34712,4.77092,5.58255], "samples":[ - {"t":0.0, "x":0.80987, "y":6.31261, "heading":3.14159, "vx":1.48086, 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a/src/main/deploy/choreo/DLOtoDLT.traj b/src/main/deploy/choreo/DLOtoDLT.traj index 3720e3ff..7adca94d 100644 --- a/src/main/deploy/choreo/DLOtoDLT.traj +++ b/src/main/deploy/choreo/DLOtoDLT.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLO.x", "val":8.579570770263672}, 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b/src/main/deploy/choreo/DLTtoDRO.traj index cfcd45bd..ebbfe5a4 100644 --- a/src/main/deploy/choreo/DLTtoDRO.traj +++ b/src/main/deploy/choreo/DLTtoDRO.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,24 +51,32 @@ "differentialTrackWidth":0.5427218 }, 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"intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.8596649169921875, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.331108093261719, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.8596649169921875 m", "val":5.8596649169921875}, "y":{"exp":"2.6069321632385254 m", "val":2.6069321632385254}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.331108093261719 m", "val":4.331108093261719}, "y":{"exp":"2.6069321632385254 m", "val":2.6069321632385254}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.8596649169921875 m", "val":5.8596649169921875}, "y":{"exp":"2.6069321632385254 m", "val":2.6069321632385254}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.331108093261719 m", "val":4.331108093261719}, "y":{"exp":"2.6069321632385254 m", "val":2.6069321632385254}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,92 +55,103 @@ 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b/src/main/deploy/choreo/DLTtoSRT.traj index c75e9f8e..7666da2c 100644 --- a/src/main/deploy/choreo/DLTtoSRT.traj +++ b/src/main/deploy/choreo/DLTtoSRT.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.618313789367676, "y":0.7565738558769226, "heading":-3.131691987510157, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.193192958831787, "y":0.7335880994796753, "heading":-3.1240506797033034, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.618313789367676, "y":0.7565738558769226, "heading":-3.131691987510157, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.193192958831787, "y":0.7335880994796753, "heading":-3.1240506797033034, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.618313789367676 m", "val":5.618313789367676}, "y":{"exp":"0.7565738558769226 m", 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.193192958831787 m", "val":4.193192958831787}, "y":{"exp":"0.7335880994796753 m", "val":0.7335880994796753}, "heading":{"exp":"-3.1240506797033034 rad", "val":-3.1240506797033034}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,97 +55,109 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - 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"constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.891683101654053, "y":5.438096523284912, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.515060901641846, "y":5.411875247955322, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.891683101654053 m", "val":5.891683101654053}, "y":{"exp":"5.438096523284912 m", "val":5.438096523284912}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.515060901641846 m", "val":4.515060901641846}, "y":{"exp":"5.411875247955322 m", "val":5.411875247955322}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.891683101654053 m", "val":5.891683101654053}, "y":{"exp":"5.438096523284912 m", "val":5.438096523284912}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.515060901641846 m", "val":4.515060901641846}, "y":{"exp":"5.411875247955322 m", "val":5.411875247955322}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, 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"y":5.38033, "heading":3.14159, "vx":-1.49907, "vy":-0.02734, "omega":0.00296, "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/DRTtoSLT.traj b/src/main/deploy/choreo/DRTtoSLT.traj index 53cbc0f3..f1a54825 100644 --- a/src/main/deploy/choreo/DRTtoSLT.traj +++ b/src/main/deploy/choreo/DRTtoSLT.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.114565372467041, "y":7.286704063415527, "heading":-3.1304820445880037, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.410175323486328, "y":7.326035976409912, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.114565372467041, "y":7.286704063415527, "heading":-3.1304820445880037, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.410175323486328, "y":7.326035976409912, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.114565372467041 m", "val":6.114565372467041}, "y":{"exp":"7.286704063415527 m", "val":7.286704063415527}, "heading":{"exp":"-3.1304820445880037 rad", "val":-3.1304820445880037}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.410175323486328 m", "val":4.410175323486328}, "y":{"exp":"7.326035976409912 m", "val":7.326035976409912}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.114565372467041 m", "val":6.114565372467041}, "y":{"exp":"7.286704063415527 m", "val":7.286704063415527}, "heading":{"exp":"-3.1304820445880037 rad", "val":-3.1304820445880037}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.410175323486328 m", "val":4.410175323486328}, "y":{"exp":"7.326035976409912 m", "val":7.326035976409912}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - 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b/src/main/deploy/choreo/FLMtoCL.traj index 49b5a395..c3130f4a 100644 --- a/src/main/deploy/choreo/FLMtoCL.traj +++ b/src/main/deploy/choreo/FLMtoCL.traj @@ -3,12 +3,12 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.016256809234619, "y":7.323315143585205, "heading":3.1172067680459215, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.617038249969482, "y":7.365917682647705, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.2658567428588867, "y":7.07125997543335, "heading":-2.58609898068092, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.9777511358261108, "y":4.874825954437256, 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"fixHeading":true, "overrideIntervals":false}, + {"x":1.9777511358261108, "y":4.874825954437256, "heading":1.5760360316862745, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.4044795036315918, "y":4.874825954437256, "heading":1.5760360316862745, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -20,12 +20,12 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"heading":3.141592653589793, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.521002769470215, "y":7.377725124359131, "heading":3.141592653589793, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.29819393157959, "y":5.418973922729492, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.8075175285339355, "y":5.39786434173584, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.29819393157959, "y":5.418973922729492, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", 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b/src/main/deploy/choreo/FLMtoSLT.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":221, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.714456081390381, "y":7.341778755187988, "heading":-3.116906638819587, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.465227127075195, "y":7.376699447631836, "heading":3.127229582083786, "intervals":112, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":257, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.714456081390381, "y":7.341778755187988, "heading":-3.116906638819587, "intervals":168, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.465227127075195, "y":7.376699447631836, "heading":3.127229582083786, "intervals":126, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":221, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.714456081390381 m", "val":6.714456081390381}, "y":{"exp":"7.341778755187988 m", "val":7.341778755187988}, "heading":{"exp":"-3.116906638819587 rad", "val":-3.116906638819587}, "intervals":152, "split":false, 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"y":{"exp":"7.376699447631836 m", "val":7.376699447631836}, "heading":{"exp":"3.127229582083786 rad", "val":3.127229582083786}, "intervals":126, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,494 +55,560 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.03551,3.53922,4.64119], + "waypoints":[0.0,2.03755,3.54301,4.64513], "samples":[ - {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, 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"fy":[0.17038,0.16757,0.16757,0.17038]}, + {"t":4.64513, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49629, "vy":-0.029, "omega":0.00085, "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/FLtoFLM.traj b/src/main/deploy/choreo/FLtoFLM.traj index 7d4572fd..d5b44f4a 100644 --- a/src/main/deploy/choreo/FLtoFLM.traj +++ b/src/main/deploy/choreo/FLtoFLM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,28 +51,30 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.90843], + "waypoints":[0.0,0.90845], "samples":[ - {"t":0.0, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.0, "vy":-1.49874, "omega":0.0, "ax":0.0, "ay":-0.01969, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.32554,-0.32554,-0.32554,-0.32554]}, - {"t":0.04781, "x":7.82037, "y":5.79422, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.09562, "x":7.82037, "y":5.72252, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.14344, "x":7.82037, 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"heading":-1.5708, "vx":0.0, "vy":-1.49931, "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/FLtoSL.traj b/src/main/deploy/choreo/FLtoSL.traj index 12a7c00f..3b75bd19 100644 --- a/src/main/deploy/choreo/FLtoSL.traj +++ b/src/main/deploy/choreo/FLtoSL.traj @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.347630977630615 m", "val":6.347630977630615}, "y":{"exp":"7.2292633056640625 m", "val":7.2292633056640625}, "heading":{"exp":"-1.7818893280275419 rad", "val":-1.781889328027542}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FL.x", 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100644 --- a/src/main/deploy/choreo/FRMtoCR.traj +++ b/src/main/deploy/choreo/FRMtoCR.traj @@ -3,10 +3,10 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.002846717834473, "y":0.6756622195243835, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.641608238220215, "y":0.6834654211997986, "heading":3.1309276014165053, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.002846717834473, "y":0.6756622195243835, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.641608238220215, "y":0.6834654211997986, "heading":3.1309276014165053, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,10 +17,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.002846717834473 m", "val":6.002846717834473}, "y":{"exp":"0.6756622195243835 m", "val":0.6756622195243835}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.641608238220215 m", "val":4.641608238220215}, "y":{"exp":"0.6834654211997986 m", "val":0.6834654211997986}, "heading":{"exp":"3.1309276014165053 rad", "val":3.1309276014165053}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.002846717834473 m", "val":6.002846717834473}, "y":{"exp":"0.6756622195243835 m", "val":0.6756622195243835}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.641608238220215 m", "val":4.641608238220215}, "y":{"exp":"0.6834654211997986 m", "val":0.6834654211997986}, "heading":{"exp":"3.1309276014165053 rad", "val":3.1309276014165053}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -47,7 +47,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -57,131 +57,151 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.27471,3.18531,4.15076,5.64152], + "waypoints":[0.0,2.27484,3.18564,4.15106,5.66002], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, 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"alpha":-0.03788, "fx":[140.55395,140.74919,140.91085,140.7157], "fy":[-170.66228,-170.50169,-170.36763,-170.52845]}, + {"t":5.66002, "x":1.80247, "y":2.44997, "heading":-1.5738, "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/FRMtoER.traj b/src/main/deploy/choreo/FRMtoER.traj index 285a04f5..c09e832d 100644 --- a/src/main/deploy/choreo/FRMtoER.traj +++ b/src/main/deploy/choreo/FRMtoER.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.02736234664917, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.02736234664917, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.02736234664917 m", "val":6.02736234664917}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.548489570617676 m", "val":4.548489570617676}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.02736234664917 m", "val":6.02736234664917}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.548489570617676 m", "val":4.548489570617676}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"ER.heading", "val":1.5718817860612435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,114 +55,130 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.24665,3.23569,4.81349], + "waypoints":[0.0,2.24666,3.23595,4.81382], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.79197, "vy":-1.27234, "omega":0.71288, "ax":-0.0113, "ay":-0.01815, "alpha":-0.00226, "fx":[-0.18193,-0.19173,-0.19173,-0.18193], "fy":[-0.29524,-0.29524,-0.30504,-0.30504]}, - {"t":0.04585, "x":7.78404, "y":3.49863, "heading":1.60348, "vx":-0.79249, "vy":-1.27318, "omega":0.71278, "ax":0.0, "ay":0.0, "alpha":-0.00122, "fx":[0.00257,-0.00274,-0.00257,0.00274], "fy":[0.00274,0.00257,-0.00274,-0.00257]}, - {"t":0.0917, "x":7.74771, "y":3.44025, "heading":1.63616, "vx":-0.79249, "vy":-1.27318, "omega":0.71272, "ax":0.0, "ay":0.0, 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"heading":1.60237, "vx":-1.48995, "vy":0.16978, "omega":-0.83086, "ax":0.01108, "ay":-0.00126, "alpha":2.4048, "fx":[-4.87334,5.56951,5.23976,-5.20324], "fy":[-5.40746,-5.07722,5.36531,5.03588]}, + {"t":4.81382, "x":2.19743, "y":0.97641, "heading":1.57188, "vx":-1.48954, "vy":0.16973, "omega":-0.74261, "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/FRMtoMR.traj b/src/main/deploy/choreo/FRMtoMR.traj index bd722863..527861a2 100644 --- a/src/main/deploy/choreo/FRMtoMR.traj +++ b/src/main/deploy/choreo/FRMtoMR.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,8 +17,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, 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"vx":-1.99955, "vy":-0.00758, "omega":-0.05461, "ax":0.00947, "ay":0.00002, "alpha":0.24625, "fx":[0.69289,0.6902,-0.37968,-0.377], "fy":[-0.5333,0.53658,0.5339,-0.53599]}, + {"t":3.31843, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-1.99911, "vy":-0.00758, "omega":-0.04328, "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/FRMtoSR.traj b/src/main/deploy/choreo/FRMtoSR.traj index fb22db73..97010e7f 100644 --- a/src/main/deploy/choreo/FRMtoSR.traj +++ b/src/main/deploy/choreo/FRMtoSR.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.502653121948242, "y":0.7615315914154053, "heading":-3.128260189486699, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.8253278732299805, "y":0.7128239274024963, "heading":-3.138122385310093, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.502653121948242, "y":0.7615315914154053, "heading":-3.128260189486699, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.8253278732299805, "y":0.7128239274024963, "heading":-3.138122385310093, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.502653121948242 m", "val":6.502653121948242}, "y":{"exp":"0.7615315914154053 m", "val":0.7615315914154053}, "heading":{"exp":"-3.128260189486699 rad", "val":-3.128260189486699}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.8253278732299805 m", "val":4.8253278732299805}, "y":{"exp":"0.7128239274024963 m", "val":0.7128239274024963}, "heading":{"exp":"-3.138122385310093 rad", "val":-3.138122385310093}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,105 +55,119 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.06444,3.1868,4.55826], + "waypoints":[0.0,2.06477,3.18755,4.55904], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.63077, "vy":-1.35949, "omega":0.808, "ax":-0.00897, "ay":-0.01939, "alpha":-0.00188, "fx":[-0.14422,-0.15238,-0.15238,-0.14422], "fy":[-0.31643,-0.31643,-0.32459,-0.32459]}, - {"t":0.04588, "x":7.79142, "y":3.49459, "heading":1.60786, "vx":-0.63118, "vy":-1.36038, "omega":0.80792, "ax":0.00004, "ay":-0.00002, "alpha":0.00008, "fx":[0.00056,0.00091,0.0009,0.00055], "fy":[-0.00052,-0.00051,-0.00016,-0.00017]}, - 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"fy":[0.01267,-0.01266,-0.01267,0.01266]}, + {"t":3.43895, "x":2.91672, "y":2.59947, "heading":3.14122, "vx":-1.49951, "vy":0.02088, "omega":0.00443, "ax":0.0, "ay":0.0, "alpha":-0.00881, "fx":[-0.01914,-0.01915,0.01914,0.01915], "fy":[0.01915,-0.01914,-0.01915,0.01914]}, + {"t":3.48307, "x":2.85056, "y":2.60039, "heading":3.14141, "vx":-1.49951, "vy":0.02088, "omega":0.00404, "ax":0.00771, "ay":-0.00011, "alpha":-0.01329, "fx":[0.09862,0.09861,0.15636,0.15637], "fy":[0.0271,-0.03065,-0.03066,0.02709]}, + {"t":3.52719, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.49917, "vy":0.02088, "omega":0.00345, "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/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index cbab00b9..99fa7bfa 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,17 +51,22 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.36928], + "waypoints":[0.0,0.36948], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":3.62599, "omega":0.0, "ax":0.0, "ay":0.06804, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[1.12492,1.12492,1.12492,1.12492]}, - {"t":0.04616, "x":7.82037, "y":2.3844, "heading":1.5708, "vx":0.0, "vy":3.62913, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00002,0.00002,0.00002,0.00002]}, - {"t":0.09232, "x":7.82037, "y":2.55192, "heading":1.5708, "vx":0.0, "vy":3.62913, "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":0.13848, "x":7.82037, "y":2.71944, "heading":1.5708, "vx":0.0, "vy":3.62913, "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":0.18464, "x":7.82037, "y":2.88696, "heading":1.5708, "vx":0.0, "vy":3.62913, "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":0.2308, "x":7.82037, "y":3.05449, "heading":1.5708, "vx":0.0, "vy":3.62913, "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":0.27696, "x":7.82037, "y":3.22201, "heading":1.5708, "vx":0.0, "vy":3.62913, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, - {"t":0.32312, "x":7.82037, "y":3.38953, "heading":1.5708, "vx":0.0, "vy":3.62913, "omega":0.0, "ax":0.0, "ay":-0.06804, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-1.12492,-1.12492,-1.12492,-1.12492]}, - {"t":0.36928, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":3.62599, "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":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":3.62208, "omega":0.0, "ax":0.0, "ay":0.17895, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[2.95866,2.95866,2.95866,2.95866]}, + {"t":0.02842, "x":7.82037, "y":2.31996, "heading":1.5708, "vx":0.0, "vy":3.62717, "omega":0.0, "ax":0.0, "ay":0.00006, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00106,0.00106,0.00106,0.00106]}, + {"t":0.05684, "x":7.82037, 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"fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.22737, "x":7.82037, "y":3.0416, "heading":1.5708, "vx":0.0, "vy":3.62717, "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":0.2558, "x":7.82037, "y":3.14469, "heading":1.5708, "vx":0.0, "vy":3.62717, "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":0.28422, "x":7.82037, "y":3.24778, "heading":1.5708, "vx":0.0, "vy":3.62717, "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":0.31264, "x":7.82037, "y":3.35087, "heading":1.5708, "vx":0.0, "vy":3.62717, "omega":0.0, "ax":0.0, "ay":-0.00006, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00106,-0.00106,-0.00106,-0.00106]}, + {"t":0.34106, "x":7.82037, "y":3.45396, "heading":1.5708, "vx":0.0, "vy":3.62717, "omega":0.0, "ax":0.0, "ay":-0.17895, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-2.95866,-2.95866,-2.95866,-2.95866]}, + {"t":0.36948, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":3.62208, "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/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj index b2b07ed6..1452ebfa 100644 --- a/src/main/deploy/choreo/FRtoSRT.traj +++ b/src/main/deploy/choreo/FRtoSRT.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.078125953674316, "y":0.7482186555862427, "heading":2.690139597310213, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.742544174194336, "y":0.6929386258125305, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.078125953674316, "y":0.7482186555862427, "heading":2.690139597310213, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.742544174194336, "y":0.6929386258125305, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, 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{"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.3622894287109375, "y":4.875124931335449, "heading":1.5728533535678788, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3622894287109375, "y":4.875124931335449, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.2979655265808103, "y":4.857726097106934, "heading":1.5728533535678788, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.7945466637611389, "y":4.858419895172119, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -18,8 +18,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.3622894287109375 m", "val":2.3622894287109375}, "y":{"exp":"4.875124931335449 m", "val":4.875124931335449}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.3622894287109375 m", "val":2.3622894287109375}, "y":{"exp":"4.875124931335449 m", "val":4.875124931335449}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.2979655265808105 m", "val":1.2979655265808103}, "y":{"exp":"4.857726097106934 m", "val":4.857726097106934}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.7945466637611389 m", "val":0.7945466637611389}, "y":{"exp":"4.858419895172119 m", "val":4.858419895172119}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -49,7 +49,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -59,94 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"fx":[-0.04951,0.12185,0.12129,-0.05007], "fy":[-0.08604,-0.08548,0.08594,0.08538]}, + {"t":4.08992, "x":0.79455, "y":4.85842, "heading":1.57285, "vx":-0.49979, "vy":0.00074, "omega":0.17433, "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/MLtoSL.traj b/src/main/deploy/choreo/MLtoSL.traj index ee46584f..2343b74b 100644 --- a/src/main/deploy/choreo/MLtoSL.traj +++ b/src/main/deploy/choreo/MLtoSL.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,16 +51,18 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.33291], + "waypoints":[0.0,0.33293], "samples":[ - {"t":0.0, "x":2.32967, "y":7.44913, "heading":-3.14159, "vx":1.45591, "vy":-0.35574, "omega":0.0, "ax":0.01933, "ay":-0.00472, "alpha":0.0, "fx":[0.31962,0.31962,0.31961,0.31961], "fy":[-0.0781,-0.0781,-0.0781,-0.0781]}, - {"t":0.04756, "x":2.39893, "y":7.43221, "heading":-3.14159, "vx":1.45683, "vy":-0.35596, "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":0.09512, "x":2.46822, "y":7.41528, "heading":-3.14159, "vx":1.45683, "vy":-0.35596, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, 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"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/MRtoCR.traj b/src/main/deploy/choreo/MRtoCR.traj index 6dd9f310..fd2202d4 100644 --- a/src/main/deploy/choreo/MRtoCR.traj +++ b/src/main/deploy/choreo/MRtoCR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.838799834251404, "y":2.700927495956421, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.8387998342514038 m", "val":1.838799834251404}, "y":{"exp":"2.700927495956421 m", "val":2.700927495956421}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, 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a/src/main/deploy/choreo/MRtoSR.traj +++ b/src/main/deploy/choreo/MRtoSR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,17 +51,19 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.37478], + "waypoints":[0.0,0.3748], "samples":[ - {"t":0.0, 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100644 --- a/src/main/deploy/choreo/OBtoFR.traj +++ b/src/main/deploy/choreo/OBtoFR.traj @@ -3,11 +3,11 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.276200771331787, "y":2.27546763420105, "heading":0.01999704613027853, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.610086917877197, "y":2.263561964035034, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.747344017028809, "y":2.2745471000671387, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.615586757659912, "y":1.221225380897522, "heading":1.2220250433790707, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.276200771331787, "y":2.27546763420105, "heading":0.01999704613027853, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.610086917877197, "y":2.263561964035034, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.747344017028809, "y":2.2745471000671387, "heading":0.0, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.615586757659912, "y":1.221225380897522, "heading":1.2220250433790707, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -18,11 +18,11 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.276200771331787 m", "val":3.276200771331787}, "y":{"exp":"2.27546763420105 m", "val":2.27546763420105}, "heading":{"exp":"19.997046130278527 mrad", "val":0.01999704613027853}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.610086917877197 m", "val":4.610086917877197}, "y":{"exp":"2.263561964035034 m", "val":2.263561964035034}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, 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"heading":{"exp":"19.997046130278527 mrad", "val":0.01999704613027853}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.610086917877197 m", "val":4.610086917877197}, "y":{"exp":"2.263561964035034 m", "val":2.263561964035034}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.747344017028809 m", "val":5.747344017028809}, "y":{"exp":"2.2745471000671387 m", "val":2.2745471000671387}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.615586757659912 m", "val":7.615586757659912}, "y":{"exp":"1.221225380897522 m", "val":1.221225380897522}, "heading":{"exp":"1.2220250433790707 rad", "val":1.2220250433790707}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -49,7 +49,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -59,137 +59,160 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.10417,2.99445,3.75368,5.19627,5.88543], + "waypoints":[0.0,2.10414,2.99435,3.75353,5.20207,5.8964], "samples":[ - {"t":0.0, "x":0.53218, "y":0.71986, "heading":1.5708, "vx":1.30158, "vy":0.74293, "omega":-0.74926, "ax":0.01868, "ay":0.01066, "alpha":0.00245, "fx":[0.30346,0.3141,0.3141,0.30346], "fy":[0.17093,0.17093,0.18157,0.18157]}, - {"t":0.04574, "x":0.59174, "y":0.75386, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RR.x", "val":2.959694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/PLBtoDLO.traj b/src/main/deploy/choreo/PLBtoDLO.traj index a41e7814..a197f898 100644 --- a/src/main/deploy/choreo/PLBtoDLO.traj +++ b/src/main/deploy/choreo/PLBtoDLO.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.708786010742188, "y":5.537450790405273, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.767721176147461, "y":5.537623882293701, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.146753311157227, "y":7.112152099609375, "heading":-0.941999816110815, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.708786010742188, "y":5.537450790405273, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.767721176147461, "y":5.537623882293701, "heading":0.0, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.146753311157227, "y":7.112152099609375, "heading":-0.941999816110815, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLB.x", "val":3.708786010742188}, "y":{"exp":"PLB.y", "val":5.537450790405273}, "heading":{"exp":"PLB.heading", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, "y":{"exp":"5.537623882293701 m", "val":5.537623882293701}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.146753311157227 m", "val":8.146753311157227}, "y":{"exp":"7.112152099609375 m", "val":7.112152099609375}, "heading":{"exp":"-0.941999816110815 rad", "val":-0.941999816110815}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PLB.x", "val":3.708786010742188}, "y":{"exp":"PLB.y", "val":5.537450790405273}, "heading":{"exp":"PLB.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, "y":{"exp":"5.537623882293701 m", "val":5.537623882293701}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.146753311157227 m", "val":8.146753311157227}, "y":{"exp":"7.112152099609375 m", "val":7.112152099609375}, "heading":{"exp":"-0.941999816110815 rad", "val":-0.941999816110815}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, 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"splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/PLTtoD.traj b/src/main/deploy/choreo/PLTtoD.traj index 6c331266..b01b2b7e 100644 --- a/src/main/deploy/choreo/PLTtoD.traj +++ b/src/main/deploy/choreo/PLTtoD.traj @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"3.7620644569396973 m", "val":3.7620644569396977}, "y":{"exp":"7.357067584991455 m", "val":7.357067584991455}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.1236233711242676 m", "val":2.1236233711242676}, "y":{"exp":"6.343014240264893 m", "val":6.343014240264893}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.7620644569396973 m", "val":3.7620644569396977}, "y":{"exp":"7.357067584991455 m", "val":7.357067584991455}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.1236233711242676 m", "val":2.1236233711242676}, "y":{"exp":"6.343014240264893 m", "val":6.343014240264893}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.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}, diff --git a/src/main/deploy/choreo/PLTtoDRO.traj b/src/main/deploy/choreo/PLTtoDRO.traj index 179076d8..6b035786 100644 --- a/src/main/deploy/choreo/PLTtoDRO.traj +++ b/src/main/deploy/choreo/PLTtoDRO.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLT.x", "val":3.7620644569396977}, "y":{"exp":"PLT.y", "val":7.357067584991455}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.839240550994873 m", "val":5.839240550994873}, "y":{"exp":"7.312925338745117 m", "val":7.312925338745117}, "heading":{"exp":"-3.1196182570906053 rad", "val":-3.1196182570906053}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.408936500549316 m", "val":8.408936500549316}, "y":{"exp":"7.168707847595215 m", "val":7.168707847595215}, "heading":{"exp":"-2.276364851412617 rad", "val":-2.276364851412617}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PLT.x", "val":3.7620644569396977}, "y":{"exp":"PLT.y", "val":7.357067584991455}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.839240550994873 m", "val":5.839240550994873}, "y":{"exp":"7.312925338745117 m", "val":7.312925338745117}, "heading":{"exp":"-3.1196182570906053 rad", "val":-3.1196182570906053}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.408936500549316 m", "val":8.408936500549316}, 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"ax":-0.00127, "ay":0.01295, "alpha":-1.88, "fx":[-4.20007,3.96599,4.15794,-4.00754], "fy":[-3.77267,-3.96495,4.20085,4.39304]}, + {"t":4.04841, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.14579, "vy":-1.49201, "omega":0.62921, "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/PRBtoDRO.traj b/src/main/deploy/choreo/PRBtoDRO.traj index d4318637..cd2dc2cb 100644 --- a/src/main/deploy/choreo/PRBtoDRO.traj +++ b/src/main/deploy/choreo/PRBtoDRO.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.700773715972901, "y":2.531209707260132, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.691983699798584, "y":2.531209707260132, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.24791955947876, "y":1.0617146492004397, "heading":0.5880028060704902, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.700773715972901, "y":2.531209707260132, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.691983699798584, "y":2.531209707260132, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.24791955947876, "y":1.0617146492004397, "heading":0.5880028060704902, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRB.x", 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.997579574584961, "y":0.722095251083374, "heading":1.5707963452742666, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.710022926330566, "y":0.8485172390937805, "heading":1.867343098442764, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, 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"fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.997579574584961 m", "val":5.997579574584961}, "y":{"exp":"0.722095251083374 m", "val":0.722095251083374}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.710022926330566 m", "val":7.710022926330566}, "y":{"exp":"0.8485172390937805 m", "val":0.8485172390937805}, "heading":{"exp":"1.8673430984427641 rad", "val":1.867343098442764}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -45,7 +45,7 @@ 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- {"x":{"exp":"2.6183998584747314 m", "val":2.618399858474731}, "y":{"exp":"0.7519275546073914 m", "val":0.7519275546073914}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.6183998584747314 m", "val":2.618399858474731}, "y":{"exp":"0.7519275546073914 m", "val":0.7519275546073914}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/RLtoFL.traj b/src/main/deploy/choreo/RLtoFL.traj index 67984a9b..ee281505 100644 --- a/src/main/deploy/choreo/RLtoFL.traj +++ b/src/main/deploy/choreo/RLtoFL.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.743162631988525, "y":7.361404895782471, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.366947174072266, "y":7.026499271392822, "heading":-0.7102714504381418, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.743162631988525, "y":7.361404895782471, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.366947174072266, "y":7.026499271392822, "heading":-0.7102714504381418, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RLL.x", "val":2.660629749298096}, "y":{"exp":"RLL.y", "val":7.363339424133301}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.366947174072266 m", "val":7.366947174072266}, "y":{"exp":"7.026499271392822 m", "val":7.026499271392822}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,74 +55,91 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - 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a/src/main/deploy/choreo/RRtoFR.traj +++ b/src/main/deploy/choreo/RRtoFR.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.959694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.959694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RR.x", "val":2.959694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.933488368988037 m", "val":5.933488368988037}, "y":{"exp":"0.6496047973632812 m", "val":0.6496047973632812}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RR.x", "val":2.959694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.933488368988037 m", "val":5.933488368988037}, "y":{"exp":"0.6496047973632812 m", "val":0.6496047973632812}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -47,7 +47,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -57,52 +57,74 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.99161,1.55724,1.92096], + "waypoints":[0.0,0.99164,1.55975,1.92534], "samples":[ - {"t":0.0, "x":2.95969, "y":0.64155, "heading":0.0, "vx":2.99754, "vy":0.01116, "omega":-0.01025, "ax":0.03691, "ay":-0.00872, "alpha":-0.00287, 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"intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.5953468084335327, "y":4.90645694732666, "heading":1.5890886008046656, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.5953468084335327, "y":4.90645694732666, "heading":1.5890886008046656, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -43,7 +43,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,57 +53,66 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.28044,2.16693], + "waypoints":[0.0,1.28049,2.16699], "samples":[ - {"t":0.0, "x":2.78441, "y":5.38033, "heading":3.14159, "vx":-0.92744, "vy":-0.37146, "omega":-1.24808, "ax":-0.01528, "ay":-0.00612, "alpha":0.00385, "fx":[-0.24432,-0.2443,-0.26104,-0.26106], "fy":[-0.10955,-0.09285,-0.09287,-0.10956]}, - 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1214685440063477, "y":7.046450138092041, "heading":-1.573056098378181, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":21, 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+3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.304653644561768, "y":7.37657356262207, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.739718437194824, "y":6.998943328857422, "heading":-1.650627593283163, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.304653644561768, "y":7.37657356262207, "heading":3.141592653589793, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.739718437194824, "y":6.998943328857422, "heading":-1.650627593283163, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.304653644561768 m", "val":5.304653644561768}, "y":{"exp":"7.37657356262207 m", "val":7.37657356262207}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.739718437194824 m", "val":7.739718437194824}, "y":{"exp":"6.998943328857422 m", "val":6.998943328857422}, "heading":{"exp":"-1.650627593283163 rad", "val":-1.650627593283163}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.304653644561768 m", "val":5.304653644561768}, "y":{"exp":"7.37657356262207 m", "val":7.37657356262207}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.739718437194824 m", "val":7.739718437194824}, "y":{"exp":"6.998943328857422 m", "val":6.998943328857422}, "heading":{"exp":"-1.650627593283163 rad", "val":-1.650627593283163}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -45,7 +45,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,96 +55,109 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.66074,3.30903,4.07172], + "waypoints":[0.0,1.66074,3.31074,4.07468], "samples":[ - {"t":0.0, "x":2.81463, "y":7.33064, "heading":-3.14159, "vx":1.49848, "vy":0.02939, "omega":0.01001, "ax":0.01886, "ay":0.00037, 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"omega":-0.00997, "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/SLtoCL.traj b/src/main/deploy/choreo/SLtoCL.traj index c0c35b84..e2385ffc 100644 --- a/src/main/deploy/choreo/SLtoCL.traj +++ b/src/main/deploy/choreo/SLtoCL.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.3828084468841553, "y":4.868075847625732, "heading":1.5728533535678788, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.3828084468841553, "y":4.868075847625732, "heading":1.5728533535678788, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.8873613476753235, "y":4.874957084655762, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.439544916152954 m", "val":2.439544916152954}, "y":{"exp":"4.924097061157227 m", "val":4.924097061157227}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.3828084468841553 m", "val":1.3828084468841553}, "y":{"exp":"4.868075847625732 m", "val":4.868075847625732}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.439544916152954 m", "val":2.439544916152954}, "y":{"exp":"4.924097061157227 m", "val":4.924097061157227}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.3828084468841553 m", "val":1.3828084468841553}, "y":{"exp":"4.868075847625732 m", "val":4.868075847625732}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.8873613476753235 m", "val":0.8873613476753235}, "y":{"exp":"4.874957084655762 m", "val":4.874957084655762}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -46,8 +46,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":485.8996637552213, - "tmax":54.79744136460554, + 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"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/SLtoCM.traj b/src/main/deploy/choreo/SLtoCM.traj index 01f24cbe..8c8b2c3f 100644 --- a/src/main/deploy/choreo/SLtoCM.traj +++ b/src/main/deploy/choreo/SLtoCM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, 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-3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7531986236572266, "y":3.3997113704681396, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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{"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"1.5718817860612435 rad", "val":1.5718817860612435}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,21 +51,29 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.41737], + "waypoints":[0.0,0.41745], "samples":[ - {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.36738, "vy":0.61245, "omega":-3.84388, "ax":-0.03377, "ay":0.01581, "alpha":-0.29427, "fx":[-1.19757,-1.19757,0.08093,0.08093], "fy":[0.90059,-0.37791,-0.37792,0.9006]}, - {"t":0.03478, "x":2.72101, "y":0.74188, "heading":3.0079, 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-3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,7 +41,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,52 +51,55 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.17869], + "waypoints":[0.0,2.19879], "samples":[ - {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-0.47558, 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"fy":[-209.76916,-209.76916,-209.76916,-209.76916]}, + {"t":2.19879, "x":1.75006, "y":3.76463, "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/SRtoFR.traj b/src/main/deploy/choreo/SRtoFR.traj index 0f1ff09e..a838d053 100644 --- a/src/main/deploy/choreo/SRtoFR.traj +++ b/src/main/deploy/choreo/SRtoFR.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.382783889770508, "y":0.7094446420669556, "heading":-3.126526630663652, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.713675022125244, "y":0.7875750660896301, "heading":2.261243128434208, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.382783889770508, "y":0.7094446420669556, "heading":-3.126526630663652, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.713675022125244, "y":0.7875750660896301, "heading":2.261243128434208, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.382783889770508 m", "val":5.382783889770508}, "y":{"exp":"0.7094446420669556 m", "val":0.7094446420669556}, "heading":{"exp":"-3.126526630663652 rad", "val":-3.126526630663652}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.713675022125244 m", "val":7.713675022125244}, "y":{"exp":"0.7875750660896301 m", "val":0.7875750660896301}, "heading":{"exp":"2.261243128434208 rad", "val":2.261243128434208}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":42, "split":false, 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"fy":[-0.34727,-0.33257,0.34802,0.33332]}, + {"t":4.70598, "x":7.8182, "y":2.16719, "heading":1.57014, "vx":0.05825, "vy":1.34839, "omega":0.01788, "ax":0.01769, "ay":-0.01069, "alpha":0.05843, "fx":[0.16737,0.42123,0.41757,0.16371], "fy":[-0.30546,-0.3018,-0.04795,-0.05161]}, + {"t":4.74288, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0589, "vy":1.34799, "omega":0.02004, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 7d1decd9..e37fdfb8 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -442,8 +442,8 @@ "val":502.6548245743669 }, "tmax":{ - "exp":"257 / 4.69 N * m", - "val":54.79744136460554 + "exp":"1.6 N * m", + "val":1.6 }, "cof":{ "exp":"2.25", diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index 6e51a5a4..dd286b3f 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -43,7 +43,7 @@ "gearing":7.03, "radius":0.0508, "vmax":502.6548245743669, - "tmax":54.79744136460554, + "tmax":1.6, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,103 +53,129 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.06033,2.77647,4.73458], + "waypoints":[0.0,1.07972,2.827,4.86295], "samples":[ - {"t":0.0, "x":1.80247, "y":2.44997, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, 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"fy":[186.56504,157.96164,129.46889,170.79965]}, + {"t":4.62621, "x":4.78457, "y":1.1058, "heading":-0.11771, "vx":-0.68175, "vy":-3.08188, "omega":0.81024, "ax":2.87395, "ay":12.9901, "alpha":-3.08447, "fx":[62.4331,58.42948,34.08528,35.11708], "fy":[211.28073,212.55019,217.77315,217.48012]}, + {"t":4.67356, "x":4.75551, "y":0.97444, "heading":-0.07934, "vx":-0.54567, "vy":-2.46683, "omega":0.66419, "ax":2.87932, "ay":13.01589, "alpha":-3.38993, "fx":[64.5611,58.95857,32.39967,34.501], "fy":[211.21184,212.91346,218.52921,218.13547]}, + {"t":4.72091, "x":4.73291, "y":0.87223, "heading":-0.0479, "vx":-0.40934, "vy":-1.85055, "omega":0.50369, "ax":2.88106, "ay":13.02441, "alpha":-3.49813, "fx":[65.53086,58.83028,31.55237,34.62186], "fy":[211.10734,213.11932,218.82035,218.30603]}, + {"t":4.76826, "x":4.71675, "y":0.79921, "heading":-0.02405, "vx":-0.27293, "vy":-1.23388, "omega":0.33806, "ax":2.88191, "ay":13.02865, "alpha":-3.55322, "fx":[66.11154,58.62134,31.01433,34.84455], "fy":[211.02397,213.26202,218.98107,218.36637]}, + {"t":4.81561, "x":4.70706, "y":0.7554, "heading":-0.00804, "vx":-0.13648, "vy":-0.617, "omega":0.16982, "ax":2.88242, "ay":13.03118, "alpha":-3.58668, "fx":[66.47881,58.46084,30.66654,35.01908], "fy":[210.96729,213.35708,219.08046,218.39628]}, + {"t":4.86295, "x":4.70383, "y":0.74079, "heading":0.0, "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":[] From 07afd17aaa5dcebb1dacd0f335b470778212e4bb Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 6 Mar 2026 13:57:07 -0800 Subject: [PATCH 08/42] outpost score climb is somewhat better --- src/main/deploy/choreo/FRMtoMR.traj | 175 +++++++++--------- src/main/deploy/choreo/OTtoRR.traj | 65 ++++--- src/main/deploy/choreo/PRTtoO.traj | 67 ++++--- src/main/deploy/choreo/RRtoFR.traj | 150 +++++++-------- src/main/deploy/choreo/rebuiltChoreo.chor | 8 +- .../constants/comp/R1WispSwerveConstants.java | 2 +- 6 files changed, 244 insertions(+), 223 deletions(-) diff --git a/src/main/deploy/choreo/FRMtoMR.traj b/src/main/deploy/choreo/FRMtoMR.traj index 527861a2..706aee63 100644 --- a/src/main/deploy/choreo/FRMtoMR.traj +++ b/src/main/deploy/choreo/FRMtoMR.traj @@ -3,29 +3,29 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.3}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", 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+ {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "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":false}, @@ -14,8 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"RR.x", "val":2.959694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, 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a/src/main/deploy/choreo/PRTtoO.traj +++ b/src/main/deploy/choreo/PRTtoO.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.618399858474731, "y":0.7519275546073914, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.6183998584747314 m", "val":2.618399858474731}, "y":{"exp":"0.7519275546073914 m", "val":0.7519275546073914}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.3072574138641357 m", 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"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/RRtoFR.traj b/src/main/deploy/choreo/RRtoFR.traj index eb74f73d..dac9c0b4 100644 --- a/src/main/deploy/choreo/RRtoFR.traj +++ b/src/main/deploy/choreo/RRtoFR.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.959694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RR.x", "val":2.959694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.933488368988037 m", 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"fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -57,74 +57,78 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.99164,1.55975,1.92534], + "waypoints":[0.0,1.28893,1.71979,2.08424], "samples":[ - {"t":0.0, "x":2.95969, "y":0.64155, "heading":0.0, "vx":2.99693, "vy":0.01168, "omega":-0.03257, "ax":0.05775, 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"fx":[-154.35101,-154.45806,-134.15913,-136.33289], "fy":[147.53605,145.95952,164.8346,164.34662]}, + {"t":1.69825, "x":7.48984, "y":1.12693, "heading":0.80797, "vx":2.10042, "vy":2.13573, "omega":2.09851, "ax":-9.87871, "ay":8.57194, "alpha":-0.76535, "fx":[-161.21488,-161.18531,-165.38459,-165.53184], "fy":[144.0406,144.303,139.48132,139.07001]}, + {"t":1.71979, "x":7.5328, "y":1.17493, "heading":0.85318, "vx":1.8876, "vy":2.32039, "omega":2.08203, "ax":-10.37243, "ay":7.92237, "alpha":-3.51676, "fx":[-162.17783,-162.76648,-179.71026,-181.3134], "fy":[142.56929,142.95597,121.03521,117.37543]}, + {"t":1.74004, "x":7.56889, "y":1.22353, "heading":0.89533, "vx":1.67759, "vy":2.4808, "omega":2.01082, "ax":-10.96398, "ay":6.80917, "alpha":-2.9783, "fx":[-174.78462,-174.61933,-187.17438,-188.51081], "fy":[122.18047,123.95334,104.21056,99.97162]}, + {"t":1.76029, "x":7.60061, "y":1.27516, "heading":0.93605, "vx":1.45561, "vy":2.61866, "omega":1.95052, "ax":-11.26186, "ay":5.67826, "alpha":-2.55142, "fx":[-181.54453,-181.39279,-190.55893,-191.29269], "fy":[101.6546,104.42345,86.99963,82.44692]}, + {"t":1.78053, "x":7.62777, "y":1.32934, "heading":0.97554, "vx":1.22759, "vy":2.73363, "omega":1.89886, "ax":-11.07848, "ay":4.46423, "alpha":-2.09885, "fx":[-179.72979,-180.26094,-186.48363,-186.18735], "fy":[79.49473,82.82199,68.66587,64.25394]}, + {"t":1.80078, "x":7.65036, "y":1.3856, "heading":1.01399, "vx":1.00328, "vy":2.82402, "omega":1.85637, "ax":-9.70695, "ay":3.0858, "alpha":-1.41386, "fx":[-157.90957,-159.61492,-163.0331,-161.39989], "fy":[53.97122,56.82919,48.24356,45.03151]}, + {"t":1.82103, "x":7.66868, "y":1.44341, "heading":1.05157, "vx":0.80674, "vy":2.8865, "omega":1.82774, "ax":-5.81841, "ay":1.50333, "alpha":-0.17248, "fx":[-95.76328,-96.26357,-96.63281,-96.13364], "fy":[25.06962,25.44243,24.64201,24.26705]}, + {"t":1.84127, "x":7.68382, "y":1.50216, "heading":1.08858, "vx":0.68894, "vy":2.91694, "omega":1.82425, "ax":-1.8105, "ay":0.41689, "alpha":1.0428, "fx":[-32.94226,-29.02371,-26.91683,-30.8521], "fy":[5.89871,3.78528,7.89621,9.99004]}, + {"t":1.86152, "x":7.6974, "y":1.56131, "heading":1.12551, "vx":0.65228, "vy":2.92538, "omega":1.84536, "ax":-0.23728, "ay":0.05331, "alpha":1.65315, "fx":[-8.70849,-2.23134,0.86486,-5.61754], "fy":[-0.81238,-3.90929,2.57841,5.66868]}, + {"t":1.88177, "x":7.71056, "y":1.62055, "heading":1.16288, "vx":0.64747, "vy":2.92646, "omega":1.87883, "ax":0.19406, "ay":-0.04259, "alpha":1.99549, "fx":[-2.49084,5.46855,8.90508,0.95137], "fy":[-2.96669,-6.4018,1.55434,4.99777]}, + {"t":1.90201, "x":7.72371, "y":1.67979, "heading":1.20092, "vx":0.6514, "vy":2.92559, "omega":1.91923, "ax":0.20859, "ay":-0.04609, "alpha":2.24036, "fx":[-2.84894,6.2274,9.74292,0.67338], "fy":[-3.54459,-7.05727,2.01469,5.5392]}, + {"t":1.92226, "x":7.73694, "y":1.73902, "heading":1.23978, "vx":0.65563, "vy":2.92466, "omega":1.96459, "ax":-0.07781, "ay":0.01803, "alpha":2.38405, "fx":[-7.86682,1.92727,5.29497,-4.50155], "fy":[-2.91536,-6.28437,3.51429,6.87805]}, + {"t":1.94251, "x":7.7502, "y":1.79824, "heading":1.27955, "vx":0.65405, "vy":2.92503, "omega":2.01286, "ax":-0.86555, "ay":0.19155, "alpha":2.27523, "fx":[-20.44064,-11.02502,-8.16989,-17.60631], "fy":[-0.15904,-3.01868,6.52057,9.32535]}, + {"t":1.96276, "x":7.76326, "y":1.8575, "heading":1.32031, "vx":0.63653, "vy":2.9289, "omega":2.05893, "ax":-2.48279, "ay":0.51792, "alpha":1.61879, "fx":[-45.21719,-38.66486,-36.86882,-43.44561], "fy":[5.9041,4.15916,11.26397,12.92484]}, + {"t":1.983, "x":7.77564, "y":1.91691, "heading":1.362, "vx":0.58626, "vy":2.93939, "omega":2.09171, "ax":-4.2377, "ay":0.78082, "alpha":0.45934, "fx":[-71.16002,-69.41317,-68.96609,-70.71569], "fy":[12.02537,11.63748,13.80018,14.17561]}, + {"t":2.00325, "x":7.78664, "y":1.97658, "heading":1.40435, "vx":0.50046, "vy":2.9552, "omega":2.10101, "ax":-3.9778, "ay":0.61673, "alpha":-0.73254, "fx":[-64.05461,-66.91115,-67.47639,-64.62494], "fy":[11.67233,12.14441,8.73578,8.23416]}, + {"t":2.0235, "x":7.79596, "y":2.03654, "heading":1.44689, "vx":0.41992, "vy":2.96769, "omega":2.08618, "ax":-1.82207, "ay":0.24517, "alpha":-1.9907, "fx":[-25.36565,-33.79236,-34.87921,-26.46339], "fy":[7.9263,8.925,0.22778,-0.86479]}, + {"t":2.04374, "x":7.80409, "y":2.09668, "heading":1.48912, "vx":0.38303, "vy":2.97265, "omega":2.04587, "ax":0.45378, "ay":-0.05695, "alpha":-2.86363, "fx":[14.20365,1.81875,0.80041,13.18716], "fy":[4.74744,5.7839,-6.65446,-7.64315]}, + {"t":2.06399, "x":7.81194, "y":2.15686, "heading":1.53055, "vx":0.39221, "vy":2.9715, "omega":1.98789, "ax":2.37299, "ay":-0.3639, "alpha":-26.88848, "fx":[98.5522,-14.65413,-19.50608,92.54246], "fy":[46.76255,62.03002,-70.02386,-62.83467]}, + {"t":2.08424, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.44026, "vy":2.96413, "omega":1.44348, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index e37fdfb8..d8cdd27f 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -330,12 +330,12 @@ }, "RR":{ "x":{ - "exp":"2.959694671630859 m", - "val":2.959694671630859 + "exp":"2.5106818675994873 m", + "val":2.5106818675994873 }, "y":{ - "exp":"0.6415539979934692 m", - "val":0.6415539979934692 + "exp":"0.6606601476669312 m", + "val":0.6606601476669312 }, "heading":{ "exp":"0 deg", diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java index af803cad..53b5e440 100644 --- a/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java @@ -147,7 +147,7 @@ public double getMaxLinearSpeed() { public double getMaxLinearAcceleration() { // Calculated in Choreo for R1 ratio // return 9.056; - return 22.073; + return 13.392; // 22.073; } @Override From 7bec24baba2e6ac8045e4425948f0c5d2abacc14 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 6 Mar 2026 14:15:46 -0800 Subject: [PATCH 09/42] mess around with depot score climb --- src/main/deploy/choreo/DTtoRL.traj | 106 +++++------ src/main/deploy/choreo/FLMtoCL.traj | 2 +- src/main/deploy/choreo/FLMtoML.traj | 214 ++++++++++------------ src/main/deploy/choreo/FLtoFLM.traj | 46 ++--- src/main/deploy/choreo/MLtoCL.traj | 153 +++++----------- src/main/deploy/choreo/PLTtoD.traj | 86 ++++----- src/main/deploy/choreo/RLtoFL.traj | 180 +++++++++--------- src/main/deploy/choreo/SLBtoCL.traj | 2 +- src/main/deploy/choreo/rebuiltChoreo.chor | 8 +- 9 files changed, 338 insertions(+), 459 deletions(-) diff --git a/src/main/deploy/choreo/DTtoRL.traj b/src/main/deploy/choreo/DTtoRL.traj index ca643df7..c34d12b7 100644 --- a/src/main/deploy/choreo/DTtoRL.traj +++ b/src/main/deploy/choreo/DTtoRL.traj @@ -3,26 +3,26 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.929198145866394, "y":7.364913940429688, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":0.8500553965568542, "y":5.984574794769287, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.3}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":5.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.929198145866394 m", "val":1.929198145866394}, "y":{"exp":"7.3649139404296875 m", "val":7.364913940429688}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"RLL.x", "val":2.660629749298096}, "y":{"exp":"RLL.y", "val":7.363339424133301}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"0.8500553965568542 m", "val":0.8500553965568542}, "y":{"exp":"5.984574794769287 m", "val":5.984574794769287}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RLL.x", "val":2.660629749298096}, "y":{"exp":"RLL.y", "val":7.363339424133301}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2.3 m / s", "val":2.3}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"5 rad / s", "val":5.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -53,56 +53,48 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.02592,1.51519], + "waypoints":[0.0,0.98988], "samples":[ - {"t":0.0, "x":0.80987, "y":6.31261, "heading":3.14159, "vx":1.08146, "vy":1.03648, "omega":3.21613, "ax":0.03791, "ay":0.03624, "alpha":0.0344, "fx":[0.70154,0.70154,0.55207,0.55208], "fy":[0.52439,0.67386,0.67386,0.52439]}, - {"t":0.02931, "x":0.84159, "y":6.343, "heading":-3.04732, "vx":1.08257, "vy":1.03755, "omega":3.21714, "ax":0.00006, "ay":-0.00006, "alpha":0.0803, "fx":[0.19102,0.15818,-0.18915,-0.15631], "fy":[-0.1582,0.18913,0.15629,-0.19104]}, - {"t":0.05862, "x":0.87332, "y":6.37342, "heading":-2.95302, "vx":1.08257, "vy":1.03754, "omega":3.21949, "ax":0.00004, "ay":-0.00004, "alpha":0.11579, "fx":[0.29486,0.20055,-0.29362,-0.19931], "fy":[-0.20058,0.2936,0.19929,-0.29489]}, - {"t":0.08794, "x":0.90505, "y":6.40383, "heading":-2.85865, "vx":1.08257, "vy":1.03754, "omega":3.22289, "ax":0.00001, "ay":-0.00001, "alpha":0.13567, "fx":[0.3655,0.20094,-0.36508,-0.20051], "fy":[-0.20094,0.36507,0.2005,-0.36551]}, - {"t":0.11725, 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"splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/FLMtoCL.traj b/src/main/deploy/choreo/FLMtoCL.traj index c3130f4a..443b3ca9 100644 --- a/src/main/deploy/choreo/FLMtoCL.traj +++ b/src/main/deploy/choreo/FLMtoCL.traj @@ -26,7 +26,7 @@ {"x":{"exp":"3.2658567428588867 m", "val":3.2658567428588867}, "y":{"exp":"7.07125997543335 m", "val":7.07125997543335}, "heading":{"exp":"-2.58609898068092 rad", "val":-2.58609898068092}, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.9777511358261108 m", "val":1.9777511358261108}, "y":{"exp":"4.874825954437256 m", "val":4.874825954437256}, "heading":{"exp":"1.5760360316862745 rad", "val":1.5760360316862745}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.4044795036315918 m", "val":1.4044795036315918}, "y":{"exp":"4.874825954437256 m", "val":4.874825954437256}, "heading":{"exp":"1.5760360316862745 rad", "val":1.5760360316862745}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/FLMtoML.traj b/src/main/deploy/choreo/FLMtoML.traj index 390fdc7b..f23a01f5 100644 --- a/src/main/deploy/choreo/FLMtoML.traj +++ b/src/main/deploy/choreo/FLMtoML.traj @@ -3,28 +3,30 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.521002769470215, "y":7.377725124359131, "heading":3.141592653589793, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.521002769470215, "y":7.377725124359131, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], 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"heading":-1.5707963267948966, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":false}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, 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"props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, - {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true}], + {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":false}, + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":false}, + {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -59,105 +55,38 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.9436,3.08286,4.08992], + "waypoints":[0.0,0.89006], "samples":[ - {"t":0.0, "x":2.32967, "y":7.44913, "heading":-3.14159, "vx":0.1049, "vy":-2.99285, "omega":-1.78538, "ax":0.00932, "ay":-0.14704, "alpha":2.25195, "fx":[5.12925,5.1813,-4.85656,-4.83767], "fy":[-7.20504,2.35961,2.34411,-7.22273]}, - {"t":0.03044, 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{"t":2.35212, "x":7.62954, "y":6.43239, "heading":-1.27891, "vx":0.73397, "vy":-2.17881, "omega":-1.18929, "ax":-0.00001, "ay":0.0, "alpha":0.18283, "fx":[0.26588,-0.49486,-0.26628,0.49446], "fy":[0.49459,0.26601,-0.49473,-0.26615]}, + {"t":2.37812, "x":7.64862, "y":6.37574, "heading":-1.30983, "vx":0.73397, "vy":-2.17881, "omega":-1.18454, "ax":-0.00001, "ay":0.0, "alpha":0.23479, "fx":[0.361,-0.62457,-0.36137,0.6242], "fy":[0.62432,0.36112,-0.62445,-0.36125]}, + {"t":2.40412, "x":7.6677, "y":6.31909, "heading":-1.34063, "vx":0.73397, "vy":-2.17881, "omega":-1.17843, "ax":-0.00001, "ay":0.0, "alpha":0.31872, "fx":[0.51599,-0.83221,-0.51631,0.8319], "fy":[0.832,0.5161,-0.83211,-0.5162]}, + {"t":2.43012, "x":7.68679, "y":6.26244, "heading":-1.37127, "vx":0.73397, "vy":-2.17881, "omega":-1.17015, "ax":-0.00001, "ay":0.0, "alpha":0.44595, "fx":[0.7574,-1.14166,-0.75764,1.14142], "fy":[1.1415,0.75748,-1.14158,-0.75757]}, + {"t":2.45612, "x":7.70587, "y":6.20579, "heading":-1.4017, "vx":0.73397, "vy":-2.17881, "omega":-1.15855, "ax":0.0, "ay":0.0, "alpha":0.63394, "fx":[1.12566,-1.58935,-1.12582,1.5892], "fy":[1.58925,1.12571,-1.58931,-1.12577]}, + {"t":2.48212, "x":7.72495, "y":6.14914, "heading":-1.43182, "vx":0.73397, "vy":-2.17881, "omega":-1.14207, "ax":0.0, "ay":0.0, "alpha":0.90862, "fx":[1.68135,-2.22827,-1.68139,2.22823], "fy":[2.22824,1.68136,-2.22826,-1.68139]}, + {"t":2.50812, "x":7.74404, "y":6.09249, "heading":-1.46151, "vx":0.73397, "vy":-2.17881, "omega":-1.11845, "ax":0.0, "ay":0.0, "alpha":1.30763, "fx":[2.51392,-3.13346,-2.51383,3.13355], "fy":[3.13351,2.51388,-3.1335,-2.51386]}, + {"t":2.53412, "x":7.76312, "y":6.03584, "heading":-1.49059, "vx":0.73397, "vy":-2.17881, "omega":-1.08445, "ax":0.00001, "ay":0.0, "alpha":1.88484, "fx":[3.75344,-4.40929,-3.7532,4.40952], "fy":[4.40944,3.75335,-4.40938,-3.75329]}, + {"t":2.56012, "x":7.7822, "y":5.97919, "heading":-1.51879, "vx":0.73397, "vy":-2.17881, "omega":-1.03544, "ax":0.00001, "ay":0.0, "alpha":2.71588, "fx":[5.58531,-6.19843,-5.58503,6.19871], "fy":[6.19864,5.58524,-6.19851,-5.58511]}, + {"t":2.58612, "x":7.80129, "y":5.92254, "heading":-1.54571, "vx":0.73397, "vy":-2.17881, "omega":-0.96483, "ax":-0.01093, "ay":0.03243, "alpha":3.9043, "fx":[8.08384,-8.87075,-8.44853,8.51245], "fy":[9.2282,8.80174,-8.15496,-7.73031]}, + {"t":2.61212, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.73368, "vy":-2.17797, "omega":-0.86331, "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/SLBtoCL.traj b/src/main/deploy/choreo/SLBtoCL.traj index a448d3ab..c9acf0ef 100644 --- a/src/main/deploy/choreo/SLBtoCL.traj +++ b/src/main/deploy/choreo/SLBtoCL.traj @@ -17,7 +17,7 @@ "waypoints":[ {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index d8cdd27f..61eff082 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -22,12 +22,12 @@ "poses":{ "CL":{ "x":{ - "exp":"0.7251942157745361 m", - "val":0.7251942157745361 + "exp":"1.998773455619812 m", + "val":1.998773455619812 }, "y":{ - "exp":"4.738563060760498 m", - "val":4.738563060760498 + "exp":"4.835856914520264 m", + "val":4.835856914520264 }, "heading":{ "exp":"1.5728533535678788 rad", From 48d72c8477a9463ff09fe7ae73fe25c2cfc1967d Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 6 Mar 2026 14:32:43 -0800 Subject: [PATCH 10/42] use foc numbers for max vel and torque? seems like 2.6 is our max vel --- src/main/deploy/choreo/DBtoFL.traj | 316 +++-- src/main/deploy/choreo/DLOtoDLT.traj | 115 +- src/main/deploy/choreo/DLTtoDRO.traj | 2 +- src/main/deploy/choreo/DLTtoSRB.traj | 199 ++- src/main/deploy/choreo/DLTtoSRT.traj | 214 ++-- src/main/deploy/choreo/DROtoDRT.traj | 10 +- src/main/deploy/choreo/DRTtoDLO.traj | 2 +- src/main/deploy/choreo/DRTtoSLB.traj | 187 ++- src/main/deploy/choreo/DRTtoSLT.traj | 195 ++- src/main/deploy/choreo/DTtoFL.traj | 367 +++--- src/main/deploy/choreo/DTtoRL.traj | 87 +- src/main/deploy/choreo/FLMtoCL.traj | 8 +- src/main/deploy/choreo/FLMtoEL.traj | 256 ++-- src/main/deploy/choreo/FLMtoML.traj | 170 ++- src/main/deploy/choreo/FLMtoSLB.traj | 190 ++- src/main/deploy/choreo/FLMtoSLT.traj | 1110 ++++++++--------- src/main/deploy/choreo/FLtoFLM.traj | 37 +- src/main/deploy/choreo/FLtoSL.traj | 4 +- src/main/deploy/choreo/FRMtoCR.traj | 303 +++-- src/main/deploy/choreo/FRMtoER.traj | 255 ++-- src/main/deploy/choreo/FRMtoMR.traj | 161 ++- src/main/deploy/choreo/FRMtoSR.traj | 236 ++-- src/main/deploy/choreo/FRMtoSRB.traj | 192 ++- src/main/deploy/choreo/FRtoFRM.traj | 37 +- src/main/deploy/choreo/FRtoSRT.traj | 209 ++-- src/main/deploy/choreo/MLtoCL.traj | 2 +- src/main/deploy/choreo/MLtoSL.traj | 10 +- src/main/deploy/choreo/MRtoCR.traj | 67 +- src/main/deploy/choreo/MRtoSR.traj | 8 +- src/main/deploy/choreo/OBtoFR.traj | 322 +++-- src/main/deploy/choreo/OTtoFR.traj | 313 +++-- src/main/deploy/choreo/OTtoRR.traj | 76 +- src/main/deploy/choreo/PLBtoDLO.traj | 220 ++-- src/main/deploy/choreo/PLTtoD.traj | 78 +- src/main/deploy/choreo/PLTtoDRO.traj | 233 ++-- src/main/deploy/choreo/PRBtoDRO.traj | 202 ++- src/main/deploy/choreo/PRTtoDRO.traj | 185 ++- src/main/deploy/choreo/PRTtoO.traj | 76 +- src/main/deploy/choreo/RLtoFL.traj | 168 ++- src/main/deploy/choreo/RRtoFR.traj | 154 ++- src/main/deploy/choreo/RUNtoTEST.traj | 222 ++-- src/main/deploy/choreo/SLBtoCL.traj | 121 +- src/main/deploy/choreo/SLTtoEL.traj | 53 +- src/main/deploy/choreo/SLTtoFL.traj | 217 ++-- src/main/deploy/choreo/SLtoCL.traj | 168 ++- src/main/deploy/choreo/SLtoCM.traj | 112 +- src/main/deploy/choreo/SRBtoCR.traj | 60 +- src/main/deploy/choreo/SRTtoCR.traj | 109 +- src/main/deploy/choreo/SRTtoER.traj | 50 +- src/main/deploy/choreo/SRtoCM.traj | 103 +- src/main/deploy/choreo/SRtoFR.traj | 243 ++-- src/main/deploy/choreo/rebuiltChoreo.chor | 8 +- src/main/deploy/choreo/testposes.traj | 253 ++-- .../subsystems/swerve/SwerveSubsystem.java | 32 +- 54 files changed, 4326 insertions(+), 4401 deletions(-) diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj index f405c02e..2b0f5547 100644 --- a/src/main/deploy/choreo/DBtoFL.traj +++ b/src/main/deploy/choreo/DBtoFL.traj @@ -3,11 +3,11 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.527308464050293, "y":7.016829490661621, "heading":-1.369478506668525, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.527308464050293, "y":7.016829490661621, "heading":-1.369478506668525, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -18,11 +18,11 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.6742305755615234 m", "val":3.674230575561523}, "y":{"exp":"5.870871067047119 m", "val":5.870871067047119}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.6742305755615234 m", "val":3.674230575561523}, "y":{"exp":"5.870871067047119 m", "val":5.870871067047119}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.712236404418945 m", "val":4.712236404418945}, "y":{"exp":"5.845959186553955 m", "val":5.845959186553955}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.791762351989746 m", "val":5.791762351989746}, "y":{"exp":"5.82935094833374 m", "val":5.82935094833374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.527308464050293 m", "val":7.527308464050293}, "y":{"exp":"7.016829490661621 m", "val":7.016829490661621}, "heading":{"exp":"-1.3694785066685253 rad", "val":-1.369478506668525}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.791762351989746 m", "val":5.791762351989746}, "y":{"exp":"5.82935094833374 m", "val":5.82935094833374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.527308464050293 m", "val":7.527308464050293}, "y":{"exp":"7.016829490661621 m", "val":7.016829490661621}, "heading":{"exp":"-1.3694785066685253 rad", "val":-1.369478506668525}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -48,8 +48,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -59,158 +59,152 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.93278,2.62524,3.34712,4.77092,5.58255], + "waypoints":[0.0,1.93273,2.62515,3.34621,4.76427,5.57065], "samples":[ - {"t":0.0, "x":0.80987, "y":6.31261, "heading":-3.14159, "vx":1.48046, "vy":-0.2307, "omega":1.60071, "ax":0.03418, "ay":-0.00896, "alpha":0.06571, 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b/src/main/deploy/choreo/DLTtoDRO.traj @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/DLTtoSRB.traj b/src/main/deploy/choreo/DLTtoSRB.traj index ac143a33..7be7c65a 100644 --- a/src/main/deploy/choreo/DLTtoSRB.traj +++ b/src/main/deploy/choreo/DLTtoSRB.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.8596649169921875, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.331108093261719, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.8596649169921875 m", "val":5.8596649169921875}, "y":{"exp":"2.6069321632385254 m", "val":2.6069321632385254}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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"overrideIntervals":false}, + {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.618313789367676, "y":0.7565738558769226, "heading":-3.131691987510157, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.193192958831787, "y":0.7335880994796753, "heading":-3.1240506797033034, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.193192958831787, "y":0.7335880994796753, "heading":-3.1240506797033034, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.618313789367676 m", "val":5.618313789367676}, "y":{"exp":"0.7565738558769226 m", "val":0.7565738558769226}, "heading":{"exp":"-3.131691987510157 rad", "val":-3.131691987510157}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.193192958831787 m", "val":4.193192958831787}, "y":{"exp":"0.7335880994796753 m", "val":0.7335880994796753}, "heading":{"exp":"-3.1240506797033034 rad", "val":-3.1240506797033034}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.193192958831787 m", "val":4.193192958831787}, "y":{"exp":"0.7335880994796753 m", "val":0.7335880994796753}, "heading":{"exp":"-3.1240506797033034 rad", "val":-3.1240506797033034}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - 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"ay":-0.00659, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.10889,-0.10889,-0.10889,-0.10889]}, {"t":2.43486, "x":7.97995, "y":5.87704, "heading":1.57527, "vx":0.0, "vy":1.49937, "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] }, diff --git a/src/main/deploy/choreo/DRTtoDLO.traj b/src/main/deploy/choreo/DRTtoDLO.traj index cc1c32a1..f7d0c86e 100644 --- a/src/main/deploy/choreo/DRTtoDLO.traj +++ b/src/main/deploy/choreo/DRTtoDLO.traj @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/DRTtoSLB.traj b/src/main/deploy/choreo/DRTtoSLB.traj index 9ff6e129..05862bba 100644 --- a/src/main/deploy/choreo/DRTtoSLB.traj +++ b/src/main/deploy/choreo/DRTtoSLB.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":38, "split":false, 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"val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.891683101654053 m", "val":5.891683101654053}, "y":{"exp":"5.438096523284912 m", "val":5.438096523284912}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.515060901641846 m", "val":4.515060901641846}, "y":{"exp":"5.411875247955322 m", "val":5.411875247955322}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.515060901641846 m", "val":4.515060901641846}, "y":{"exp":"5.411875247955322 m", "val":5.411875247955322}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,96 +55,93 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.42312,2.34134,3.49556], + 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"fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.114565372467041 m", "val":6.114565372467041}, "y":{"exp":"7.286704063415527 m", "val":7.286704063415527}, "heading":{"exp":"-3.1304820445880037 rad", "val":-3.1304820445880037}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.410175323486328 m", "val":4.410175323486328}, "y":{"exp":"7.326035976409912 m", "val":7.326035976409912}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + 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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/FLMtoEL.traj b/src/main/deploy/choreo/FLMtoEL.traj index c393e08d..a405cbaa 100644 --- a/src/main/deploy/choreo/FLMtoEL.traj +++ b/src/main/deploy/choreo/FLMtoEL.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.11699104309082, "y":7.238004684448242, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.219851016998291, "y":7.297757148742676, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.219851016998291, "y":7.297757148742676, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1214685440063477, "y":7.046450138092041, "heading":-1.573056098378181, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -46,8 +46,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -57,89 +57,87 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.39418,3.21784], + "waypoints":[0.0,1.38776,3.21168], "samples":[ - {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.83242, "vy":2.14124, "omega":-1.18634, "ax":-0.02069, "ay":0.05308, "alpha":0.02367, "fx":[-0.29066,-0.39349,-0.39349,-0.29066], "fy":[0.929,0.929,0.82618,0.82618]}, - 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+++ b/src/main/deploy/choreo/FLMtoSLB.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.8075175285339355, "y":5.39786434173584, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.29819393157959, "y":5.418973922729492, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.8075175285339355, "y":5.39786434173584, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.29819393157959, "y":5.418973922729492, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.8075175285339355 m", "val":5.8075175285339355}, "y":{"exp":"5.39786434173584 m", "val":5.39786434173584}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.29819393157959 m", "val":4.29819393157959}, "y":{"exp":"5.418973922729492 m", "val":5.418973922729492}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.8075175285339355 m", "val":5.8075175285339355}, "y":{"exp":"5.39786434173584 m", "val":5.39786434173584}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.29819393157959 m", "val":4.29819393157959}, "y":{"exp":"5.418973922729492 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.714456081390381, "y":7.341778755187988, "heading":-3.116906638819587, "intervals":165, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.465227127075195, "y":7.376699447631836, "heading":3.127229582083786, "intervals":123, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":257, "split":false, "fixTranslation":true, "fixHeading":true, 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"heading":{"exp":"-3.116906638819587 rad", "val":-3.116906638819587}, "intervals":165, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.465227127075195 m", "val":4.465227127075195}, "y":{"exp":"7.376699447631836 m", "val":7.376699447631836}, "heading":{"exp":"3.127229582083786 rad", "val":3.127229582083786}, "intervals":123, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ 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"heading":3.14157, "vx":-1.49804, "vy":-0.02947, "omega":0.00106, "ax":-0.00016, "ay":0.01727, "alpha":-0.00145, "fx":[-0.00574,-0.00574,0.00057,0.00057], "fy":[0.2886,0.2823,0.2823,0.2886]}, + {"t":4.63437, "x":2.82804, "y":7.3309, "heading":3.14158, "vx":-1.49804, "vy":-0.02931, "omega":0.00105, "ax":0.18638, "ay":0.01095, "alpha":-0.00139, "fx":[3.0784,3.0784,3.08444,3.08444], "fy":[0.18402,0.17798,0.17798,0.18402]}, + {"t":4.64333, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49637, "vy":-0.02921, "omega":0.00104, "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/FLtoFLM.traj b/src/main/deploy/choreo/FLtoFLM.traj index b439701e..827b32a5 100644 --- a/src/main/deploy/choreo/FLtoFLM.traj +++ b/src/main/deploy/choreo/FLtoFLM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -40,8 +40,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,22 +51,21 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.37562], + "waypoints":[0.0,0.38852], "samples":[ - {"t":0.0, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.0, "vy":-3.62225, "omega":0.0, "ax":0.0, "ay":-0.17318, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], 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b/src/main/deploy/choreo/FLtoSL.traj index 3b75bd19..ddfeb05c 100644 --- a/src/main/deploy/choreo/FLtoSL.traj +++ b/src/main/deploy/choreo/FLtoSL.traj @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.347630977630615 m", "val":6.347630977630615}, "y":{"exp":"7.2292633056640625 m", "val":7.2292633056640625}, "heading":{"exp":"-1.7818893280275419 rad", "val":-1.781889328027542}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.347630977630615 m", "val":6.347630977630615}, "y":{"exp":"7.2292633056640625 m", "val":7.2292633056640625}, "heading":{"exp":"-1.7818893280275419 rad", "val":-1.781889328027542}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/FRMtoCR.traj b/src/main/deploy/choreo/FRMtoCR.traj index 9d32482e..71866929 100644 --- a/src/main/deploy/choreo/FRMtoCR.traj +++ b/src/main/deploy/choreo/FRMtoCR.traj @@ -3,10 +3,10 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, 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"y":3.55698299407959, "heading":1.5707963267948966, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.02736234664917, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.02736234664917 m", "val":6.02736234664917}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.548489570617676 m", "val":4.548489570617676}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.548489570617676 m", "val":4.548489570617676}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"ER.heading", "val":1.5718817860612435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, 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"fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,8 +17,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, 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{"t":2.88733, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-2.29898, "vy":-0.00874, "omega":-0.38604, "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/FRMtoSR.traj b/src/main/deploy/choreo/FRMtoSR.traj index 97010e7f..9113e359 100644 --- a/src/main/deploy/choreo/FRMtoSR.traj +++ b/src/main/deploy/choreo/FRMtoSR.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.502653121948242, "y":0.7615315914154053, "heading":-3.128260189486699, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.8253278732299805, "y":0.7128239274024963, "heading":-3.138122385310093, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.502653121948242, "y":0.7615315914154053, "heading":-3.128260189486699, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.8253278732299805, "y":0.7128239274024963, "heading":-3.138122385310093, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.502653121948242 m", "val":6.502653121948242}, "y":{"exp":"0.7615315914154053 m", "val":0.7615315914154053}, "heading":{"exp":"-3.128260189486699 rad", "val":-3.128260189486699}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.8253278732299805 m", "val":4.8253278732299805}, "y":{"exp":"0.7128239274024963 m", "val":0.7128239274024963}, "heading":{"exp":"-3.138122385310093 rad", "val":-3.138122385310093}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.502653121948242 m", "val":6.502653121948242}, "y":{"exp":"0.7615315914154053 m", "val":0.7615315914154053}, "heading":{"exp":"-3.128260189486699 rad", "val":-3.128260189486699}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.8253278732299805 m", "val":4.8253278732299805}, "y":{"exp":"0.7128239274024963 m", "val":0.7128239274024963}, "heading":{"exp":"-3.138122385310093 rad", "val":-3.138122385310093}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -44,8 +44,8 @@ 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+ {"t":4.55801, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.49934, "vy":0.00241, "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/FRMtoSRB.traj b/src/main/deploy/choreo/FRMtoSRB.traj index 82323be0..f16e6092 100644 --- a/src/main/deploy/choreo/FRMtoSRB.traj +++ b/src/main/deploy/choreo/FRMtoSRB.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.859950542449951, "y":2.5344107151031494, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.438337326049805, "y":2.5778985023498535, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.859950542449951, "y":2.5344107151031494, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.438337326049805, "y":2.5778985023498535, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.859950542449951 m", "val":5.859950542449951}, "y":{"exp":"2.5344107151031494 m", "val":2.5344107151031494}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.438337326049805 m", "val":4.438337326049805}, "y":{"exp":"2.5778985023498535 m", "val":2.5778985023498535}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.859950542449951 m", "val":5.859950542449951}, "y":{"exp":"2.5344107151031494 m", "val":2.5344107151031494}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.438337326049805 m", "val":4.438337326049805}, "y":{"exp":"2.5778985023498535 m", "val":2.5778985023498535}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - 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a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -40,8 +40,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,22 +51,21 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.36948], + 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/MLtoSL.traj b/src/main/deploy/choreo/MLtoSL.traj index 2343b74b..9c1e25b1 100644 --- a/src/main/deploy/choreo/MLtoSL.traj +++ b/src/main/deploy/choreo/MLtoSL.traj @@ -40,8 +40,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,15 +53,15 @@ "sampleType":"Swerve", "waypoints":[0.0,0.33293], "samples":[ - {"t":0.0, "x":2.32967, "y":7.44913, "heading":-3.14159, "vx":1.45556, "vy":-0.35565, "omega":0.0, "ax":0.03195, "ay":-0.00781, "alpha":0.0, "fx":[0.5283,0.5283,0.5283,0.5283], "fy":[-0.12909,-0.12909,-0.12909,-0.12909]}, + {"t":0.0, "x":2.32967, "y":7.44913, "heading":-3.14159, "vx":1.45556, "vy":-0.35565, "omega":0.0, "ax":0.03196, "ay":-0.00781, "alpha":0.0, "fx":[0.52836,0.52836,0.52836,0.52836], "fy":[-0.1291,-0.1291,-0.1291,-0.1291]}, {"t":0.03699, "x":2.38354, "y":7.43597, "heading":-3.14159, "vx":1.45674, "vy":-0.35594, "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":0.07398, "x":2.43742, "y":7.4228, "heading":-3.14159, "vx":1.45674, "vy":-0.35594, "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":0.11098, 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+++ b/src/main/deploy/choreo/MRtoCR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.838799834251404, "y":2.700927495956421, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.8387998342514038 m", "val":1.838799834251404}, "y":{"exp":"2.700927495956421 m", "val":2.700927495956421}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -40,8 +40,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,37 +51,36 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.91051], + 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"inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,7 +53,7 @@ "sampleType":"Swerve", "waypoints":[0.0,0.3748], "samples":[ - {"t":0.0, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-1.49591, "vy":0.08627, "omega":0.0, "ax":-0.03199, "ay":0.00184, "alpha":0.0, "fx":[-0.5289,-0.5289,-0.5289,-0.5289], "fy":[0.0305,0.0305,0.0305,0.0305]}, + {"t":0.0, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-1.49591, "vy":0.08627, "omega":0.0, "ax":-0.03199, "ay":0.00185, "alpha":0.0, "fx":[-0.52896,-0.52896,-0.52896,-0.52896], "fy":[0.03051,0.03051,0.03051,0.03051]}, {"t":0.03748, "x":3.27358, "y":0.69144, "heading":3.14159, "vx":-1.49711, "vy":0.08634, "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":0.07496, "x":3.21747, "y":0.69468, "heading":3.14159, "vx":-1.49711, "vy":0.08634, "omega":0.0, "ax":0.0, 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"fy":[-0.01017,-0.01017,-0.01017,-0.01017]}, + {"t":0.33732, "x":2.82469, "y":0.71733, "heading":3.14159, "vx":-1.49711, "vy":0.08634, "omega":0.0, "ax":0.01067, "ay":-0.00062, "alpha":0.0, "fx":[0.17642,0.17642,0.17642,0.17642], "fy":[-0.01017,-0.01017,-0.01017,-0.01017]}, {"t":0.3748, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.49671, "vy":0.08632, "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] }, diff --git a/src/main/deploy/choreo/OBtoFR.traj b/src/main/deploy/choreo/OBtoFR.traj index 48668d05..e903e2bc 100644 --- a/src/main/deploy/choreo/OBtoFR.traj +++ b/src/main/deploy/choreo/OBtoFR.traj @@ -3,11 +3,11 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, 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"intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -42,8 +42,8 @@ "inertia":4.80002195, 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"vy":-0.24281, "omega":0.00002, "ax":-0.2128, "ay":0.01477, "alpha":-0.00082, "fx":[-3.51654,-3.51654,-3.52009,-3.52009], "fy":[0.24249,0.24604,0.24604,0.24249]}, + {"t":0.77907, "x":2.51068, "y":0.66066, "heading":0.0, "vx":3.49185, "vy":-0.24243, "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/PLBtoDLO.traj b/src/main/deploy/choreo/PLBtoDLO.traj index a197f898..82fc05b8 100644 --- a/src/main/deploy/choreo/PLBtoDLO.traj +++ b/src/main/deploy/choreo/PLBtoDLO.traj @@ -4,8 +4,8 @@ "snapshot":{ "waypoints":[ {"x":3.708786010742188, "y":5.537450790405273, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.767721176147461, "y":5.537623882293701, "heading":0.0, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.146753311157227, "y":7.112152099609375, "heading":-0.941999816110815, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.767721176147461, "y":5.537623882293701, "heading":0.0, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.146753311157227, "y":7.112152099609375, "heading":-0.941999816110815, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,8 +17,8 @@ "params":{ "waypoints":[ {"x":{"exp":"PLB.x", "val":3.708786010742188}, "y":{"exp":"PLB.y", "val":5.537450790405273}, "heading":{"exp":"PLB.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, "y":{"exp":"5.537623882293701 m", "val":5.537623882293701}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.146753311157227 m", "val":8.146753311157227}, "y":{"exp":"7.112152099609375 m", "val":7.112152099609375}, "heading":{"exp":"-0.941999816110815 rad", "val":-0.941999816110815}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, "y":{"exp":"5.537623882293701 m", "val":5.537623882293701}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.146753311157227 m", "val":8.146753311157227}, "y":{"exp":"7.112152099609375 m", "val":7.112152099609375}, "heading":{"exp":"-0.941999816110815 rad", "val":-0.941999816110815}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.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}, @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,112 +55,110 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.4323,3.35127,4.24608], + "waypoints":[0.0,1.41989,3.33637,4.22806], "samples":[ - {"t":0.0, "x":3.70879, "y":5.53745, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, 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--git a/src/main/deploy/choreo/PLTtoDRO.traj b/src/main/deploy/choreo/PLTtoDRO.traj index 6b035786..5d082640 100644 --- a/src/main/deploy/choreo/PLTtoDRO.traj +++ b/src/main/deploy/choreo/PLTtoDRO.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"ax":-0.00124, "ay":0.01198, "alpha":-2.95791, "fx":[-6.59403,6.25418,6.55246,-6.2949], "fy":[-6.07651,-6.37528,6.47257,6.77121]}, + {"t":4.03662, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.15493, "vy":-1.49112, "omega":0.55436, "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/PRBtoDRO.traj b/src/main/deploy/choreo/PRBtoDRO.traj index cd2dc2cb..b9c4d016 100644 --- a/src/main/deploy/choreo/PRBtoDRO.traj +++ b/src/main/deploy/choreo/PRBtoDRO.traj @@ -4,8 +4,8 @@ "snapshot":{ "waypoints":[ {"x":3.700773715972901, "y":2.531209707260132, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.691983699798584, "y":2.531209707260132, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.24791955947876, "y":1.0617146492004397, "heading":0.5880028060704902, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.691983699798584, "y":2.531209707260132, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.24791955947876, "y":1.0617146492004397, "heading":0.5880028060704902, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,8 +17,8 @@ "params":{ "waypoints":[ {"x":{"exp":"PRB.x", "val":3.700773715972901}, "y":{"exp":"PRB.y", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.691983699798584 m", "val":5.691983699798584}, "y":{"exp":"2.531209707260132 m", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.24791955947876 m", "val":7.24791955947876}, "y":{"exp":"1.0617146492004395 m", "val":1.0617146492004397}, "heading":{"exp":"0.5880028060704902 rad", "val":0.5880028060704902}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.691983699798584 m", "val":5.691983699798584}, "y":{"exp":"2.531209707260132 m", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.24791955947876 m", "val":7.24791955947876}, "y":{"exp":"1.0617146492004395 m", "val":1.0617146492004397}, "heading":{"exp":"0.5880028060704902 rad", "val":0.5880028060704902}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,103 +55,101 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.38801,2.83083,3.76165], + "waypoints":[0.0,1.37543,2.81607,3.74401], "samples":[ - {"t":0.0, "x":3.70077, "y":2.53121, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", 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"props":{"max":{"exp":"2.3 m / s", "val":2.3}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2.6 m / s", "val":2.6}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", @@ -46,8 +46,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -57,85 +57,77 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.34062,2.06612,2.61212], + "waypoints":[0.0,1.18593,1.82787,2.31099], "samples":[ - {"t":0.0, "x":2.66063, "y":7.36334, "heading":0.0, "vx":2.29787, "vy":-0.00139, "omega":0.04819, "ax":0.03698, "ay":0.00001, "alpha":-0.00037, "fx":[0.61214,0.61214,0.61052,0.61052], "fy":[-0.00072,0.0009,0.0009,-0.00072]}, - {"t":0.04325, "x":2.76004, "y":7.36328, 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dac9c0b4..4de8aaea 100644 --- a/src/main/deploy/choreo/RRtoFR.traj +++ b/src/main/deploy/choreo/RRtoFR.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -46,8 +46,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -57,78 +57,74 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.28893,1.71979,2.08424], + "waypoints":[0.0,1.2889,1.73507,2.10772], "samples":[ - {"t":0.0, "x":2.51068, "y":0.66066, "heading":0.0, "vx":2.99707, "vy":-0.0124, 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"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/SLBtoCL.traj b/src/main/deploy/choreo/SLBtoCL.traj index c9acf0ef..388dba41 100644 --- a/src/main/deploy/choreo/SLBtoCL.traj +++ b/src/main/deploy/choreo/SLBtoCL.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.5953468084335327, "y":4.90645694732666, "heading":1.5890886008046656, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.5953468084335327, "y":4.90645694732666, "heading":1.5890886008046656, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.998773455619812, "y":4.835856914520264, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -42,8 +42,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,66 +53,55 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.28049,2.16699], + "waypoints":[0.0,1.30355,1.7356], "samples":[ - {"t":0.0, "x":2.78441, "y":5.38033, "heading":3.14159, "vx":-0.92736, "vy":-0.37116, "omega":-1.26954, "ax":-0.02201, "ay":-0.00881, "alpha":0.00089, "fx":[-0.36192,-0.36192,-0.3658,-0.3658], "fy":[-0.14757,-0.14369,-0.14369,-0.14757]}, - {"t":0.03557, "x":2.75141, "y":5.36712, "heading":3.09644, "vx":-0.92814, "vy":-0.37147, "omega":-1.2695, "ax":0.0, "ay":0.0, "alpha":0.00085, "fx":[0.00175,0.00192,-0.00175,-0.00192], "fy":[-0.00192,0.00175,0.00192,-0.00175]}, - {"t":0.07114, "x":2.7184, 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a/src/main/deploy/choreo/SLTtoEL.traj b/src/main/deploy/choreo/SLTtoEL.traj index d28f454b..9ee54813 100644 --- a/src/main/deploy/choreo/SLTtoEL.traj +++ b/src/main/deploy/choreo/SLTtoEL.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1214685440063477, "y":7.046450138092041, "heading":-1.573056098378181, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.1214685440063477 m", "val":2.1214685440063477}, "y":{"exp":"7.046450138092041 m", "val":7.046450138092041}, "heading":{"exp":"-1.573056098378181 rad", "val":-1.573056098378181}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -40,8 +40,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, 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"heading":3.141592653589793, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.739718437194824, "y":6.998943328857422, "heading":-1.650627593283163, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.304653644561768, "y":7.37657356262207, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.739718437194824, "y":6.998943328857422, "heading":-1.650627593283163, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.304653644561768 m", "val":5.304653644561768}, "y":{"exp":"7.37657356262207 m", "val":7.37657356262207}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.739718437194824 m", "val":7.739718437194824}, "y":{"exp":"6.998943328857422 m", "val":6.998943328857422}, "heading":{"exp":"-1.650627593283163 rad", "val":-1.650627593283163}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.304653644561768 m", "val":5.304653644561768}, "y":{"exp":"7.37657356262207 m", "val":7.37657356262207}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.739718437194824 m", "val":7.739718437194824}, "y":{"exp":"6.998943328857422 m", "val":6.998943328857422}, "heading":{"exp":"-1.650627593283163 rad", "val":-1.650627593283163}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", 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a/src/main/deploy/choreo/SLtoCL.traj +++ b/src/main/deploy/choreo/SLtoCL.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.3828084468841553, "y":4.868075847625732, "heading":1.5728533535678788, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.8873613476753235, "y":4.874957084655762, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.439544916152954 m", "val":2.439544916152954}, "y":{"exp":"4.924097061157227 m", "val":4.924097061157227}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.3828084468841553 m", "val":1.3828084468841553}, "y":{"exp":"4.868075847625732 m", "val":4.868075847625732}, 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"vy":-0.77869, "omega":0.0, "ax":4.7815, "ay":16.01667, "alpha":0.0, "fx":[79.05471,79.05471,79.05471,79.05471], "fy":[264.81061,264.81061,264.81061,264.81061]}, + {"t":2.52812, "x":1.75006, "y":3.76463, "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/SRBtoCR.traj b/src/main/deploy/choreo/SRBtoCR.traj index cdbcb791..08f88626 100644 --- a/src/main/deploy/choreo/SRBtoCR.traj +++ b/src/main/deploy/choreo/SRBtoCR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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{"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7531986236572266, "y":3.3997113704681396, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.7531986236572266 m", "val":1.7531986236572266}, "y":{"exp":"3.3997113704681396 m", "val":3.3997113704681396}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -40,8 +40,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,58 +51,57 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.96783], + "waypoints":[0.0,1.9569], "samples":[ - {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-0.53107, "vy":1.40125, "omega":0.88458, "ax":-0.00982, "ay":0.02592, "alpha":-0.0011, "fx":[-0.1648,-0.1648,-0.16002,-0.16002], "fy":[0.4309,0.42612,0.42612,0.4309]}, - 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a/src/main/deploy/choreo/SRTtoER.traj +++ b/src/main/deploy/choreo/SRTtoER.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"1.5718817860612435 rad", "val":1.5718817860612435}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -40,8 +40,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,29 +51,27 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - 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"heading":3.141592653589793, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -40,8 +40,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,55 +51,54 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.19879], + "waypoints":[0.0,2.18699], "samples":[ - {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-0.47556, "vy":1.42129, "omega":0.0, "ax":-0.00626, "ay":0.01871, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.382783889770508, "y":0.7094446420669556, "heading":-3.126526630663652, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.713675022125244, "y":0.7875750660896301, "heading":2.261243128434208, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.382783889770508, "y":0.7094446420669556, "heading":-3.126526630663652, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.713675022125244, "y":0.7875750660896301, "heading":2.261243128434208, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,8 +17,8 @@ "params":{ "waypoints":[ {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.382783889770508 m", "val":5.382783889770508}, "y":{"exp":"0.7094446420669556 m", "val":0.7094446420669556}, "heading":{"exp":"-3.126526630663652 rad", "val":-3.126526630663652}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.713675022125244 m", "val":7.713675022125244}, "y":{"exp":"0.7875750660896301 m", "val":0.7875750660896301}, "heading":{"exp":"2.261243128434208 rad", "val":2.261243128434208}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.382783889770508 m", "val":5.382783889770508}, "y":{"exp":"0.7094446420669556 m", "val":0.7094446420669556}, "heading":{"exp":"-3.126526630663652 rad", "val":-3.126526630663652}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.713675022125244 m", "val":7.713675022125244}, "y":{"exp":"0.7875750660896301 m", "val":0.7875750660896301}, "heading":{"exp":"2.261243128434208 rad", "val":2.261243128434208}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -44,8 +44,8 @@ "inertia":4.80002195, "gearing":7.03, 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{"t":4.7018, "x":7.81773, "y":2.16552, "heading":1.62395, "vx":0.069, "vy":1.34788, "omega":-1.39274, "ax":0.00044, "ay":-0.00931, "alpha":0.12629, "fx":[-0.25653,0.29182,0.27096,-0.2774], "fy":[-0.4385,-0.41764,0.13071,0.10985]}, + {"t":4.73996, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.06902, "vy":1.34753, "omega":-1.38792, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 61eff082..75f851c3 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -438,12 +438,12 @@ "val":0.0508 }, "vmax":{ - "exp":"4800 RPM", - "val":502.6548245743669 + "exp":"4640 RPM", + "val":485.8996637552213 }, "tmax":{ - "exp":"1.6 N * m", - "val":1.6 + "exp":"2 N * m", + "val":2.0 }, "cof":{ "exp":"2.25", diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index dd286b3f..5ddbdeeb 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -42,8 +42,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,129 +53,126 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.07972,2.827,4.86295], + "waypoints":[0.0,1.09836,2.88556,4.94025], "samples":[ - {"t":0.0, "x":1.80247, "y":2.44997, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.26192, "ay":4.1006, "alpha":-64.76809, "fx":[-218.69495,205.75442,67.60367,-138.11872], "fy":[-32.49506,-79.69633,210.58272,172.79656]}, - {"t":0.03374, "x":1.80175, "y":2.4523, "heading":-1.5738, "vx":-0.04258, "vy":0.13836, "omega":-2.18535, "ax":-1.33623, "ay":4.37884, "alpha":-63.73953, "fx":[-219.55693,208.74536,61.12709,-138.68568], "fy":[-24.97469,-70.12727,212.44944,172.24166]}, - {"t":0.06748, "x":1.79956, "y":2.45946, "heading":-1.64754, "vx":-0.08766, "vy":0.28611, "omega":-4.33599, "ax":-1.45126, 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"fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, + {"t":4.65355, "x":4.82715, "y":1.36097, "heading":-0.09372, "vx":-0.68429, "vy":-3.44086, "omega":0.00071, "ax":0.00027, "ay":0.0002, "alpha":0.0004, "fx":[0.00365,0.00349,0.00522,0.00539], "fy":[0.00424,0.00251,0.00234,0.00408]}, + {"t":4.70133, "x":4.79445, "y":1.19655, "heading":-0.09369, "vx":-0.68428, "vy":-3.44085, "omega":0.00073, "ax":1.31438, "ay":6.58998, "alpha":15.96466, "fx":[-12.61806,-23.8792,63.92186,59.50036], "fy":[142.53408,85.12132,74.65104,133.51381]}, + {"t":4.74912, "x":4.76325, "y":1.03966, "heading":-0.09365, "vx":-0.62147, "vy":-3.12596, "omega":0.76358, "ax":3.24634, "ay":16.33209, "alpha":-3.57491, "fx":[71.04851,66.40715,37.90892,39.32817], "fy":[266.37924,267.68947,273.17575,272.85791]}, + {"t":4.7969, "x":4.73726, "y":0.90893, "heading":-0.05716, "vx":-0.46635, "vy":-2.34555, "omega":0.59275, "ax":3.25179, "ay":16.35595, "alpha":-4.00947, "fx":[73.89481,67.29433,35.60992,38.25417], "fy":[266.16506,267.97359,273.98216,273.55986]}, + {"t":4.84469, "x":4.71869, "y":0.81553, "heading":-0.02884, "vx":-0.31097, "vy":-1.564, "omega":0.40117, "ax":3.25351, "ay":16.3636, "alpha":-4.1598, "fx":[75.11472,67.25998,34.54891,38.2435], "fy":[266.01104,268.14825,274.2816,273.74549]}, + {"t":4.89247, "x":4.70755, "y":0.75948, "heading":-0.00967, "vx":-0.1555, "vy":-0.78209, "omega":0.2024, "ax":3.25435, "ay":16.36736, "alpha":-4.23569, "fx":[75.79915,67.12853,33.93038,38.36452], "fy":[265.91058,268.26359,274.44028,273.82094]}, + {"t":4.94025, "x":4.70383, "y":0.74079, "heading":0.0, "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/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 8889d571..88747978 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -1,5 +1,7 @@ package frc.robot.subsystems.swerve; +import static edu.wpi.first.units.Units.Inch; +import static edu.wpi.first.units.Units.KilogramSquareMeters; import static edu.wpi.first.units.Units.Meter; import static edu.wpi.first.units.Units.Volts; @@ -73,7 +75,9 @@ import org.ironmaple.simulation.SimulatedArena; import org.ironmaple.simulation.drivesims.COTS; import org.ironmaple.simulation.drivesims.SwerveDriveSimulation; +import org.ironmaple.simulation.drivesims.SwerveModuleSimulation; import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; +import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -127,19 +131,33 @@ public class SwerveSubsystem extends SubsystemBase { private final SysIdRoutine turnSysid; + private final SwerveModuleSimulationConfig mk5nModuleConfig = + new SwerveModuleSimulationConfig( + DCMotor.getKrakenX60Foc(1), + DCMotor.getKrakenX44Foc(1), + SwerveSubsystem.SWERVE_CONSTANTS.getDriveGearRatio(), + SwerveSubsystem.SWERVE_CONSTANTS.getTurnGearRatio(), + Volts.of(0.1), + Volts.of(0.2), + Inch.of(2), + KilogramSquareMeters.of(0.03), + 2.25); + // ripped the drive friction voltage, steer friction voltage, and steer rotational inertia from + // the mk4n- no clue if that's right lmao // Maple Sim Stuff // TODO: UPDATE DRIVETRAIN SIM!!! private final DriveTrainSimulationConfig driveTrainSimConfig = DriveTrainSimulationConfig.Default() .withGyro(COTS.ofPigeon2()) .withSwerveModule( - COTS.ofMark4n( - DCMotor.getKrakenX60Foc(1), - DCMotor.getKrakenX60Foc(1), - // Still not sure where the 1.5 came from - 1.5, - // Running l2+ swerve modules - 2)) + // COTS.ofMark4n( + // DCMotor.getKrakenX60Foc(1), + // DCMotor.getKrakenX60Foc(1), + // // Still not sure where the 1.5 came from + // 1.5, + // // Running l2+ swerve modules + // 2)) + () -> new SwerveModuleSimulation(mk5nModuleConfig)) .withTrackLengthTrackWidth( Meter.of(SwerveSubsystem.SWERVE_CONSTANTS.getTrackWidthX()), Meter.of(SwerveSubsystem.SWERVE_CONSTANTS.getTrackWidthY())) From f1d112edc58517a5179a8512ebec16cf575da29e Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 7 Mar 2026 18:53:06 -0800 Subject: [PATCH 11/42] slow down paths and stuff but also decrease heading controller kd --- src/main/deploy/choreo/DTtoRL.traj | 131 +++++++----- src/main/deploy/choreo/FLMtoML.traj | 188 ++++++++++-------- src/main/deploy/choreo/FLtoFLM.traj | 42 ++-- src/main/deploy/choreo/MLtoCL.traj | 89 +++++---- src/main/deploy/choreo/PLTtoD.traj | 93 +++++---- src/main/deploy/choreo/RLtoFL.traj | 173 ++++++++-------- .../frc/robot/utils/autoaim/AutoAlign.java | 2 +- 7 files changed, 406 insertions(+), 312 deletions(-) diff --git a/src/main/deploy/choreo/DTtoRL.traj b/src/main/deploy/choreo/DTtoRL.traj index eac6333d..adfea480 100644 --- a/src/main/deploy/choreo/DTtoRL.traj +++ b/src/main/deploy/choreo/DTtoRL.traj @@ -3,26 +3,28 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.8500553965568542, "y":5.984574794769287, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8500553965568542, "y":5.984574794769287, "heading":3.141592653589793, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.092170000076294, "y":6.443007469177246, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.3}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":5.0}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.8}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":2.4}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"0.8500553965568542 m", "val":0.8500553965568542}, "y":{"exp":"5.984574794769287 m", "val":5.984574794769287}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.8500553965568542 m", "val":0.8500553965568542}, "y":{"exp":"5.984574794769287 m", "val":5.984574794769287}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.092170000076294 m", "val":2.092170000076294}, "y":{"exp":"6.443007469177246 m", "val":6.443007469177246}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RLL.x", "val":2.660629749298096}, "y":{"exp":"RLL.y", "val":7.363339424133301}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2.3 m / s", "val":2.3}}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"5 rad / s", "val":5.0}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.8 m / s", "val":1.8}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2.4 rad / s", "val":2.4}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -53,47 +55,80 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.98988], + "waypoints":[0.0,1.33592,1.93706], "samples":[ - {"t":0.0, "x":0.85006, "y":5.98457, "heading":3.14159, "vx":1.82877, "vy":1.38873, "omega":2.99985, "ax":0.07633, "ay":0.07701, "alpha":0.95294, "fx":[3.33237,3.33191,-0.80804,-0.80817], "fy":[-0.79683,3.34312,3.34357,-0.79696]}, - {"t":0.02605, "x":0.89772, "y":6.02078, "heading":-3.06345, "vx":1.83075, "vy":1.39074, "omega":3.02467, "ax":0.01868, "ay":-0.02458, "alpha":1.50106, "fx":[3.8141,3.30526,-3.19674,-2.6874], "fy":[-3.40263,3.09897,2.58997,-3.9119]}, - {"t":0.0521, "x":0.94542, "y":6.057, "heading":-2.98466, "vx":1.83124, "vy":1.3901, "omega":3.06377, "ax":0.01953, "ay":-0.02572, "alpha":2.02941, "fx":[5.36604,3.98853,-4.72082,-3.34228], "fy":[-4.09057,4.61806,3.24015,-5.46884]}, - {"t":0.07815, "x":0.99313, "y":6.0932, "heading":-2.90485, "vx":1.83175, "vy":1.38943, "omega":3.11664, "ax":0.01718, "ay":-0.02264, "alpha":2.60431, "fx":[7.11024,4.45723,-6.54288,-3.88832], "fy":[-4.54706,6.45211,3.79841,-7.20103]}, - {"t":0.1042, "x":1.04085, "y":6.12939, "heading":-2.82366, "vx":1.8322, "vy":1.38884, "omega":3.18448, "ax":0.01179, "ay":-0.01554, "alpha":3.22852, "fx":[9.04889,4.66486,-8.65994,-4.27426], "fy":[-4.72641,8.59754,4.21266,-9.11131]}, - {"t":0.13025, "x":1.08858, "y":6.16556, "heading":-2.74071, "vx":1.8325, "vy":1.38843, "omega":3.26858, "ax":-0.00159, "ay":0.00211, "alpha":3.8499, "fx":[10.93777,4.41028,-10.99006,-4.46289], "fy":[-4.40162,10.99885,4.47154,-10.92898]}, - {"t":0.1563, "x":1.13632, "y":6.20173, "heading":-2.65556, "vx":1.83246, "vy":1.38849, "omega":3.36887, "ax":-0.03814, "ay":0.05032, "alpha":4.0897, "fx":[11.37698,3.07302,-12.63391,-4.33811], "fy":[-2.87257,12.83672,4.53784,-11.17418]}, - {"t":0.18235, "x":1.18404, "y":6.23791, "heading":-2.5678, "vx":1.83147, "vy":1.3898, "omega":3.4754, "ax":-0.10975, "ay":0.14434, "alpha":1.91846, "fx":[3.94896,-0.57723,-7.57583,-3.05441], "fy":[1.14983,8.14805,3.62424,-3.37657]}, - {"t":0.2084, "x":1.23171, "y":6.27417, "heading":-2.47727, "vx":1.82861, "vy":1.39356, "omega":3.52538, 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"fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.998773455619812, "y":4.835856914520264, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":false}, - {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":false}, - {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, 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"fx":[-139.68744,-139.74899,-139.58887,-139.52721], "fy":[-233.30656,-233.27355,-233.37083,-233.40385]}, + {"t":2.63725, "x":7.36695, "y":7.0265, "heading":-0.9308, "vx":1.37438, "vy":-1.16029, "omega":-0.98094, "ax":-12.29898, "ay":-10.92014, "alpha":0.01605, "fx":[-203.3849,-203.3945,-203.30404,-203.2944], "fy":[-180.49991,-180.49273,-180.59492,-180.60215]}, + {"t":2.66885, "x":7.40424, "y":6.98438, "heading":-0.9618, "vx":0.98573, "vy":-1.50538, "omega":-0.98043, "ax":-10.95382, "ay":-5.58704, "alpha":0.1922, "fx":[-181.28795,-181.54612,-180.92174,-180.66129], "fy":[-91.65161,-91.98395,-93.09198,-92.76464]}, + {"t":2.70045, "x":7.42992, "y":6.93402, "heading":-0.99278, "vx":0.63958, "vy":-1.68193, "omega":-0.97436, "ax":-0.68851, "ay":-0.25678, "alpha":0.40959, "fx":[-11.12654,-12.61315,-11.64073,-10.1534], "fy":[-3.01235,-3.98449,-5.47806,-4.50662]}, + {"t":2.73205, "x":7.44978, "y":6.88074, "heading":-1.02357, "vx":0.61782, "vy":-1.69004, "omega":-0.96142, "ax":-0.01914, 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{"t":3.01645, "x":7.62533, "y":6.40003, "heading":-1.29227, "vx":0.6172, "vy":-1.69027, "omega":-0.93516, "ax":0.0, "ay":0.0, "alpha":0.07289, "fx":[0.1087,-0.19578,-0.10871,0.19577], "fy":[0.19577,0.1087,-0.19578,-0.10871]}, + {"t":3.04805, "x":7.64483, "y":6.34661, "heading":-1.32182, "vx":0.6172, "vy":-1.69027, "omega":-0.93285, "ax":0.0, "ay":0.0, "alpha":0.1091, "fx":[0.17129,-0.2881,-0.1713,0.28809], "fy":[0.28809,0.17129,-0.2881,-0.1713]}, + {"t":3.07966, "x":7.66434, "y":6.2932, "heading":-1.3513, "vx":0.6172, "vy":-1.69027, "omega":-0.92941, "ax":0.0, "ay":0.0, "alpha":0.16695, "fx":[0.27501,-0.43296,-0.27502,0.43295], "fy":[0.43295,0.27501,-0.43296,-0.27501]}, + {"t":3.11126, "x":7.68384, "y":6.23979, "heading":-1.38067, "vx":0.6172, "vy":-1.69027, "omega":-0.92413, "ax":0.0, "ay":0.0, "alpha":0.25802, "fx":[0.44447,-0.65634,-0.44448,0.65633], "fy":[0.65633,0.44448,-0.65633,-0.44448]}, + {"t":3.14286, "x":7.70335, "y":6.18637, "heading":-1.40987, "vx":0.6172, "vy":-1.69027, "omega":-0.91598, "ax":0.0, "ay":0.0, "alpha":0.40051, "fx":[0.71939,-0.99821,-0.71939,0.9982], "fy":[0.9982,0.71939,-0.99821,-0.71939]}, + {"t":3.17446, "x":7.72285, "y":6.13296, "heading":-1.43882, "vx":0.6172, "vy":-1.69027, "omega":-0.90332, "ax":0.0, "ay":0.0, "alpha":0.62288, "fx":[1.16329,-1.51942,-1.16328,1.51942], "fy":[1.51942,1.16328,-1.51942,-1.16329]}, + {"t":3.20606, "x":7.74235, "y":6.07955, "heading":-1.46736, "vx":0.6172, "vy":-1.69027, "omega":-0.88364, "ax":0.0, "ay":0.0, "alpha":0.9694, "fx":[1.87719,-2.31205,-1.87718,2.31206], "fy":[2.31206,1.87719,-2.31205,-1.87719]}, + {"t":3.23766, "x":7.76186, "y":6.02613, "heading":-1.49528, "vx":0.6172, "vy":-1.69027, "omega":-0.853, "ax":0.0, "ay":0.0, "alpha":1.50846, "fx":[3.02037,-3.51477,-3.02035,3.51478], "fy":[3.51478,3.02036,-3.51478,-3.02036]}, + {"t":3.26926, "x":7.78136, "y":5.97272, "heading":-1.52224, "vx":0.6172, "vy":-1.69027, "omega":-0.80534, "ax":0.0, "ay":0.0, "alpha":2.34499, "fx":[4.8409,-5.33539,-4.84088,5.33541], "fy":[5.33541,4.8409,-5.3354,-4.84089]}, + {"t":3.30086, "x":7.80086, "y":5.91931, "heading":-1.54769, "vx":0.6172, "vy":-1.69027, "omega":-0.73123, "ax":-0.00619, "ay":0.01696, "alpha":3.6379, "fx":[7.61529,-8.1852,-7.82095,7.9814], "fy":[8.36378,7.99828,-7.80281,-7.4379]}, + {"t":3.33246, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.61701, "vy":-1.68973, "omega":-0.61627, "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/java/frc/robot/utils/autoaim/AutoAlign.java b/src/main/java/frc/robot/utils/autoaim/AutoAlign.java index eb1e3c90..c555b24a 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAlign.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAlign.java @@ -31,7 +31,7 @@ public class AutoAlign { static final ProfiledPIDController VY_CONTROLLER = new ProfiledPIDController(10.0, 0.01, 0.02, DEFAULT_TRANSLATIONAL_CONSTRAINTS); static final ProfiledPIDController HEADING_CONTROLLER = - new ProfiledPIDController(5.0, 0.0, 0.28, DEFAULT_ANGULAR_CONSTRAINTS); + new ProfiledPIDController(5.0, 0.0, 0.08, DEFAULT_ANGULAR_CONSTRAINTS); static { HEADING_CONTROLLER.enableContinuousInput(-Math.PI, Math.PI); From e4c908e8c10b8f59a44193c3d7f9269639f3a859 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 8 Mar 2026 01:40:37 -0800 Subject: [PATCH 12/42] yay delete chuz bumper and extra paths --- src/main/deploy/choreo/DBtoFL.traj | 211 ------ src/main/deploy/choreo/DLTtoDRO.traj | 69 +- src/main/deploy/choreo/DLTtoSRB.traj | 157 ----- src/main/deploy/choreo/DLTtoSRT.traj | 162 ----- src/main/deploy/choreo/DRTtoDLO.traj | 60 +- src/main/deploy/choreo/DRTtoSLB.traj | 148 ----- src/main/deploy/choreo/DRTtoSLT.traj | 155 ----- .../deploy/choreo/{DTtoFL.traj => DtoFL.traj} | 2 +- .../deploy/choreo/{DTtoRL.traj => DtoRL.traj} | 2 +- src/main/deploy/choreo/FLMtoCL.traj | 467 +++++++------- src/main/deploy/choreo/FLMtoSLB.traj | 147 ----- src/main/deploy/choreo/FLMtoSLT.traj | 603 ------------------ src/main/deploy/choreo/FLtoSL.traj | 104 --- src/main/deploy/choreo/FRMtoER.traj | 182 ------ src/main/deploy/choreo/FRMtoSR.traj | 170 ----- src/main/deploy/choreo/FRMtoSRB.traj | 148 ----- src/main/deploy/choreo/FRtoSRT.traj | 162 ----- src/main/deploy/choreo/MLtoCL.traj | 111 ++-- src/main/deploy/choreo/MLtoSL.traj | 69 -- src/main/deploy/choreo/MRtoSR.traj | 70 -- src/main/deploy/choreo/OBtoFR.traj | 215 ------- src/main/deploy/choreo/OTtoRR.traj | 91 --- .../deploy/choreo/{OTtoFR.traj => OtoFR.traj} | 4 +- src/main/deploy/choreo/OtoRR.traj | 89 +++ src/main/deploy/choreo/PLBtoDLO.traj | 165 ----- src/main/deploy/choreo/PRBtoDRO.traj | 156 ----- src/main/deploy/choreo/PRTtoO.traj | 69 +- src/main/deploy/choreo/SLTtoEL.traj | 80 --- src/main/deploy/choreo/SLTtoFL.traj | 161 ----- src/main/deploy/choreo/SLtoCL.traj | 143 ----- src/main/deploy/choreo/SLtoCM.traj | 112 ---- src/main/deploy/choreo/SRBtoCR.traj | 83 --- src/main/deploy/choreo/SRTtoCR.traj | 108 ---- src/main/deploy/choreo/SRTtoER.traj | 78 --- src/main/deploy/choreo/SRtoCM.traj | 105 --- src/main/deploy/choreo/SRtoFR.traj | 176 ----- src/main/deploy/choreo/rebuiltChoreo.chor | 4 +- src/main/java/frc/robot/Autos.java | 65 +- 38 files changed, 547 insertions(+), 4556 deletions(-) delete mode 100644 src/main/deploy/choreo/DBtoFL.traj delete mode 100644 src/main/deploy/choreo/DLTtoSRB.traj delete mode 100644 src/main/deploy/choreo/DLTtoSRT.traj delete mode 100644 src/main/deploy/choreo/DRTtoSLB.traj delete mode 100644 src/main/deploy/choreo/DRTtoSLT.traj rename src/main/deploy/choreo/{DTtoFL.traj => DtoFL.traj} (99%) rename src/main/deploy/choreo/{DTtoRL.traj => DtoRL.traj} (99%) delete mode 100644 src/main/deploy/choreo/FLMtoSLB.traj delete mode 100644 src/main/deploy/choreo/FLMtoSLT.traj delete mode 100644 src/main/deploy/choreo/FLtoSL.traj delete mode 100644 src/main/deploy/choreo/FRMtoER.traj delete mode 100644 src/main/deploy/choreo/FRMtoSR.traj delete mode 100644 src/main/deploy/choreo/FRMtoSRB.traj delete mode 100644 src/main/deploy/choreo/FRtoSRT.traj delete mode 100644 src/main/deploy/choreo/MLtoSL.traj delete mode 100644 src/main/deploy/choreo/MRtoSR.traj delete mode 100644 src/main/deploy/choreo/OBtoFR.traj delete mode 100644 src/main/deploy/choreo/OTtoRR.traj rename src/main/deploy/choreo/{OTtoFR.traj => OtoFR.traj} (99%) create mode 100644 src/main/deploy/choreo/OtoRR.traj delete mode 100644 src/main/deploy/choreo/PLBtoDLO.traj delete mode 100644 src/main/deploy/choreo/PRBtoDRO.traj delete mode 100644 src/main/deploy/choreo/SLTtoEL.traj delete mode 100644 src/main/deploy/choreo/SLTtoFL.traj delete mode 100644 src/main/deploy/choreo/SLtoCL.traj delete mode 100644 src/main/deploy/choreo/SLtoCM.traj delete mode 100644 src/main/deploy/choreo/SRBtoCR.traj delete mode 100644 src/main/deploy/choreo/SRTtoCR.traj delete mode 100644 src/main/deploy/choreo/SRTtoER.traj delete mode 100644 src/main/deploy/choreo/SRtoCM.traj delete mode 100644 src/main/deploy/choreo/SRtoFR.traj diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj deleted file mode 100644 index 2b0f5547..00000000 --- a/src/main/deploy/choreo/DBtoFL.traj +++ /dev/null @@ -1,211 +0,0 @@ -{ - "name":"DBtoFL", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, 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"data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.8 m / s", "val":0.8}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -40,8 +42,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,32 +53,37 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.48209], + "waypoints":[0.0,0.75027], "samples":[ - {"t":0.0, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":-0.86871, "vy":0.00385, "omega":-7.57931, "ax":-8.24533, "ay":7.67903, "alpha":18.95426, "fx":[-58.57431,-150.93482,-199.21816,-136.56777], "fy":[196.20179,144.91568,49.15839,117.56737]}, - {"t":0.02096, "x":8.55955, "y":2.20645, "heading":-1.72966, "vx":-1.04153, "vy":0.1648, "omega":-7.18202, "ax":-4.99754, "ay":9.31264, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -20,7 +21,8 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -40,8 +42,8 @@ "inertia":4.80002195, "gearing":7.03, 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"fx":[0.10343,0.10343,0.14917,0.14917], "fy":[0.02253,-0.02321,-0.02322,0.02252]}, - {"t":3.76196, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49932, "vy":0.00409, "omega":0.00158, "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/DTtoFL.traj b/src/main/deploy/choreo/DtoFL.traj similarity index 99% rename from src/main/deploy/choreo/DTtoFL.traj rename to src/main/deploy/choreo/DtoFL.traj index d730b46c..de22959d 100644 --- a/src/main/deploy/choreo/DTtoFL.traj +++ b/src/main/deploy/choreo/DtoFL.traj @@ -1,5 +1,5 @@ { - "name":"DTtoFL", + "name":"DtoFL", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/DTtoRL.traj b/src/main/deploy/choreo/DtoRL.traj similarity index 99% rename from src/main/deploy/choreo/DTtoRL.traj rename to src/main/deploy/choreo/DtoRL.traj index eac6333d..f4ec76b8 100644 --- a/src/main/deploy/choreo/DTtoRL.traj +++ b/src/main/deploy/choreo/DtoRL.traj @@ -1,5 +1,5 @@ { - "name":"DTtoRL", + "name":"DtoRL", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/FLMtoCL.traj b/src/main/deploy/choreo/FLMtoCL.traj index d9722c4e..03ad5999 100644 --- a/src/main/deploy/choreo/FLMtoCL.traj +++ b/src/main/deploy/choreo/FLMtoCL.traj @@ -3,36 +3,36 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.016256809234619, "y":7.323315143585205, "heading":3.1172067680459215, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.617038249969482, "y":7.365917682647705, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.2658567428588867, "y":7.07125997543335, 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"fixHeading":true, "overrideIntervals":false}, + {"x":4.617038249969482, "y":7.365917682647705, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.254282236099243, "y":7.103553771972656, "heading":-2.58609898068092, "intervals":75, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.9777511358261108, "y":4.874825954437256, "heading":1.5760360316862745, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.4044795036315918, "y":4.874825954437256, "heading":1.5760360316862745, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.998773455619812, "y":4.835856914520264, "heading":1.5728533535678788, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"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":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, - {"from":3, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.2}}, "enabled":true}, + {"from":3, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":0.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.016256809234619 m", 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"y":{"exp":"4.874825954437256 m", "val":4.874825954437256}, "heading":{"exp":"1.5760360316862745 rad", "val":1.5760360316862745}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}, - {"from":3, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}], + {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.2 m / s", "val":1.2}}}, "enabled":true}, + {"from":3, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.8 m / s", "val":0.8}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -52,8 +52,8 @@ "inertia":4.80002195, "gearing":7.03, "radius":0.0508, - "vmax":502.6548245743669, - "tmax":1.6, + "vmax":485.8996637552213, + "tmax":2.0, "cof":2.25, "bumper":{ "front":0.44196, @@ -63,205 +63,238 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.23502,3.17139,4.10195,6.6545,7.23092,7.96468], + "waypoints":[0.0,2.77543,3.94045,5.10556,8.32141,9.06495,9.85869], "samples":[ - {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.7989, "vy":1.26777, "omega":-0.74016, "ax":-0.01506, "ay":0.0239, 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b/src/main/deploy/choreo/OtoFR.traj similarity index 99% rename from src/main/deploy/choreo/OTtoFR.traj rename to src/main/deploy/choreo/OtoFR.traj index 3148ba51..003a3e4f 100644 --- a/src/main/deploy/choreo/OTtoFR.traj +++ b/src/main/deploy/choreo/OtoFR.traj @@ -1,5 +1,5 @@ { - "name":"OTtoFR", + "name":"OtoFR", "version":3, "snapshot":{ "waypoints":[ @@ -18,7 +18,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"0.7321799635887146 m", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.405749559402466 m", "val":2.405749559402466}, 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{"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "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}, @@ -17,8 +17,8 @@ "params":{ "waypoints":[ {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.3072574138641357 m", "val":2.3072574138641357}, "y":{"exp":"0.7420299053192139 m", "val":0.7420299053192139}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"2.3072574138641357 m", "val":2.3072574138641357}, "y":{"exp":"0.7420299053192139 m", "val":0.7420299053192139}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":9, "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}, @@ -55,38 +55,37 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.51261,1.19506], + "waypoints":[0.0,0.51261,1.12865], "samples":[ - {"t":0.0, "x":3.72421, "y":0.73097, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-16.72134, "ay":0.14013, "alpha":0.0, "fx":[-276.46138,-276.46138,-276.46138,-276.46138], "fy":[2.3168,2.3168,2.3168,2.3168]}, - 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{"t":4.7018, "x":7.81773, "y":2.16552, "heading":1.62395, "vx":0.069, "vy":1.34788, "omega":-1.39274, "ax":0.00044, "ay":-0.00931, "alpha":0.12629, "fx":[-0.25653,0.29182,0.27096,-0.2774], "fy":[-0.4385,-0.41764,0.13071,0.10985]}, - {"t":4.73996, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.06902, "vy":1.34753, "omega":-1.38792, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 75f851c3..80c41694 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -246,8 +246,8 @@ }, "O":{ "x":{ - "exp":"0.5321799635887146 m", - "val":0.5321799635887146 + "exp":"0.7321799635887146 m", + "val":0.7321799635887146 }, "y":{ "exp":"0.7198631167411804 m", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 3363682d..530d9632 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -96,51 +96,42 @@ public enum Obstacle { (each routine has a varition) (only for crossing paths ig) climb no climb variations + + R is a middle point facing towards the neutral zone + M is middle poitns facing our alliance */ public enum Path { - DtoFL("DT", "FL", Action.FEED), // - FLMtoCL("FLM", "CL", Action.CLIMB), // - FLMtoSL("FLM", "SLT", Action.SCORE), // - FLtoFLM("FL", "FLM", Action.FEED), // - // FLtoSL("FL", "SL", Action.SCORE), //not even used - FRMtoCR("FRM", "CR", Action.CLIMB), // todo make the bumper vs trench - FRMtoSR("FRM", "SR", Action.SCORE), // todo make the bumper vs trench - FRtoFRM("FR", "FRM", Action.FEED), // - // FRtoSR("FR", "SR", Action.SCORE), //not used so whatever - OtoFR("OT", "FR", Action.FEED), // - SLtoCL("SL", "CL", Action.CLIMB), // - SLtoCM("SL", "CM", Action.CLIMB), // - SLtoFL("SLT", "FL", Action.FEED), // todo make the bumper vs trench - SRtoCM("SR", "CM", Action.CLIMB), // - SRtoCR("SRT", "CR", Action.CLIMB), // this name is incorrect - SRtoFR("SR", "FR", Action.FEED), // wait why is this needed - PRtoO("PRT", "O", Action.OUTPOST), // - PLtoD("PLT", "D", Action.FLOW), // here make intake and SCORE - DtoIL("DT", "FL", Action.FLOW), // - ILMtoSL("FLM", "SLT", Action.SCORE), + // OUTPOST + PRtoO("PRT", "O", Action.OUTPOST), + // DEPOT + PLtoD("PLT", "D", Action.FLOW), + // FEED + DtoFL("DT", "FL", Action.FEED), + FLtoFLM("FL", "FLM", Action.FEED), + FRtoFRM("FR", "FRM", Action.FEED), + OtoFR("O", "FR", Action.FEED), + FLMtoML("FLM", "ML", Action.FEED), + FRMtoMR("FRM", "MR", Action.FEED), + // INTAKE ILtoILM("FL", "FLM", Action.INTAKE), - // ILtoSL("FL", "SL", Action.SCORE), //not even used - IRMtoSR("FRM", "SR", Action.SCORE), // todo make the bumper vs trench - IRtoIRM("FR", "FRM", Action.INTAKE), // todo make the bumper vs trench - // IRtoSR("FR", "SR", Action.SCORE), //not even used - OtoIR("OT", "FR", Action.FLOW), - // SLtoIL("SL", "FL", Action.INTAKE), //not even used - // SRtoIR("SR", "FR", Action.INTAKE); //not even used - // better naming for DLt etc + IRtoIRM("FR", "FRM", Action.INTAKE), ILMtoML("FLM", "ML", Action.INTAKE), - MLtoSL("ML", "SL", Action.SCORE), IRMtoMR("FRM", "MR", Action.INTAKE), - MRtoSR("MR", "SR", Action.SCORE), - // feeding ones - FLMtoML("FLM", "ML", Action.FEED), - FRMtoMR("FRM", "MR", Action.FEED), - MLtoCL("ML", "CL", Action.CLIMB), - MRtoCR("MR", "CR", Action.CLIMB), - DtoRL("DT", "RL", Action.SCORE), RLtoIL("RL", "FL", Action.INTAKE), - OtoRR("OT", "RR", Action.SCORE), RRtoIR("RR", "FR", Action.INTAKE), + // SCORE + DtoRL("D", "RL", Action.SCORE), + OtoRR("O", "RR", Action.SCORE), + // FLOW + OtoIR("O", "FR", Action.FLOW), + DtoIL("D", "FL", Action.FLOW), + // CLIMB + MLtoCL("ML", "CL", Action.CLIMB), + MRtoCR("MR", "CR", Action.CLIMB), + FRMtoCR("FRM", "CR", Action.CLIMB), + FLMtoCL("FLM", "CL", Action.CLIMB), + RUNtoTEST("RUN", "TEST", Action.NOTHING); private final String start; From 33c3686f12d2033ea9f71bb4c393ff0f580ffe64 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 8 Mar 2026 03:14:29 -0700 Subject: [PATCH 13/42] make two new auto routines and new paths --- src/main/deploy/choreo/DtoCL.traj | 116 ++++++++++++++++ src/main/deploy/choreo/MLtoD.traj | 108 +++++++++++++++ src/main/deploy/choreo/MRtoO.traj | 126 +++++++++++++++++ src/main/deploy/choreo/OtoCR.traj | 116 ++++++++++++++++ .../deploy/choreo/{PLTtoD.traj => PLtoD.traj} | 2 +- .../choreo/{PLTtoDRO.traj => PLtoDRO.traj} | 2 +- src/main/deploy/choreo/PLtoFL.traj | 127 +++++++++++++++++ .../choreo/{PRTtoDRO.traj => PRtoDRO.traj} | 2 +- src/main/deploy/choreo/PRtoFR.traj | 129 ++++++++++++++++++ .../deploy/choreo/{PRTtoO.traj => PRtoO.traj} | 2 +- src/main/java/frc/robot/Autos.java | 43 +++++- 11 files changed, 767 insertions(+), 6 deletions(-) create mode 100644 src/main/deploy/choreo/DtoCL.traj create mode 100644 src/main/deploy/choreo/MLtoD.traj create mode 100644 src/main/deploy/choreo/MRtoO.traj create mode 100644 src/main/deploy/choreo/OtoCR.traj rename src/main/deploy/choreo/{PLTtoD.traj => PLtoD.traj} (99%) rename src/main/deploy/choreo/{PLTtoDRO.traj => PLtoDRO.traj} (99%) create mode 100644 src/main/deploy/choreo/PLtoFL.traj rename src/main/deploy/choreo/{PRTtoDRO.traj => PRtoDRO.traj} (99%) create mode 100644 src/main/deploy/choreo/PRtoFR.traj rename src/main/deploy/choreo/{PRTtoO.traj => PRtoO.traj} (99%) diff --git a/src/main/deploy/choreo/DtoCL.traj b/src/main/deploy/choreo/DtoCL.traj new file mode 100644 index 00000000..a28afb88 --- /dev/null +++ b/src/main/deploy/choreo/DtoCL.traj @@ -0,0 +1,116 @@ +{ + "name":"DtoCL", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.413321018218994, "y":6.265956878662109, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.998773455619812, "y":4.835856914520264, "heading":1.5728533535678788, "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":16.541, "h":8.0692}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.4133210182189941 m", "val":1.413321018218994}, "y":{"exp":"6.265956878662109 m", "val":6.265956878662109}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":4.80002195, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":2.0, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.64203,2.22434], + "samples":[ + {"t":0.0, "x":0.80987, "y":6.31261, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":16.6932, "ay":-0.96634, "alpha":0.00269, "fx":[275.99538,275.99673,275.99663,275.99528], "fy":[-15.98798,-15.96467,-15.96602,-15.98933]}, + {"t":0.04586, "x":0.82742, "y":6.31159, "heading":3.14159, "vx":0.76554, "vy":-0.04432, "omega":0.00012, "ax":5.07148, "ay":-0.29358, "alpha":1.2227, "fx":[86.23362,86.29074,81.4638,81.40806], "fy":[-7.70799,-1.94339,-1.96614,-7.79806]}, + {"t":0.09172, "x":0.86786, "y":6.30925, "heading":-3.14159, "vx":0.99811, "vy":-0.05778, "omega":0.0562, "ax":0.0, "ay":0.0, "alpha":0.87095, "fx":[1.89208,1.89206,-1.89197,-1.89194], "fy":[-1.89201,1.89202,1.892,-1.89203]}, + {"t":0.13758, "x":0.91364, "y":6.3066, "heading":-3.13901, "vx":0.99811, "vy":-0.05778, "omega":0.09614, "ax":0.0, "ay":0.0, "alpha":0.48894, "fx":[1.0649,1.05941,-1.0649,-1.05941], "fy":[-1.05941,1.0649,1.05941,-1.0649]}, + {"t":0.18344, "x":0.95941, "y":6.30395, "heading":-3.1346, "vx":0.99811, "vy":-0.05778, "omega":0.11856, "ax":0.0, "ay":0.0, "alpha":0.22927, "fx":[0.50152,0.49456,-0.50152,-0.49456], "fy":[-0.49456,0.50152,0.49456,-0.50152]}, + {"t":0.2293, "x":1.00518, "y":6.3013, "heading":-3.12916, "vx":0.99811, "vy":-0.05778, "omega":0.12907, "ax":0.0, "ay":0.0, "alpha":0.02698, "fx":[0.05933,0.05788,-0.05933,-0.05788], 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a/src/main/deploy/choreo/PLTtoDRO.traj b/src/main/deploy/choreo/PLtoDRO.traj similarity index 99% rename from src/main/deploy/choreo/PLTtoDRO.traj rename to src/main/deploy/choreo/PLtoDRO.traj index 5d082640..eaf02896 100644 --- a/src/main/deploy/choreo/PLTtoDRO.traj +++ b/src/main/deploy/choreo/PLtoDRO.traj @@ -1,5 +1,5 @@ { - "name":"PLTtoDRO", + "name":"PLtoDRO", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/PLtoFL.traj b/src/main/deploy/choreo/PLtoFL.traj new file mode 100644 index 00000000..f36209b9 --- /dev/null +++ b/src/main/deploy/choreo/PLtoFL.traj @@ -0,0 +1,127 @@ +{ + "name":"PLtoFL", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":4.40537166595459, "y":7.350574970245361, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, 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"heading":0.99246, "vx":0.46982, "vy":1.94338, "omega":1.01319, "ax":-0.01353, "ay":0.00327, "alpha":-0.14476, "fx":[0.21157,-0.31509,-0.65889,-0.13223], "fy":[0.14548,0.48928,-0.03739,-0.38119]}, + {"t":1.74936, "x":7.55615, "y":1.12295, "heading":1.02415, "vx":0.4694, "vy":1.94348, "omega":1.00866, "ax":-0.00047, "ay":0.00011, "alpha":-0.08635, "fx":[0.24997,-0.07052,-0.26554,0.05495], "fy":[0.06462,0.25963,-0.06085,-0.25587]}, + {"t":1.78063, "x":7.57083, "y":1.18373, "heading":1.05569, "vx":0.46938, "vy":1.94348, "omega":1.00596, "ax":-0.00002, "ay":0.0, "alpha":-0.05133, "fx":[0.15169,-0.0424,-0.15226,0.04182], "fy":[0.04218,0.15205,-0.04204,-0.15191]}, + {"t":1.81191, "x":7.58551, "y":1.24451, "heading":1.08715, "vx":0.46938, "vy":1.94348, "omega":1.00436, "ax":0.0, "ay":0.0, "alpha":-0.03093, "fx":[0.09069,-0.02826,-0.09074,0.02821], "fy":[0.02824,0.09072,-0.02823,-0.09071]}, + {"t":1.84318, "x":7.60018, "y":1.30529, "heading":1.11856, "vx":0.46938, "vy":1.94348, "omega":1.00339, "ax":0.0, "ay":0.0, "alpha":-0.01993, "fx":[0.05785,-0.02005,-0.05789,0.02001], "fy":[0.02003,0.05788,-0.02002,-0.05787]}, + {"t":1.87445, "x":7.61486, "y":1.36606, "heading":1.14994, "vx":0.46938, "vy":1.94348, "omega":1.00277, "ax":0.0, "ay":0.0, "alpha":-0.01546, "fx":[0.04436,-0.01696,-0.04441,0.01692], "fy":[0.01694,0.04439,-0.01693,-0.04438]}, + {"t":1.90573, "x":7.62954, "y":1.42684, "heading":1.1813, "vx":0.46938, "vy":1.94348, "omega":1.00228, "ax":0.0, "ay":0.0, "alpha":-0.01621, "fx":[0.04593,-0.01923,-0.04598,0.01918], "fy":[0.01921,0.04596,-0.0192,-0.04594]}, + {"t":1.937, "x":7.64422, "y":1.48762, "heading":1.21264, "vx":0.46938, "vy":1.94348, "omega":1.00178, "ax":0.0, "ay":0.0, "alpha":-0.02212, "fx":[0.06183,-0.02819,-0.06188,0.02814], "fy":[0.02817,0.06186,-0.02816,-0.06185]}, + {"t":1.96827, "x":7.6589, "y":1.5484, "heading":1.24397, "vx":0.46938, "vy":1.94348, "omega":1.00108, "ax":0.0, "ay":0.0, "alpha":-0.0344, "fx":[0.09473,-0.04681,-0.09479,0.04675], "fy":[0.04679,0.09477,-0.04677,-0.09475]}, + {"t":1.99954, "x":7.67358, "y":1.60918, "heading":1.27528, "vx":0.46938, "vy":1.94348, "omega":1.00001, "ax":0.0, "ay":0.0, "alpha":-0.05577, "fx":[0.15116,-0.08065,-0.15122,0.08059], "fy":[0.08063,0.1512,-0.08061,-0.15118]}, + {"t":2.03082, "x":7.68826, "y":1.66995, "heading":1.30655, "vx":0.46938, "vy":1.94348, "omega":0.99826, "ax":0.0, "ay":0.0, "alpha":-0.09119, "fx":[0.24294,-0.13951,-0.24299,0.13946], "fy":[0.13949,0.24297,-0.13948,-0.24296]}, + {"t":2.06209, "x":7.70294, "y":1.73073, "heading":1.33777, "vx":0.46938, "vy":1.94348, "omega":0.99541, "ax":0.0, "ay":0.0, "alpha":-0.14902, "fx":[0.38969,-0.24024,-0.38975,0.24019], "fy":[0.24022,0.38973,-0.24021,-0.38971]}, + {"t":2.09336, "x":7.71762, "y":1.79151, "heading":1.3689, "vx":0.46938, "vy":1.94348, "omega":0.99075, "ax":0.0, "ay":0.0, "alpha":-0.24306, "fx":[0.62314,-0.41143,-0.62319,0.41138], "fy":[0.41141,0.62317,-0.4114,-0.62316]}, + {"t":2.12463, "x":7.73229, "y":1.85229, "heading":1.39988, "vx":0.46938, "vy":1.94348, "omega":0.98315, "ax":0.0, "ay":0.0, "alpha":-0.39592, "fx":[0.9938,-0.70127,-0.99384,0.70123], "fy":[0.70126,0.99382,-0.70125,-0.99381]}, + {"t":2.15591, "x":7.74697, "y":1.91307, "heading":1.43063, "vx":0.46938, "vy":1.94348, "omega":0.97077, "ax":0.0, "ay":0.0, "alpha":-0.64435, "fx":[1.58158,-1.19049,-1.58161,1.19046], "fy":[1.19048,1.5816,-1.19047,-1.58159]}, + {"t":2.18718, "x":7.76165, "y":1.97384, "heading":1.46099, "vx":0.46938, "vy":1.94348, "omega":0.95062, "ax":0.0, "ay":0.0, "alpha":-1.04793, "fx":[2.51224,-2.01329,-2.51224,2.01328], "fy":[2.01329,2.51224,-2.01328,-2.51224]}, + {"t":2.21845, "x":7.77633, "y":2.03462, "heading":1.49072, "vx":0.46938, "vy":1.94348, "omega":0.91785, "ax":0.0, "ay":0.0, "alpha":-1.70246, "fx":[3.98236,-3.39064,-3.98234,3.39066], "fy":[3.39065,3.98235,-3.39065,-3.98235]}, + {"t":2.24973, "x":7.79101, "y":2.0954, "heading":1.51942, "vx":0.46938, "vy":1.94348, "omega":0.86461, "ax":0.0, "ay":0.0, "alpha":-2.76037, "fx":[6.29656,-5.68062,-6.29652,5.68066], "fy":[5.68063,6.29654,-5.68065,-6.29655]}, + {"t":2.281, "x":7.80569, "y":2.15618, "heading":1.54646, "vx":0.46938, "vy":1.94348, "omega":0.77828, "ax":-0.00481, "ay":-0.01993, "alpha":-4.45924, "fx":[9.84116,-9.52886,-9.99871,9.36804], "fy":[9.11901,9.59021,-9.77781,-10.24964]}, + {"t":2.31227, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.46923, "vy":1.94286, "omega":0.63883, "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/PRTtoO.traj b/src/main/deploy/choreo/PRtoO.traj similarity index 99% rename from src/main/deploy/choreo/PRTtoO.traj rename to src/main/deploy/choreo/PRtoO.traj index 74870f2f..fb81f361 100644 --- a/src/main/deploy/choreo/PRTtoO.traj +++ b/src/main/deploy/choreo/PRtoO.traj @@ -1,5 +1,5 @@ { - "name":"PRTtoO", + "name":"PRtoO", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 530d9632..a69ef940 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -103,9 +103,10 @@ public enum Obstacle { public enum Path { // OUTPOST - PRtoO("PRT", "O", Action.OUTPOST), + PRtoO("PR", "O", Action.OUTPOST), + MRtoO("MR", "O", Action.OUTPOST), // DEPOT - PLtoD("PLT", "D", Action.FLOW), + PLtoD("PL", "D", Action.FLOW), // FEED DtoFL("DT", "FL", Action.FEED), FLtoFLM("FL", "FLM", Action.FEED), @@ -120,17 +121,22 @@ public enum Path { IRMtoMR("FRM", "MR", Action.INTAKE), RLtoIL("RL", "FL", Action.INTAKE), RRtoIR("RR", "FR", Action.INTAKE), + PRtoIR("PR", "FR", Action.INTAKE), + PLtoIL("PL", "FL", Action.INTAKE), // SCORE DtoRL("D", "RL", Action.SCORE), OtoRR("O", "RR", Action.SCORE), // FLOW OtoIR("O", "FR", Action.FLOW), DtoIL("D", "FL", Action.FLOW), + MLtoD("ML", "D", Action.FLOW), // CLIMB MLtoCL("ML", "CL", Action.CLIMB), MRtoCR("MR", "CR", Action.CLIMB), FRMtoCR("FRM", "CR", Action.CLIMB), FLMtoCL("FLM", "CL", Action.CLIMB), + OtoCR("O", "CR", Action.CLIMB), + DtoCL("D", "CL", Action.CLIMB), RUNtoTEST("RUN", "TEST", Action.NOTHING); @@ -453,6 +459,39 @@ public Command getOutpostFeedClimbAuto() { return routine.cmd(); } + // awful names.. mb + public Command getFillDepotScoreClimbAuto() { + final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}; + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + routine.active().whileTrue(autoCommand); + + return routine.cmd(); + } + + public Command getFillOutpostScoreClimbAuto() { + final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}; + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + routine.active().whileTrue(autoCommand); + + return routine.cmd(); + } + public Command getTestAuto() { final AutoRoutine routine = factory.newRoutine("test auto"); Path[] paths = {Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST}; From ebf57817163a6555bf7708c48cb8039b3313327c Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 8 Mar 2026 10:11:01 -0700 Subject: [PATCH 14/42] make it leave scoring states when scoreReq trigger is not on this way it won't continue to score in neutral zone --- src/main/java/frc/robot/Superstructure.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index d7dddf9a..864bd733 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -231,7 +231,7 @@ private void addTransitions() { bindTransition(SuperState.SPIN_UP_SCORE, SuperState.IDLE, shootReq.negate()); - bindTransition(SuperState.SCORE, SuperState.IDLE, shootReq.negate()); + bindTransition(SuperState.SCORE, SuperState.IDLE, shootReq.negate().or(scoreReq.negate())); // SCORE_FLOW transitions { @@ -245,14 +245,14 @@ private void addTransitions() { bindTransition( SuperState.SPIN_UP_SCORE_FLOW, SuperState.IDLE, - intakeReq.negate().and(shootReq.negate())); + intakeReq.negate().and(shootReq.negate()).or(scoreReq.negate())); bindTransition(SuperState.SCORE, SuperState.SCORE_FLOW, flowReq); bindTransition(SuperState.SCORE_FLOW, SuperState.SCORE, flowReq.negate()); bindTransition( - SuperState.SCORE_FLOW, SuperState.IDLE, intakeReq.negate().and(shootReq.negate())); + SuperState.SCORE_FLOW, SuperState.IDLE, intakeReq.negate().and(shootReq.negate()).or(scoreReq.negate())); } // -------------------------------------------------------------------------- From ce9192c1a72cd54cbae0596ad9b76cfb18400be5 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 8 Mar 2026 16:33:12 -0700 Subject: [PATCH 15/42] Depot-score-climb path works --- src/main/deploy/choreo/DBtoFL.traj | 336 ++--- src/main/deploy/choreo/DLOtoDLT.traj | 116 +- src/main/deploy/choreo/DLTtoDRO.traj | 2 +- src/main/deploy/choreo/DLTtoSRB.traj | 216 +-- src/main/deploy/choreo/DLTtoSRT.traj | 227 ++-- src/main/deploy/choreo/DROtoDRT.traj | 116 +- src/main/deploy/choreo/DRTtoDLO.traj | 2 +- src/main/deploy/choreo/DRTtoSLB.traj | 199 +-- src/main/deploy/choreo/DRTtoSLT.traj | 212 +-- src/main/deploy/choreo/DTtoFL.traj | 10 +- src/main/deploy/choreo/DTtoRL.traj | 199 +-- src/main/deploy/choreo/FLMtoCL.traj | 444 ++++--- src/main/deploy/choreo/FLMtoEL.traj | 272 ++-- src/main/deploy/choreo/FLMtoML.traj | 206 ++- src/main/deploy/choreo/FLMtoSLB.traj | 198 +-- src/main/deploy/choreo/FLMtoSLT.traj | 1154 +++++++++-------- src/main/deploy/choreo/FLtoFLM.traj | 50 +- src/main/deploy/choreo/FLtoSL.traj | 4 +- src/main/deploy/choreo/FRMtoCR.traj | 316 ++--- src/main/deploy/choreo/FRMtoER.traj | 270 ++-- src/main/deploy/choreo/FRMtoMR.traj | 169 +-- src/main/deploy/choreo/FRMtoSR.traj | 222 ++-- src/main/deploy/choreo/FRMtoSRB.traj | 199 +-- src/main/deploy/choreo/FRtoFRM.traj | 41 +- src/main/deploy/choreo/FRtoSRT.traj | 227 ++-- src/main/deploy/choreo/MLtoCL.traj | 143 +- src/main/deploy/choreo/MLtoSL.traj | 8 +- src/main/deploy/choreo/MRtoCR.traj | 74 +- src/main/deploy/choreo/MRtoSR.traj | 34 +- src/main/deploy/choreo/OBtoFR.traj | 343 ++--- src/main/deploy/choreo/OTtoFR.traj | 332 ++--- src/main/deploy/choreo/OTtoRR.traj | 86 +- src/main/deploy/choreo/PLBtoDLO.traj | 233 ++-- src/main/deploy/choreo/PLTtoD.traj | 116 +- src/main/deploy/choreo/PLTtoDRO.traj | 246 ++-- src/main/deploy/choreo/PRBtoDRO.traj | 215 +-- src/main/deploy/choreo/PRTtoDRO.traj | 201 +-- src/main/deploy/choreo/PRTtoO.traj | 83 +- src/main/deploy/choreo/RLtoFL.traj | 230 ++-- src/main/deploy/choreo/RRtoFR.traj | 168 +-- src/main/deploy/choreo/RUNtoTEST.traj | 249 ++-- src/main/deploy/choreo/SLBtoCL.traj | 115 +- src/main/deploy/choreo/SLTtoEL.traj | 58 +- src/main/deploy/choreo/SLTtoFL.traj | 225 ++-- src/main/deploy/choreo/SLtoCL.traj | 182 +-- src/main/deploy/choreo/SLtoCM.traj | 118 +- src/main/deploy/choreo/SRBtoCR.traj | 64 +- src/main/deploy/choreo/SRTtoCR.traj | 114 +- src/main/deploy/choreo/SRTtoER.traj | 54 +- src/main/deploy/choreo/SRtoCM.traj | 104 +- src/main/deploy/choreo/SRtoFR.traj | 256 ++-- src/main/deploy/choreo/rebuiltChoreo.chor | 36 +- src/main/deploy/choreo/testposes.traj | 278 ++-- src/main/java/frc/robot/Autos.java | 8 +- src/main/java/frc/robot/Robot.java | 3 + .../java/frc/robot/utils/autoaim/AutoAim.java | 1 + 56 files changed, 5189 insertions(+), 4595 deletions(-) diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj index 2b0f5547..fa99e488 100644 --- a/src/main/deploy/choreo/DBtoFL.traj +++ b/src/main/deploy/choreo/DBtoFL.traj @@ -3,11 +3,11 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.527308464050293, "y":7.016829490661621, "heading":-1.369478506668525, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.6693999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.527308464050293, "y":7.016829490661621, 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"fixHeading":true, "overrideIntervals":false}, + {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":53, "split":false, 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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,11 +41,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,107 +55,118 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.19867,3.1496,4.0996], + "waypoints":[0.0,2.19871,3.14968,4.09971], "samples":[ - {"t":0.0, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":-1.34476, "vy":-0.66121, "omega":-0.72538, "ax":-0.02436, "ay":-0.01198, "alpha":0.00201, "fx":[-0.39846,-0.40717,-0.40717,-0.39846], "fy":[-0.19371,-0.19371,-0.20242,-0.20242]}, - {"t":0.04072, "x":8.5248, "y":2.17775, "heading":-1.60033, "vx":-1.34575, "vy":-0.6617, "omega":-0.7253, "ax":0.0, "ay":0.0, "alpha":0.00138, "fx":[0.00308,-0.0029,-0.00308,0.0029], "fy":[0.0029,0.00308,-0.0029,-0.00308]}, - {"t":0.08143, 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"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/DRTtoDLO.traj b/src/main/deploy/choreo/DRTtoDLO.traj index f7d0c86e..a9380856 100644 --- a/src/main/deploy/choreo/DRTtoDLO.traj +++ b/src/main/deploy/choreo/DRTtoDLO.traj @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/DRTtoSLB.traj b/src/main/deploy/choreo/DRTtoSLB.traj index 05862bba..1f3662a5 100644 --- a/src/main/deploy/choreo/DRTtoSLB.traj +++ b/src/main/deploy/choreo/DRTtoSLB.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.891683101654053, "y":5.438096523284912, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.515060901641846, "y":5.411875247955322, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, 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{"x":6.114565372467041, "y":7.286704063415527, "heading":-3.1304820445880037, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.410175323486328, "y":7.326035976409912, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.114565372467041, "y":7.286704063415527, "heading":-3.1304820445880037, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.410175323486328, "y":7.326035976409912, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.114565372467041 m", "val":6.114565372467041}, "y":{"exp":"7.286704063415527 m", "val":7.286704063415527}, "heading":{"exp":"-3.1304820445880037 rad", "val":-3.1304820445880037}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.410175323486328 m", "val":4.410175323486328}, "y":{"exp":"7.326035976409912 m", "val":7.326035976409912}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.114565372467041 m", "val":6.114565372467041}, "y":{"exp":"7.286704063415527 m", "val":7.286704063415527}, "heading":{"exp":"-3.1304820445880037 rad", "val":-3.1304820445880037}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.410175323486328 m", "val":4.410175323486328}, "y":{"exp":"7.326035976409912 m", "val":7.326035976409912}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,11 +41,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,100 +55,110 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.56022,2.69801,3.76196], + "waypoints":[0.0,1.5605,2.69862,3.7626], "samples":[ - {"t":0.0, "x":7.97995, "y":5.87704, "heading":1.57527, "vx":-1.19163, "vy":0.90845, "omega":1.04404, "ax":-0.02471, "ay":0.01884, "alpha":-0.00298, "fx":[-0.40208,-0.41503,-0.41497,-0.40202], "fy":[0.31796,0.3179,0.30495,0.30501]}, - {"t":0.03805, "x":7.93459, "y":5.91163, "heading":1.615, "vx":-1.19257, 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"data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -20,12 +20,12 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.016256809234619 m", "val":6.016256809234619}, "y":{"exp":"7.323315143585205 m", "val":7.323315143585205}, "heading":{"exp":"3.1172067680459215 rad", "val":3.1172067680459215}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.617038249969482 m", "val":4.617038249969482}, "y":{"exp":"7.365917682647705 m", "val":7.365917682647705}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, 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"events":[] diff --git a/src/main/deploy/choreo/FLMtoML.traj b/src/main/deploy/choreo/FLMtoML.traj index baf62ad3..40090cea 100644 --- a/src/main/deploy/choreo/FLMtoML.traj +++ b/src/main/deploy/choreo/FLMtoML.traj @@ -3,28 +3,28 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.521002769470215, "y":7.377725124359131, "heading":3.141592653589793, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.32966947555542, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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{"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.2225897312164307 m", "val":3.2225897312164307}, "y":{"exp":"7.436997413635254 m", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.8 m / s", "val":1.8}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], "targetDt":{ @@ -43,11 +43,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, 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"heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.29819393157959, "y":5.418973922729492, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.8075175285339355, "y":5.39786434173584, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.29819393157959, "y":5.418973922729492, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.8075175285339355 m", "val":5.8075175285339355}, "y":{"exp":"5.39786434173584 m", "val":5.39786434173584}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.29819393157959 m", "val":4.29819393157959}, "y":{"exp":"5.418973922729492 m", "val":5.418973922729492}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.8075175285339355 m", "val":5.8075175285339355}, "y":{"exp":"5.39786434173584 m", "val":5.39786434173584}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.29819393157959 m", "val":4.29819393157959}, "y":{"exp":"5.418973922729492 m", "val":5.418973922729492}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", 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"intervals":251, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.714456081390381, "y":7.341778755187988, "heading":-3.116906638819587, "intervals":165, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.465227127075195, "y":7.376699447631836, "heading":3.127229582083786, "intervals":123, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":280, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.714456081390381, "y":7.341778755187988, "heading":-3.116906638819587, "intervals":179, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.465227127075195, "y":7.376699447631836, "heading":3.127229582083786, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":251, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.714456081390381 m", "val":6.714456081390381}, "y":{"exp":"7.341778755187988 m", "val":7.341778755187988}, "heading":{"exp":"-3.116906638819587 rad", "val":-3.116906638819587}, "intervals":165, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.465227127075195 m", "val":4.465227127075195}, "y":{"exp":"7.376699447631836 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"fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,11 +41,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,548 +55,604 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.03663,3.54124,4.64333], + "waypoints":[0.0,2.04131,3.55014,4.65236], "samples":[ - {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.53062, "vy":1.39514, "omega":-0.80206, "ax":-0.24087, "ay":0.63343, "alpha":0.00293, 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"fy":[0.14065,0.13787,0.13787,0.14065]}, + {"t":4.65236, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49607, "vy":-0.02832, "omega":0.00566, "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/FLtoFLM.traj b/src/main/deploy/choreo/FLtoFLM.traj index a3494eeb..a7fe0ccc 100644 --- a/src/main/deploy/choreo/FLtoFLM.traj +++ b/src/main/deploy/choreo/FLtoFLM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ 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--- a/src/main/deploy/choreo/FLtoSL.traj +++ b/src/main/deploy/choreo/FLtoSL.traj @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.347630977630615 m", "val":6.347630977630615}, "y":{"exp":"7.2292633056640625 m", "val":7.2292633056640625}, "heading":{"exp":"-1.7818893280275419 rad", "val":-1.781889328027542}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.347630977630615 m", "val":6.347630977630615}, "y":{"exp":"7.2292633056640625 m", "val":7.2292633056640625}, "heading":{"exp":"-1.7818893280275419 rad", "val":-1.781889328027542}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/FRMtoCR.traj b/src/main/deploy/choreo/FRMtoCR.traj index 71866929..69cb2e4b 100644 --- a/src/main/deploy/choreo/FRMtoCR.traj +++ b/src/main/deploy/choreo/FRMtoCR.traj @@ -3,10 +3,10 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":55, "split":false, "fixTranslation":true, 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"heading":3.1309276014165053, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,10 +17,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.002846717834473 m", "val":6.002846717834473}, "y":{"exp":"0.6756622195243835 m", 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"fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.002846717834473 m", "val":6.002846717834473}, "y":{"exp":"0.6756622195243835 m", "val":0.6756622195243835}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.641608238220215 m", "val":4.641608238220215}, "y":{"exp":"0.6834654211997986 m", "val":0.6834654211997986}, "heading":{"exp":"3.1309276014165053 rad", "val":3.1309276014165053}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", 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+3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.02736234664917, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.02736234664917, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.02736234664917 m", "val":6.02736234664917}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, 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"heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"ER.heading", "val":1.5718817860612435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,11 +41,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,127 +55,141 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.24622,3.23528,4.81313], + "waypoints":[0.0,2.24857,3.2395,4.8174], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, 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{"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,8 +17,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -43,11 +43,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -57,80 +57,91 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.3264,2.88733], + "waypoints":[0.0,1.37739,2.93811], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.57461, 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a/src/main/deploy/choreo/FRMtoSRB.traj b/src/main/deploy/choreo/FRMtoSRB.traj index f16e6092..5d801b9c 100644 --- a/src/main/deploy/choreo/FRMtoSRB.traj +++ b/src/main/deploy/choreo/FRMtoSRB.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.859950542449951, "y":2.5344107151031494, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.438337326049805, "y":2.5778985023498535, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.859950542449951, "y":2.5344107151031494, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.438337326049805, "y":2.5778985023498535, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.859950542449951 m", "val":5.859950542449951}, 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"fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.438337326049805 m", "val":4.438337326049805}, "y":{"exp":"2.5778985023498535 m", "val":2.5778985023498535}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,11 +41,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,93 +55,104 @@ "differentialTrackWidth":0.5427218 }, 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"ay":-0.00012, "alpha":-0.01221, "fx":[0.09121,0.09099,0.20622,0.20645], "fy":[0.05566,-0.05957,-0.05979,0.05544]}, + {"t":3.52746, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.49912, "vy":0.02083, "omega":0.04634, "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/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index 2f4b85e1..35a3f4d2 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,11 +37,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,21 +51,26 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.38217], + "waypoints":[0.0,0.38237], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":3.5024, "omega":0.0, "ax":0.0, "ay":0.13798, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[2.28122,2.28122,2.28122,2.28122]}, - {"t":0.03185, "x":7.82037, "y":2.32856, "heading":1.5708, "vx":0.0, "vy":3.50679, "omega":0.0, "ax":0.0, "ay":0.00002, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00031,0.00031,0.00031,0.00031]}, - {"t":0.06369, "x":7.82037, "y":2.44024, "heading":1.5708, 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"y":3.47822, "heading":1.5708, "vx":0.0, "vy":3.50495, "omega":0.0, "ax":0.0, "ay":-0.27281, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-4.51056,-4.51056,-4.51056,-4.51056]}, + {"t":0.38237, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":3.49881, "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/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj index 523988c5..44bf7205 100644 --- a/src/main/deploy/choreo/FRtoSRT.traj +++ b/src/main/deploy/choreo/FRtoSRT.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.078125953674316, "y":0.7482186555862427, "heading":2.690139597310213, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.742544174194336, "y":0.6929386258125305, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.078125953674316, "y":0.7482186555862427, "heading":2.690139597310213, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.742544174194336, "y":0.6929386258125305, "heading":3.141592653589793, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.078125953674316 m", "val":7.078125953674316}, "y":{"exp":"0.7482186555862427 m", "val":0.7482186555862427}, "heading":{"exp":"2.690139597310213 rad", "val":2.690139597310213}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.742544174194336 m", "val":4.742544174194336}, "y":{"exp":"0.6929386258125305 m", "val":0.6929386258125305}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.078125953674316 m", "val":7.078125953674316}, "y":{"exp":"0.7482186555862427 m", "val":0.7482186555862427}, "heading":{"exp":"2.690139597310213 rad", "val":2.690139597310213}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.742544174194336 m", "val":4.742544174194336}, "y":{"exp":"0.6929386258125305 m", "val":0.6929386258125305}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -41,11 +41,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,107 +55,118 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.10036,2.66144,3.97784], + "waypoints":[0.0,1.10317,2.66705,3.98347], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":-0.65756, "vy":-1.34631, "omega":1.05771, "ax":-0.01567, "ay":-0.03209, "alpha":-0.00364, "fx":[-0.25121,-0.26704,-0.26704,-0.25121], "fy":[-0.52257,-0.52257,-0.5384,-0.5384]}, - {"t":0.0355, "x":7.79702, "y":2.16914, "heading":1.60834, "vx":-0.65811, "vy":-1.34745, "omega":1.05758, "ax":0.0, "ay":0.0, "alpha":-0.00297, "fx":[0.00621,-0.0067,-0.00621,0.00669], 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"heading":1.57286, "vx":-0.3105, "vy":-0.12077, "omega":-0.00008, "ax":7.01392, "ay":2.72809, "alpha":0.00192, "fx":[115.96801,115.97277,115.96056,115.9558], "fy":[45.09508,45.08294,45.11438,45.12653]}, + {"t":2.78108, "x":0.55246, "y":4.88381, "heading":1.57285, "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/MLtoSL.traj b/src/main/deploy/choreo/MLtoSL.traj index 9c1e25b1..8a7271ed 100644 --- a/src/main/deploy/choreo/MLtoSL.traj +++ b/src/main/deploy/choreo/MLtoSL.traj @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MLL.x", "val":3.2225897312164307}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,7 +37,7 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, @@ -53,7 +53,7 @@ "sampleType":"Swerve", "waypoints":[0.0,0.33293], "samples":[ - {"t":0.0, "x":2.32967, "y":7.44913, "heading":-3.14159, "vx":1.45556, "vy":-0.35565, "omega":0.0, "ax":0.03196, "ay":-0.00781, "alpha":0.0, "fx":[0.52836,0.52836,0.52836,0.52836], "fy":[-0.1291,-0.1291,-0.1291,-0.1291]}, + {"t":0.0, "x":2.32967, "y":7.44913, "heading":-3.14159, "vx":1.45556, "vy":-0.35565, "omega":0.0, "ax":0.03196, "ay":-0.00781, "alpha":0.0, "fx":[0.52836,0.52836,0.52835,0.52835], "fy":[-0.1291,-0.1291,-0.1291,-0.1291]}, {"t":0.03699, "x":2.38354, "y":7.43597, "heading":-3.14159, "vx":1.45674, "vy":-0.35594, "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":0.07398, "x":2.43742, "y":7.4228, "heading":-3.14159, "vx":1.45674, "vy":-0.35594, "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":0.11098, "x":2.49131, "y":7.40964, "heading":-3.14159, "vx":1.45674, "vy":-0.35594, "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]}, @@ -61,7 +61,7 @@ {"t":0.18496, "x":2.59908, "y":7.3833, "heading":-3.14159, "vx":1.45674, "vy":-0.35594, "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":0.22195, 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"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] }, diff --git a/src/main/deploy/choreo/MRtoCR.traj b/src/main/deploy/choreo/MRtoCR.traj index 8e6e1926..26effdaa 100644 --- a/src/main/deploy/choreo/MRtoCR.traj +++ b/src/main/deploy/choreo/MRtoCR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.838799834251404, "y":2.700927495956421, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.8387998342514038 m", "val":1.838799834251404}, "y":{"exp":"2.700927495956421 m", "val":2.700927495956421}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,11 +37,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + 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b/src/main/deploy/choreo/MRtoSR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,11 +37,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,19 +51,21 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.3748], + 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"data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -18,11 +18,11 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.276200771331787 m", "val":3.276200771331787}, "y":{"exp":"2.27546763420105 m", "val":2.27546763420105}, "heading":{"exp":"19.997046130278527 mrad", "val":0.01999704613027853}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.610086917877197 m", "val":4.610086917877197}, "y":{"exp":"2.263561964035034 m", "val":2.263561964035034}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.747344017028809 m", "val":5.747344017028809}, 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a/src/main/deploy/choreo/OTtoRR.traj +++ b/src/main/deploy/choreo/OTtoRR.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -39,11 +39,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,38 +53,50 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.52314,0.77907], + "waypoints":[0.0,0.66122,0.92099], "samples":[ - {"t":0.0, "x":0.53218, "y":0.71986, 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"overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLB.x", "val":3.708786010742188}, "y":{"exp":"PLB.y", "val":5.537450790405273}, "heading":{"exp":"PLB.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, "y":{"exp":"5.537623882293701 m", "val":5.537623882293701}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.146753311157227 m", "val":8.146753311157227}, "y":{"exp":"7.112152099609375 m", "val":7.112152099609375}, "heading":{"exp":"-0.941999816110815 rad", "val":-0.941999816110815}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PLB.x", "val":3.708786010742188}, "y":{"exp":"PLB.y", "val":5.537450790405273}, "heading":{"exp":"PLB.heading", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, "y":{"exp":"5.537623882293701 m", "val":5.537623882293701}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.146753311157227 m", "val":8.146753311157227}, "y":{"exp":"7.112152099609375 m", "val":7.112152099609375}, "heading":{"exp":"-0.941999816110815 rad", "val":-0.941999816110815}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, 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b/src/main/deploy/choreo/PLTtoDRO.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"y":{"exp":"7.168707847595215 m", "val":7.168707847595215}, "heading":{"exp":"-2.276364851412617 rad", "val":-2.276364851412617}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.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}, @@ -41,11 +41,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,114 +55,130 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.4322,3.15443,4.03662], + "waypoints":[0.0,1.4855,3.2145,4.10253], 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"overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRB.x", "val":3.700773715972901}, "y":{"exp":"PRB.y", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.691983699798584 m", "val":5.691983699798584}, "y":{"exp":"2.531209707260132 m", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.24791955947876 m", "val":7.24791955947876}, "y":{"exp":"1.0617146492004395 m", "val":1.0617146492004397}, "heading":{"exp":"0.5880028060704902 rad", "val":0.5880028060704902}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.997579574584961 m", "val":5.997579574584961}, "y":{"exp":"0.722095251083374 m", "val":0.722095251083374}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.710022926330566 m", "val":7.710022926330566}, "y":{"exp":"0.8485172390937805 m", "val":0.8485172390937805}, "heading":{"exp":"1.8673430984427641 rad", "val":1.867343098442764}, "intervals":24, "split":false, 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"y":0.7309682965278625, "heading":1.5707963452742666, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.3072574138641357 m", "val":2.3072574138641357}, 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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -41,11 +41,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -55,38 +55,47 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.51261,1.19506], + "waypoints":[0.0,0.64248,1.43397], "samples":[ - {"t":0.0, "x":3.72421, "y":0.73097, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-16.72134, "ay":0.14013, "alpha":0.0, "fx":[-276.46138,-276.46138,-276.46138,-276.46138], "fy":[2.3168,2.3168,2.3168,2.3168]}, - {"t":0.03943, "x":3.71121, "y":0.73108, "heading":1.5708, "vx":-0.65935, "vy":0.00553, "omega":0.0, "ax":-16.71678, "ay":0.14009, "alpha":0.0, "fx":[-276.38598,-276.38598,-276.38598,-276.38598], "fy":[2.31616,2.31616,2.31616,2.31616]}, - {"t":0.07886, "x":3.67222, "y":0.7314, 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":17, 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m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.1214685440063477, "y":7.046450138092041, "heading":-1.573056098378181, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.1214685440063477 m", "val":2.1214685440063477}, "y":{"exp":"7.046450138092041 m", "val":7.046450138092041}, "heading":{"exp":"-1.573056098378181 rad", "val":-1.573056098378181}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,11 +37,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,29 +51,35 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.49966], + "waypoints":[0.0,0.49972], "samples":[ - {"t":0.0, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.38567, "vy":-0.56808, "omega":3.21149, "ax":-0.06666, "ay":-0.0279, "alpha":0.06739, "fx":[-0.95573,-0.95573,-1.24853,-1.24852], "fy":[-0.60771,-0.31491,-0.3149,-0.6077]}, - {"t":0.02498, "x":2.77999, "y":7.31644, "heading":-3.06136, 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"alpha":-0.50441, "fx":[-1.89971,2.85077,3.14146,-1.60803], "fy":[-1.96923,-2.25999,2.48952,2.78199]}, + {"t":0.49972, "x":2.12147, "y":7.04645, "heading":-1.57306, "vx":-1.38644, "vy":-0.5684, "omega":3.06046, "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/SLTtoFL.traj b/src/main/deploy/choreo/SLTtoFL.traj index 6a895b8a..c42c01d3 100644 --- a/src/main/deploy/choreo/SLTtoFL.traj +++ b/src/main/deploy/choreo/SLTtoFL.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.304653644561768, "y":7.37657356262207, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.739718437194824, "y":6.998943328857422, "heading":-1.650627593283163, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.304653644561768, "y":7.37657356262207, "heading":3.141592653589793, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.739718437194824, "y":6.998943328857422, "heading":-1.650627593283163, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.304653644561768 m", "val":5.304653644561768}, "y":{"exp":"7.37657356262207 m", "val":7.37657356262207}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.739718437194824 m", "val":7.739718437194824}, "y":{"exp":"6.998943328857422 m", "val":6.998943328857422}, "heading":{"exp":"-1.650627593283163 rad", "val":-1.650627593283163}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, 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b/src/main/deploy/choreo/SLtoCL.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.3828084468841553, "y":4.868075847625732, "heading":1.5728533535678788, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"heading":3.141592653589793, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,11 +37,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,61 +51,63 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,2.52812], + "waypoints":[0.0,2.58204], "samples":[ - {"t":0.0, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-0.42874, "vy":-1.43614, "omega":0.0, "ax":-0.00541, "ay":-0.01811, "alpha":0.0, "fx":[-0.08936,-0.08936,-0.08936,-0.08936], "fy":[-0.29934,-0.29934,-0.29934,-0.29934]}, - {"t":0.04862, "x":2.79378, "y":7.26079, 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"fx":[35.59651,35.59651,35.59651,35.59651], "fy":[119.2381,119.2381,119.2381,119.2381]}, + {"t":2.58204, "x":1.75006, "y":3.76463, "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/SRBtoCR.traj b/src/main/deploy/choreo/SRBtoCR.traj index 08f88626..a49ab885 100644 --- a/src/main/deploy/choreo/SRBtoCR.traj +++ b/src/main/deploy/choreo/SRBtoCR.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,11 +37,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,32 +51,38 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.70788], + "waypoints":[0.0,0.76285], "samples":[ - {"t":0.0, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.4806, "vy":-0.22819, "omega":2.77951, "ax":-0.04617, "ay":-0.00725, "alpha":-0.01029, "fx":[-0.78579,-0.78579,-0.74108,-0.74108], "fy":[-0.09753,-0.14224,-0.14224,-0.09753]}, - {"t":0.03078, "x":2.73882, "y":2.59428, "heading":-3.05605, "vx":-1.48202, "vy":-0.22841, "omega":2.77919, "ax":0.00001, "ay":-0.00006, "alpha":-0.02445, "fx":[-0.05733,-0.04825,0.0576,0.04852], 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"waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7531986236572266, "y":3.3997113704681396, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", 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"data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"1.5718817860612435 rad", "val":1.5718817860612435}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,11 +37,11 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a/src/main/deploy/choreo/SRtoCM.traj +++ b/src/main/deploy/choreo/SRtoCM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -37,11 +37,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -51,54 +51,56 @@ "differentialTrackWidth":0.5427218 }, 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"intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.382783889770508, "y":0.7094446420669556, "heading":-3.126526630663652, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.713675022125244, "y":0.7875750660896301, "heading":2.261243128434208, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, 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"fy":[-1.52244,-1.92764,1.52244,1.92764]}, + {"t":4.68742, "x":7.81832, "y":2.12903, "heading":1.49257, "vx":0.03145, "vy":1.34922, "omega":1.19929, "ax":-0.00001, "ay":0.0, "alpha":0.06478, "fx":[-0.32876,0.28053,0.32828,-0.28101], "fy":[-0.28077,-0.32853,0.28076,0.32852]}, + {"t":4.72001, "x":7.81934, "y":2.17299, "heading":1.53165, "vx":0.03145, "vy":1.34922, "omega":1.2014, "ax":-0.0003, "ay":-0.01273, "alpha":-0.23825, "fx":[1.16208,-1.08416,-1.17207,1.07404], "fy":[0.86857,0.95655,-1.28961,-1.37758]}, + {"t":4.75259, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.03144, "vy":1.3488, "omega":1.19364, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 75f851c3..0f6ae546 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -64,12 +64,12 @@ }, "D":{ "x":{ - "exp":"0.8098713755607605 m", - "val":0.8098713755607605 + "exp":"0.6693999767303467 m", + "val":0.6693999767303467 }, "y":{ - "exp":"6.312607765197754 m", - "val":6.312607765197754 + "exp":"5.975247383117676 m", + "val":5.975247383117676 }, "heading":{ "exp":"3.141592653589793 rad", @@ -218,16 +218,16 @@ }, "MLL":{ "x":{ - "exp":"2.32966947555542 m", - "val":2.32966947555542 + "exp":"3.2225897312164307 m", + "val":3.2225897312164307 }, "y":{ - "exp":"7.44913311004639 m", - "val":7.44913311004639 + "exp":"7.436997413635254 m", + "val":7.436997413635254 }, "heading":{ - "exp":"-3.1415920392274765 rad", - "val":-3.1415920392274765 + "exp":"0 rad", + "val":0.0 } }, "MR":{ @@ -316,12 +316,12 @@ }, "RLL":{ "x":{ - "exp":"2.660629749298096 m", - "val":2.660629749298096 + "exp":"2.6768698692321777 m", + "val":2.6768698692321777 }, "y":{ - "exp":"7.363339424133301 m", - "val":7.363339424133301 + "exp":"7.361404895782471 m", + "val":7.361404895782471 }, "heading":{ "exp":"0 deg", @@ -426,8 +426,8 @@ "val":66.133767546 }, "inertia":{ - "exp":"4.80002195 kg * m ^ 2", - "val":4.80002195 + "exp":"35620.08132 in ^ 2 * lb", + "val":10.42384825260472 }, "gearing":{ "exp":"7.03", @@ -442,8 +442,8 @@ "val":485.8996637552213 }, "tmax":{ - "exp":"2 N * m", - "val":2.0 + "exp":"0.9 N * m", + "val":0.9 }, "cof":{ "exp":"2.25", diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index 5ddbdeeb..82d99702 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -39,11 +39,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,126 +53,150 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.09836,2.88556,4.94025], + "waypoints":[0.0,1.24307,3.11636,5.36458], "samples":[ - {"t":0.0, "x":1.80247, "y":2.44997, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.4549, "ay":5.07973, "alpha":-81.28772, "fx":[-272.82974,257.45775,89.83952,-170.68544], "fy":[-43.99563,-99.05432,261.45073,217.54074]}, - {"t":0.03661, "x":1.8015, "y":2.45337, "heading":-1.5738, "vx":-0.05327, "vy":0.18598, "omega":-2.97611, "ax":-1.56942, "ay":5.96446, "alpha":-78.19908, "fx":[-275.06018,266.66911,75.07392,-170.47458], "fy":[-22.90701,-65.87359,265.79345,217.43914]}, - {"t":0.07322, "x":1.7985, "y":2.46418, "heading":-1.68276, "vx":-0.11073, "vy":0.40435, "omega":-5.83913, 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"ax":-0.00034, "ay":0.0001, "alpha":0.0, "fx":[-0.00559,-0.00559,-0.00559,-0.00559], "fy":[0.00167,0.00168,0.00168,0.00167]}, + {"t":3.9126, "x":5.92898, "y":4.83215, "heading":-0.11687, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "ax":-0.00004, "ay":0.00001, "alpha":0.0, "fx":[-0.00071,-0.00071,-0.00072,-0.00072], "fy":[0.00021,0.00022,0.00022,0.00021]}, + {"t":3.95944, "x":5.88183, "y":4.67475, "heading":-0.11674, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00009,-0.00009,-0.00009,-0.00009], "fy":[0.00002,0.00003,0.00003,0.00002]}, + {"t":4.00628, "x":5.83467, "y":4.51736, "heading":-0.1166, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.00001,0.00001,0.0]}, + {"t":4.05312, "x":5.78752, "y":4.35996, "heading":-0.11647, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "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":4.09996, "x":5.74036, "y":4.20256, "heading":-0.11634, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "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":4.14679, "x":5.69321, "y":4.04517, "heading":-0.1162, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "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":4.19363, "x":5.64605, "y":3.88777, "heading":-0.11607, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "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":4.24047, "x":5.5989, "y":3.73038, "heading":-0.11594, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "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":4.28731, "x":5.55174, "y":3.57298, "heading":-0.1158, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "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":4.33415, 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"vx":-1.00676, "vy":-3.36043, "omega":0.00286, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.00001,0.0,0.0,-0.00001]}, + {"t":4.61518, "x":5.22166, "y":2.47121, "heading":-0.11486, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00007,0.00007,0.00007,0.00007], "fy":[-0.00002,-0.00002,-0.00002,-0.00002]}, + {"t":4.66201, "x":5.17451, "y":2.31381, "heading":-0.11473, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "ax":0.00003, "ay":-0.00001, "alpha":0.0, "fx":[0.00053,0.00053,0.00053,0.00053], "fy":[-0.00016,-0.00016,-0.00016,-0.00016]}, + {"t":4.70885, "x":5.12735, "y":2.15642, "heading":-0.1146, "vx":-1.00676, "vy":-3.36043, "omega":0.00286, "ax":0.00025, "ay":-0.00007, "alpha":0.0, "fx":[0.00412,0.00412,0.00411,0.00411], "fy":[-0.00124,-0.00123,-0.00123,-0.00123]}, + {"t":4.75569, "x":5.0802, "y":1.99902, "heading":-0.11446, "vx":-1.00675, "vy":-3.36044, "omega":0.00286, "ax":0.00194, "ay":-0.00058, "alpha":0.0, "fx":[0.03204,0.03204,0.03204,0.03204], "fy":[-0.0096,-0.0096,-0.0096,-0.0096]}, + {"t":4.80253, "x":5.03304, "y":1.84162, "heading":-0.11433, "vx":-1.00666, "vy":-3.36046, "omega":0.00286, "ax":0.01517, "ay":-0.0043, "alpha":0.00103, "fx":[0.24651,0.2454,0.25505,0.25616], "fy":[-0.06571,-0.07536,-0.07647,-0.06682]}, + {"t":4.84937, "x":4.98591, "y":1.68422, "heading":-0.11419, "vx":-1.00595, "vy":-3.36067, "omega":0.00291, "ax":0.31045, "ay":0.6242, "alpha":2.18725, "fx":[-3.91289,-6.44838,14.48587,16.40645], "fy":[21.78062,1.33483,-1.07265,19.23775]}, + {"t":4.8962, "x":4.93913, "y":1.5275, "heading":-0.11406, "vx":-0.99141, "vy":-3.33143, "omega":0.10535, "ax":1.83471, "ay":6.50796, "alpha":5.60142, "fx":[-3.85498,-23.9493,90.64402,58.49656], "fy":[122.73677,118.45659,81.11054,108.09199]}, + {"t":4.94304, "x":4.89471, "y":1.3786, "heading":-0.10912, "vx":-0.90547, "vy":-3.02661, "omega":0.36771, "ax":2.14154, "ay":7.17215, "alpha":0.39407, "fx":[31.3887,32.46083,39.61058,38.1682], "fy":[119.78224,119.4507,117.28304,117.805]}, + {"t":4.98988, "x":4.85465, "y":1.24471, "heading":-0.0919, "vx":-0.80517, "vy":-2.69068, "omega":0.38617, "ax":2.14932, "ay":7.18829, "alpha":-0.42864, "fx":[40.18047,38.45679,31.10644,32.39921], "fy":[117.41601,118.02031,120.16177,119.79049]}, + {"t":5.03672, "x":4.81929, "y":1.12656, "heading":-0.07381, "vx":-0.7045, "vy":-2.35399, "omega":0.36609, "ax":2.15001, "ay":7.18672, "alpha":-0.77463, "fx":[44.16847,40.53513,27.61065,29.8742], "fy":[116.10768,117.46132,121.14572,120.56987]}, + {"t":5.08356, "x":4.78866, "y":1.02419, "heading":-0.05667, "vx":-0.6038, "vy":-2.01738, "omega":0.32981, "ax":2.14967, "ay":7.18375, "alpha":-0.96552, "fx":[46.47036,41.49711,25.64878,28.54966], "fy":[115.28187,117.19796,121.64657,120.96216]}, + {"t":5.13039, "x":4.76273, "y":0.93758, "heading":-0.04122, "vx":-0.50311, "vy":-1.68091, "omega":0.28459, "ax":2.14917, "ay":7.18112, "alpha":-1.08633, "fx":[47.98009,42.00303,24.3661,27.78321], "fy":[114.71103,117.06264,121.95353,121.18714]}, + {"t":5.17723, "x":4.74153, "y":0.86673, "heading":-0.02789, "vx":-0.40245, "vy":-1.34456, "omega":0.23371, "ax":2.14868, "ay":7.17897, "alpha":-1.16954, "fx":[49.0491,42.29122,23.45251,27.30719], "fy":[114.29249,116.98936,122.16212,121.32803]}, + {"t":5.22407, "x":4.72503, "y":0.81163, "heading":-0.01694, "vx":-0.30181, "vy":-1.00831, "omega":0.17893, "ax":2.14824, "ay":7.17722, "alpha":-1.23031, "fx":[49.84378,42.46959,22.76877,26.98915], "fy":[113.9736,116.94678,122.31287,121.42345]}, + {"t":5.27091, "x":4.71325, "y":0.77227, "heading":-0.00856, "vx":-0.20119, "vy":-0.67214, "omega":0.1213, "ax":2.14787, "ay":7.17579, "alpha":-1.27664, "fx":[50.45331,42.59455,22.24314,26.75543], "fy":[113.72459,116.91798,122.42583,121.49389]}, + {"t":5.31775, "x":4.70619, "y":0.74866, "heading":-0.00288, "vx":-0.10059, "vy":-0.33604, "omega":0.06151, "ax":2.14754, "ay":7.17461, "alpha":-1.31319, "fx":[50.92987,42.6987,21.83496,26.56149], "fy":[113.52739,116.89301,122.51208,121.55134]}, + {"t":5.36458, "x":4.70383, "y":0.74079, "heading":0.0, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 3363682d..999f478a 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -396,7 +396,13 @@ public Command setleftClimbAutoFalse() { public Command getDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.ILtoILM, Path.ILMtoML, Path.MLtoCL + Path[] paths = { + Path.PLtoD, + Path.DtoRL, + Path.RLtoIL, + // Path.ILtoILM, + Path.ILMtoML, + Path.MLtoCL // Path.DtoIL, }; // , Path.SLtoCL}; Command autoCommand = diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a2b4af49..718e10ab 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -911,6 +911,8 @@ public void robotPeriodic() { Logger.recordOutput( "trench poses", Arrays.stream(TrenchPoses.values()).map(target -> target.getPose()).toArray(Pose2d[]::new)); + + Logger.recordOutput("Turret/out of range", AutoAim.targetInTurretDeadzone()); } public void updateAlerts() { @@ -991,6 +993,7 @@ public void simulationPeriodic() { @Override public void disabledInit() { addAutos(); + System.out.println("--------------Robot Disabled-----------"); } @Override diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index e911a3f9..8ec53e41 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -17,6 +17,7 @@ public class AutoAim { private static boolean outOfRange = false; // TODO not sure if this should be true by default + public static double LATENCY_COMPENSATION_SECS = new LoggedTunableNumber("Latency time", 0.3).getAsDouble(); // 0.6; // TODO tune latency comp // public static double SPIN_UP_SECS = 0.0; // TODO tune spinup time From 1c62a8753c178a444876021057efe64537d236f2 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 8 Mar 2026 18:02:11 -0700 Subject: [PATCH 16/42] retune kicker and some other stuff that i forgot --- src/main/deploy/choreo/DBtoFL.traj | 337 +++++++++--------- src/main/deploy/choreo/DTtoRL.traj | 204 ++++++----- src/main/deploy/choreo/PLTtoD.traj | 106 +++--- src/main/deploy/choreo/RLtoFL.traj | 228 ++++++------ src/main/deploy/choreo/rebuiltChoreo.chor | 12 +- src/main/java/frc/robot/Autos.java | 2 +- .../indexer/SpindexerSubsystem.java | 6 +- .../subsystems/shooter/TurretSubsystem.java | 6 +- .../subsystems/swerve/SwerveSubsystem.java | 1 + 9 files changed, 448 insertions(+), 454 deletions(-) diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj index fa99e488..f07ce4c3 100644 --- a/src/main/deploy/choreo/DBtoFL.traj +++ b/src/main/deploy/choreo/DBtoFL.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.6693999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -18,7 +18,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":0.6693999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"D.x", "val":0.703999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.6742305755615234 m", "val":3.674230575561523}, "y":{"exp":"5.870871067047119 m", "val":5.870871067047119}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, 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"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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 0f6ae546..5234fe20 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -64,8 +64,8 @@ }, "D":{ "x":{ - "exp":"0.6693999767303467 m", - "val":0.6693999767303467 + "exp":"0.703999767303467 m", + "val":0.703999767303467 }, "y":{ "exp":"5.975247383117676 m", @@ -316,12 +316,12 @@ }, "RLL":{ "x":{ - "exp":"2.6768698692321777 m", - "val":2.6768698692321777 + "exp":"2.9497299194335938 m", + "val":2.9497299194335938 }, "y":{ - "exp":"7.361404895782471 m", - "val":7.361404895782471 + "exp":"7.378527641296387 m", + "val":7.378527641296387 }, "heading":{ "exp":"0 deg", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 999f478a..28bb898d 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -222,7 +222,7 @@ public Command runPath(Path path, AutoRoutine routine) { public Command climbPath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqTrue(), + // setAutoScoreReqTrue(), setAutoIntakeReqFalse(), setAutoPreClimbReqTrue(), // Commands.parallel( diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index ca627db4..2998a390 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -99,10 +99,10 @@ public Command kick(DoubleSupplier flywheelSpeedSupplier) { double spinnerSpeed = surfaceSpeedInPerSec / (Math.PI * SPINNER_DIAMETER_INCHES); Logger.recordOutput("Indexer/Spinner/Adjusted speed", spinnerSpeed); Logger.recordOutput("Indexer/Kicker/Adjusted speed", kickerSpeed); - spinnerIO.setRollerVelocity(spinnerSpeed); - kickerIO.setRollerVelocity(kickerSpeed); + spinnerIO.setRollerVelocity(spinnerSpeed - 1); + // kickerIO.setRollerVelocity(kickerSpeed - 5); // spinnerIO.setRollerVelocity(20); - // kickerIO.setRollerVelocity(15); + kickerIO.setRollerVelocity(15); }) // .withTimeout(3), // this.run( diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index ceb8dffd..aceb063c 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -60,7 +60,7 @@ public class TurretSubsystem extends SubsystemBase implements Shooter { // Changed to avoid cooking cable chain/wires // Plus 0 because then the rotation2d automatically wraps the value between -0.5 and 0.5 // (worked in sim) - Rotation2d.fromDegrees(-260).plus(Rotation2d.kZero); // 0.25 // -0.75 // -0.719536); + Rotation2d.fromDegrees(-259.013672).plus(Rotation2d.kZero); // 0.25 // -0.75 // -0.719536); @AutoLogOutput(key = "Shooter/Turret/Forward Hardstop") public static Rotation2d TURRET_FORWARD_HARDSTOP_ANGLE = @@ -208,7 +208,7 @@ public static CANcoderConfiguration getCancoder24tConfigs() { config.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive; // this is to offset the position where both cancoders are equal to be inside the deadzone // Offset measured at rear hardstop (approx -259 degrees) - config.MagnetSensor.MagnetOffset = -0.7768 - TurretIO.CANCODER_24T_TO_TURRET_GEAR_RATIO / 0.1; + config.MagnetSensor.MagnetOffset = -0.765137 - TurretIO.CANCODER_24T_TO_TURRET_GEAR_RATIO / 0.1; config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 1.0; return config; @@ -220,7 +220,7 @@ public static CANcoderConfiguration getCancoder26tConfigs() { config.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive; // this is to offset the position where both cancoders are equal to be inside the deadzone // Offset measured at rear hardstop (approx -259 degrees) - config.MagnetSensor.MagnetOffset = -0.4995 - TurretIO.CANCODER_26T_TO_TURRET_GEAR_RATIO / 0.1; + config.MagnetSensor.MagnetOffset = -0.4897 - TurretIO.CANCODER_26T_TO_TURRET_GEAR_RATIO / 0.1; config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 1.0; return config; diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 94d599a1..04be3342 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -804,6 +804,7 @@ public Command trenchAlign(DoubleSupplier xVel, DoubleSupplier yVel) { .withName("trench align"); } + @AutoLogOutput(key = "Swerve/Near Trench") public boolean isNearTrench() { double x = getPose().getX(); double y = getPose().getY(); From affb3161427fb74c1a05dbc96fc2470f67c5a04d Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 8 Mar 2026 21:07:12 -0700 Subject: [PATCH 17/42] make climber start at resting position --- src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java index 39efbf5f..940ab039 100644 --- a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java +++ b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java @@ -63,6 +63,7 @@ public void periodic() { public ClimberSubsystem(ClimberIO climberIO) { this.io = climberIO; + io.resetEncoder(Units.inchesToMeters(1)); } public Command extend() { From 96764b4ac59c6e0e18251a2ca772ac1ae0bf40ea Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 8 Mar 2026 21:59:59 -0700 Subject: [PATCH 18/42] i think i changed slow back to 2 m/s --- src/main/deploy/choreo/DTtoRL.traj | 195 +++++++++--------- src/main/deploy/choreo/FLMtoML.traj | 189 +++++++++--------- src/main/deploy/choreo/MLtoCL.traj | 161 ++++++++------- src/main/deploy/choreo/PLTtoD.traj | 111 ++++++----- src/main/deploy/choreo/RLtoFL.traj | 229 +++++++++++----------- src/main/deploy/choreo/rebuiltChoreo.chor | 18 +- 6 files changed, 455 insertions(+), 448 deletions(-) diff --git a/src/main/deploy/choreo/DTtoRL.traj b/src/main/deploy/choreo/DTtoRL.traj index 0faca32d..19a8cf94 100644 --- a/src/main/deploy/choreo/DTtoRL.traj +++ b/src/main/deploy/choreo/DTtoRL.traj @@ -4,8 +4,8 @@ "snapshot":{ "waypoints":[ {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.293079853057861, "y":5.975247383117676, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.228600025177002, "y":6.443007469177246, "heading":1.6142472452673169, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.293079853057861, "y":5.975247383117676, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.9497299194335938, "y":7.378527641296387, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,14 +18,14 @@ "params":{ "waypoints":[ {"x":{"exp":"0.703999767303467 m", "val":0.703999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.228600025177002 m", "val":2.228600025177002}, "y":{"exp":"6.443007469177246 m", "val":6.443007469177246}, "heading":{"exp":"1.6142472452673169 rad", "val":1.6142472452673169}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.228600025177002 m", "val":2.228600025177002}, "y":{"exp":"6.443007469177246 m", "val":6.443007469177246}, "heading":{"exp":"1.2762303344743435 rad", "val":1.2762303344743435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RLL.x", "val":2.9497299194335938}, "y":{"exp":"RLL.y", "val":7.378527641296387}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":24, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, {"from":0, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", @@ -57,99 +57,100 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.42904,1.19312,2.04392], + "waypoints":[0.0,0.42905,1.3622,2.11755], "samples":[ - {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.47869, "ay":-0.00863, "alpha":1.45326, "fx":[123.81066,123.83561,123.49305,123.45485], "fy":[-12.21887,11.96317,14.8254,-15.14066]}, - {"t":0.03575, "x":0.70878, "y":5.97524, "heading":3.14159, "vx":0.26739, "vy":-0.00031, "omega":0.05196, "ax":7.47705, "ay":-0.0086, "alpha":1.45541, "fx":[123.78683,123.8117,123.46242,123.42432], "fy":[-12.23171,11.97707,14.8465,-15.16051]}, - {"t":0.07151, "x":0.72312, "y":5.97523, "heading":-3.13973, "vx":0.53472, "vy":-0.00062, "omega":0.104, "ax":7.47474, "ay":-0.00854, "alpha":1.45845, "fx":[123.75593,123.77583,123.42237,123.37863], "fy":[-12.22536,12.02119,14.85209,-15.21271]}, - {"t":0.10726, "x":0.74702, "y":5.9752, "heading":-3.13602, "vx":0.80197, "vy":-0.00092, "omega":0.15614, "ax":7.47128, "ay":-0.00845, "alpha":1.46303, "fx":[123.71092,123.72081,123.36374,123.30864], "fy":[-12.20342,12.09989,14.84823,-15.30336]}, - {"t":0.14301, "x":0.78046, "y":5.97516, "heading":-3.13043, "vx":1.0691, "vy":-0.00122, "omega":0.20845, "ax":7.46553, "ay":-0.0083, "alpha":1.47066, "fx":[123.63545,123.62993,123.26516,123.19302], "fy":[-12.17426,12.22324,14.84893,-15.44652]}, - {"t":0.17877, "x":0.82346, "y":5.97511, "heading":-3.12298, "vx":1.33602, "vy":-0.00152, "omega":0.26103, "ax":7.45406, "ay":-0.00801, "alpha":1.48585, "fx":[123.4808,123.45344,123.06278,122.96802], 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a/src/main/deploy/choreo/MLtoCL.traj b/src/main/deploy/choreo/MLtoCL.traj index 2f6a6343..a062561a 100644 --- a/src/main/deploy/choreo/MLtoCL.traj +++ b/src/main/deploy/choreo/MLtoCL.traj @@ -3,28 +3,28 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7218598127365112, "y":5.351567268371582, "heading":1.6207547225168395, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.5524598956108093, "y":4.88380765914917, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, 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"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/RLtoFL.traj b/src/main/deploy/choreo/RLtoFL.traj index 804594dc..e0402870 100644 --- a/src/main/deploy/choreo/RLtoFL.traj +++ b/src/main/deploy/choreo/RLtoFL.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.9497299194335938, "y":7.361404895782471, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.9497299194335938, "y":7.361404895782471, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.743162631988525, "y":7.361404895782471, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.366947174072266, "y":7.026499271392822, "heading":-0.7102714504381418, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -12,13 +12,13 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.1}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"RLL.x", "val":2.9497299194335938}, "y":{"exp":"7.361404895782471 m", "val":7.361404895782471}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RLL.x", "val":2.9497299194335938}, "y":{"exp":"7.361404895782471 m", "val":7.361404895782471}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"7.361404895782471 m", "val":7.361404895782471}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.366947174072266 m", "val":7.366947174072266}, "y":{"exp":"7.026499271392822 m", "val":7.026499271392822}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -27,7 +27,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", 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"fx":[10.16392,-8.68007,-10.16715,8.67683], "fy":[8.67848,10.16553,-8.67842,-10.16554]}, + {"t":3.10772, "x":7.82669, "y":5.36429, "heading":-1.65223, "vx":-0.01542, "vy":-2.09933, "omega":-0.01005, "ax":-0.00001, "ay":0.0, "alpha":1.75856, "fx":[8.94321,-7.59392,-8.9436,7.59352], "fy":[7.59373,8.9434,-7.59372,-8.9434]}, + {"t":3.14189, "x":7.82616, "y":5.29257, "heading":-1.65257, "vx":-0.01542, "vy":-2.09933, "omega":0.05004, "ax":0.0, "ay":0.0, "alpha":1.53287, "fx":[7.79788,-6.61652,-7.79793,6.61647], "fy":[6.61649,7.79791,-6.61649,-7.79791]}, + {"t":3.17605, "x":7.82563, "y":5.22084, "heading":-1.65086, "vx":-0.01542, "vy":-2.09933, "omega":0.10241, "ax":0.0, "ay":0.0, "alpha":1.32426, "fx":[6.72691,-5.72757,-6.72692,5.72757], "fy":[5.72757,6.72691,-5.72757,-6.72691]}, + {"t":3.21022, "x":7.82511, "y":5.14911, "heading":-1.64737, "vx":-0.01542, "vy":-2.09933, "omega":0.14766, "ax":0.0, "ay":0.0, "alpha":1.13067, "fx":[5.72637,-4.91033,-5.72637,4.91033], "fy":[4.91033,5.72637,-4.91033,-5.72637]}, + {"t":3.24439, "x":7.82458, "y":5.07738, "heading":-1.64232, "vx":-0.01542, "vy":-2.09933, "omega":0.18629, "ax":0.0, "ay":0.0, "alpha":0.95009, "fx":[4.7909,-4.1503,-4.7909,4.1503], "fy":[4.1503,4.7909,-4.1503,-4.7909]}, + {"t":3.27855, "x":7.82405, "y":5.00566, "heading":-1.63596, "vx":-0.01542, "vy":-2.09933, "omega":0.21875, "ax":0.0, "ay":0.0, "alpha":0.78056, "fx":[3.91427,-3.43474,-3.91427,3.43474], "fy":[3.43474,3.91427,-3.43474,-3.91427]}, + {"t":3.31272, "x":7.82353, "y":4.93393, "heading":-1.62848, "vx":-0.01542, "vy":-2.09933, "omega":0.24542, "ax":0.0, "ay":0.0, "alpha":0.62021, "fx":[3.08968,-2.75231,-3.08968,2.75231], "fy":[2.75231,3.08968,-2.75231,-3.08968]}, + {"t":3.34689, "x":7.823, "y":4.8622, "heading":-1.6201, "vx":-0.01542, "vy":-2.09933, "omega":0.26661, "ax":0.0, "ay":0.0, "alpha":0.46721, "fx":[2.31001,-2.09277,-2.31001,2.09277], "fy":[2.09277,2.31001,-2.09277,-2.31001]}, + {"t":3.38105, "x":7.82247, "y":4.79047, "heading":-1.61099, "vx":-0.01542, "vy":-2.09933, "omega":0.28257, "ax":0.0, "ay":0.0, "alpha":0.31977, "fx":[1.56793,-1.4467,-1.56793,1.4467], "fy":[1.4467,1.56793,-1.4467,-1.56793]}, + {"t":3.41522, "x":7.82195, "y":4.71875, "heading":-1.60133, "vx":-0.01542, "vy":-2.09933, "omega":0.2935, "ax":0.0, "ay":0.0, "alpha":0.17616, "fx":[0.85603,-0.80528,-0.85603,0.80528], "fy":[0.80528,0.85603,-0.80528,-0.85603]}, + {"t":3.44939, "x":7.82142, "y":4.64702, "heading":-1.5913, "vx":-0.01542, "vy":-2.09933, "omega":0.29952, "ax":0.0, "ay":0.0, "alpha":0.03466, "fx":[0.16684,-0.16014,-0.16684,0.16014], "fy":[0.16015,0.16686,-0.16012,-0.16683]}, + {"t":3.48356, "x":7.82089, "y":4.57529, "heading":-1.58107, "vx":-0.01542, "vy":-2.09933, "omega":0.3007, "ax":0.00013, "ay":0.01805, "alpha":-0.10642, "fx":[-0.50498,0.49905,0.50934,-0.49464], "fy":[-0.19846,-0.20878,0.79521,0.80553]}, + {"t":3.51772, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01541, "vy":-2.09871, "omega":0.29707, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 5234fe20..37a36e73 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -7,8 +7,8 @@ "slow":{ "dimension":"LinVel", "var":{ - "exp":"1.15 m / s", - "val":1.15 + "exp":"2 m / s", + "val":2.0 } }, "slowaccel":{ @@ -17,6 +17,20 @@ "exp":"1.5 m / s ^ 2", "val":1.5 } + }, + "slower":{ + "dimension":"LinVel", + "var":{ + "exp":"1.5 m / s", + "val":1.5 + } + }, + "slowest":{ + "dimension":"LinVel", + "var":{ + "exp":"1 m / s", + "val":1.0 + } } }, "poses":{ From e119f1d72968aa4e464c8d96fe26e18e0467777e Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Mon, 9 Mar 2026 11:10:22 -0700 Subject: [PATCH 19/42] add autos and fix climb side --- src/main/java/frc/robot/Autos.java | 3 ++- src/main/java/frc/robot/Robot.java | 2 ++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index a69ef940..a3ed886a 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -465,7 +465,8 @@ public Command getFillDepotScoreClimbAuto() { lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}; Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); + //TODO set left climb true for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a2b4af49..fe776380 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -805,6 +805,8 @@ private void addAutos() { autoChooser.addOption("Depot Score Climb", autos.getDepotScoreClimbAuto()); autoChooser.addOption("Outpost Feed Climb", autos.getOutpostFeedClimbAuto()); autoChooser.addOption("Outpost Score Climb", autos.getOutpostScoreClimbAuto()); + autoChooser.addOption("Fill Depot Score Climb", autos.getFillDepotScoreClimbAuto()); + autoChooser.addOption("Fill Outpost Score Climb", autos.getFillOutpostScoreClimbAuto()); autoChooser.addOption("Test Auto", autos.getTestAuto()); haveAutosGenerated = true; From 86752dc5b481a4fb72eeede00935897910edc6fe Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Mon, 9 Mar 2026 14:09:05 -0700 Subject: [PATCH 20/42] delete unused paths in choreo and enum --- src/main/deploy/choreo/DLTtoDRO.traj | 90 --------- src/main/deploy/choreo/DRTtoDLO.traj | 83 -------- src/main/deploy/choreo/DtoCL.traj | 133 +++++++------ src/main/deploy/choreo/DtoFL.traj | 253 ------------------------ src/main/deploy/choreo/FLMtoCL.traj | 286 --------------------------- src/main/deploy/choreo/FLMtoML.traj | 187 +++++++++--------- src/main/deploy/choreo/FRMtoCR.traj | 221 --------------------- src/main/deploy/choreo/MLtoCL.traj | 155 +++++++-------- src/main/deploy/choreo/MLtoD.traj | 144 +++++++++----- src/main/deploy/choreo/MRtoO.traj | 146 +++++++------- src/main/deploy/choreo/OtoCR.traj | 131 ++++++------ src/main/deploy/choreo/OtoFR.traj | 232 ---------------------- src/main/deploy/choreo/OtoRR.traj | 83 ++++---- src/main/deploy/choreo/PLtoD.traj | 107 +++++----- src/main/deploy/choreo/PLtoFL.traj | 160 ++++++++------- src/main/deploy/choreo/PRtoFR.traj | 164 ++++++++------- src/main/deploy/choreo/PRtoO.traj | 81 ++++---- src/main/deploy/choreo/RLtoFL.traj | 227 ++++++++++----------- src/main/java/frc/robot/Autos.java | 6 - 19 files changed, 916 insertions(+), 1973 deletions(-) delete mode 100644 src/main/deploy/choreo/DLTtoDRO.traj delete mode 100644 src/main/deploy/choreo/DRTtoDLO.traj delete mode 100644 src/main/deploy/choreo/DtoFL.traj delete mode 100644 src/main/deploy/choreo/FLMtoCL.traj delete mode 100644 src/main/deploy/choreo/FRMtoCR.traj delete mode 100644 src/main/deploy/choreo/OtoFR.traj diff --git a/src/main/deploy/choreo/DLTtoDRO.traj b/src/main/deploy/choreo/DLTtoDRO.traj deleted file mode 100644 index 064df027..00000000 --- a/src/main/deploy/choreo/DLTtoDRO.traj +++ /dev/null @@ -1,90 +0,0 @@ -{ - "name":"DLTtoDRO", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":0.8}}, "enabled":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.8 m / s", "val":0.8}}}, "enabled":true}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "config":{ - "frontLeft":{ - "x":0.2761996, - "y":0.2761996 - }, - "backLeft":{ - "x":-0.2761996, - "y":0.2761996 - }, - "mass":66.133767546, - "inertia":4.80002195, - "gearing":7.03, - "radius":0.0508, - "vmax":485.8996637552213, - "tmax":2.0, - "cof":2.25, - "bumper":{ - "front":0.44196, - "side":0.44196, - "back":0.44196 - }, - "differentialTrackWidth":0.5427218 - }, - "sampleType":"Swerve", - "waypoints":[0.0,0.75027], - "samples":[ - {"t":0.0, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":-0.79832, "vy":0.02778, "omega":-4.24655, "ax":-0.03348, "ay":0.00119, "alpha":0.01818, "fx":[-0.51401,-0.59301,-0.59301,-0.51401], "fy":[0.05921,0.05921,-0.01979,-0.01979]}, - {"t":0.0268, "x":8.55817, "y":2.20543, "heading":-1.68458, "vx":-0.79922, "vy":0.02781, "omega":-4.24607, "ax":0.0, "ay":0.00002, "alpha":0.0314, "fx":[0.07552,-0.06001,-0.0755,0.06003], "fy":[0.06032,0.07581,-0.05972,-0.07521]}, - {"t":0.05359, "x":8.53675, "y":2.20617, "heading":-1.79836, "vx":-0.79922, "vy":0.02781, "omega":-4.24523, "ax":0.0, "ay":0.00001, "alpha":0.04238, "fx":[0.11047,-0.06891,-0.11045,0.06893], "fy":[0.06911,0.11065,-0.06873,-0.11027]}, - {"t":0.08039, "x":8.51534, "y":2.20692, "heading":-1.91211, "vx":-0.79922, "vy":0.02781, "omega":-4.24409, "ax":0.0, "ay":0.0, "alpha":0.04744, "fx":[0.1316,-0.06261,-0.1316,0.06261], "fy":[0.06265,0.13164,-0.06257,-0.13156]}, - {"t":0.10718, "x":8.49392, "y":2.20766, "heading":-2.02584, "vx":-0.79922, "vy":0.02781, "omega":-4.24282, "ax":0.0, "ay":-0.00001, "alpha":0.04466, "fx":[0.12977,-0.04451,-0.12978,0.0445], "fy":[0.04439,0.12966,-0.04462,-0.12989]}, - {"t":0.13398, "x":8.47251, "y":2.20841, "heading":-2.13952, "vx":-0.79922, "vy":0.02781, "omega":-4.24162, "ax":0.0, "ay":-0.00002, "alpha":0.0341, "fx":[0.1023,-0.02253,-0.10231,0.02251], "fy":[0.02227,0.10205,-0.02277,-0.10255]}, - {"t":0.16077, "x":8.45109, "y":2.20915, "heading":-2.25318, "vx":-0.79922, "vy":0.02781, "omega":-4.24071, "ax":0.0, "ay":-0.00002, "alpha":0.01764, "fx":[0.05389,-0.00558,-0.05391,0.00556], "fy":[0.00524,0.05357,-0.0059,-0.05423]}, - {"t":0.18757, "x":8.42967, "y":2.2099, "heading":-2.36681, "vx":-0.79922, "vy":0.02781, "omega":-4.24024, 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-3,20 +3,20 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7218598127365112, "y":5.351567268371582, "heading":1.6207547225168395, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.5524598956108093, "y":4.88380765914917, "heading":1.5728533535678788, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.581623911857605, "y":6.8643670082092285, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.581623911857605, "y":6.8643670082092285, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MLL.x", "val":2.32966947555542}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.581623911857605 m", "val":1.581623911857605}, "y":{"exp":"6.8643670082092285 m", "val":6.8643670082092285}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"MLL.x", 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"version":3, "snapshot":{ "waypoints":[ - {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.0304315090179443, "y":0.749363362789154, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.0304315090179443, "y":0.749363362789154, "heading":0.0, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.0304315090179443 m", "val":2.0304315090179443}, "y":{"exp":"0.749363362789154 m", "val":0.749363362789154}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.0304315090179443 m", "val":2.0304315090179443}, "y":{"exp":"0.749363362789154 m", "val":0.749363362789154}, "heading":{"exp":"0 deg", "val":0.0}, 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"enabled":true}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.918229579925537 m", "val":1.918229579925537}, "y":{"exp":"2.5445938110351562 m", "val":2.544593811035156}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -37,11 +37,11 @@ "y":0.2761996 }, 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a/src/main/deploy/choreo/OtoRR.traj +++ b/src/main/deploy/choreo/OtoRR.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -39,11 +39,11 @@ "y":0.2761996 }, "mass":66.133767546, - "inertia":4.80002195, + "inertia":10.42384825260472, "gearing":7.03, "radius":0.0508, "vmax":485.8996637552213, - "tmax":2.0, + "tmax":0.9, "cof":2.25, "bumper":{ "front":0.44196, @@ -53,36 +53,49 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.46636,0.72229], + "waypoints":[0.0,0.60877,0.87919], "samples":[ - {"t":0.0, "x":0.73218, "y":0.71986, 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"events":[] diff --git a/src/main/deploy/choreo/PLtoFL.traj b/src/main/deploy/choreo/PLtoFL.traj index f36209b9..0c4d4486 100644 --- a/src/main/deploy/choreo/PLtoFL.traj +++ b/src/main/deploy/choreo/PLtoFL.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.40537166595459, "y":7.350574970245361, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.378722190856934, "y":7.126171112060547, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.40537166595459, "y":7.350574970245361, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.378722190856934, "y":7.126171112060547, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"4.40537166595459 m", "val":4.40537166595459}, "y":{"exp":"7.350574970245361 m", "val":7.350574970245361}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.994898796081543 m", "val":5.994898796081543}, "y":{"exp":"7.350574970245361 m", "val":7.350574970245361}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.378722190856934 m", "val":7.378722190856934}, "y":{"exp":"7.126171112060547 m", "val":7.126171112060547}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"4.40537166595459 m", "val":4.40537166595459}, "y":{"exp":"7.350574970245361 m", "val":7.350574970245361}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.994898796081543 m", "val":5.994898796081543}, "y":{"exp":"7.350574970245361 m", "val":7.350574970245361}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.378722190856934 m", "val":7.378722190856934}, "y":{"exp":"7.126171112060547 m", 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100644 --- a/src/main/deploy/choreo/PRtoFR.traj +++ b/src/main/deploy/choreo/PRtoFR.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.386671543121338, "y":0.7306628823280334, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.7704949378967285, "y":0.7493634223937988, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.434823036193848, "y":0.842864990234375, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.386671543121338, "y":0.7306628823280334, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.7704949378967285, "y":0.7493634223937988, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.434823036193848, "y":0.842864990234375, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"4.386671543121338 m", "val":4.386671543121338}, "y":{"exp":"0.7306628823280334 m", "val":0.7306628823280334}, "heading":{"exp":"0 urad", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.7704949378967285 m", "val":5.7704949378967285}, "y":{"exp":"0.7493634223937988 m", "val":0.7493634223937988}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.434823036193848 m", "val":7.434823036193848}, "y":{"exp":"0.842864990234375 m", "val":0.842864990234375}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"4.386671543121338 m", "val":4.386671543121338}, "y":{"exp":"0.7306628823280334 m", "val":0.7306628823280334}, "heading":{"exp":"0 urad", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.7704949378967285 m", "val":5.7704949378967285}, "y":{"exp":"0.7493634223937988 m", "val":0.7493634223937988}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.434823036193848 m", "val":7.434823036193848}, "y":{"exp":"0.842864990234375 m", "val":0.842864990234375}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, 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"fixHeading":true, "overrideIntervals":false}, + {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.3072574138641357 m", "val":2.3072574138641357}, "y":{"exp":"0.7420299053192139 m", "val":0.7420299053192139}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.3072574138641357 m", "val":2.3072574138641357}, "y":{"exp":"0.7420299053192139 m", "val":0.7420299053192139}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -41,11 +41,11 @@ "y":0.2761996 }, 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"y":5.3643, "heading":-1.6513, "vx":-0.01387, "vy":-1.99939, "omega":-0.00819, "ax":0.0, "ay":0.0, "alpha":1.56743, "fx":[7.96507,-6.77589,-7.96516,6.7758], "fy":[6.77584,7.96512,-6.77584,-7.96512]}, + {"t":3.28333, "x":7.82584, "y":5.29257, "heading":-1.65159, "vx":-0.01387, "vy":-1.99939, "omega":0.04804, "ax":0.0, "ay":0.0, "alpha":1.36582, "fx":[6.94231,-5.90225,-6.94232,5.90224], "fy":[5.90224,6.94232,-5.90224,-6.94232]}, + {"t":3.31921, "x":7.82534, "y":5.22084, "heading":-1.64987, "vx":-0.01387, "vy":-1.99939, "omega":0.09704, "ax":0.0, "ay":0.0, "alpha":1.17966, "fx":[5.98731,-5.10811,-5.98731,5.10811], "fy":[5.10811,5.98731,-5.10811,-5.98731]}, + {"t":3.35508, "x":7.82484, "y":5.14911, "heading":-1.64639, "vx":-0.01387, "vy":-1.99939, "omega":0.13936, "ax":0.0, "ay":0.0, "alpha":1.00704, "fx":[5.09596,-4.3784,-5.09596,4.3784], "fy":[4.3784,5.09596,-4.3784,-5.09596]}, + {"t":3.39096, "x":7.82434, "y":5.07739, "heading":-1.64139, "vx":-0.01387, "vy":-1.99939, "omega":0.17549, "ax":0.0, "ay":0.0, "alpha":0.84611, "fx":[4.26314,-3.70005,-4.26314,3.70005], "fy":[3.70005,4.26314,-3.70005,-4.26314]}, + {"t":3.42683, "x":7.82385, "y":5.00566, "heading":-1.63509, "vx":-0.01387, "vy":-1.99939, "omega":0.20584, "ax":0.0, "ay":0.0, "alpha":0.69508, "fx":[3.483,-3.06162,-3.483,3.06162], "fy":[3.06162,3.483,-3.06162,-3.483]}, + {"t":3.46271, "x":7.82335, "y":4.93393, "heading":-1.62771, "vx":-0.01387, "vy":-1.99939, "omega":0.23078, "ax":0.0, "ay":0.0, "alpha":0.55227, "fx":[2.74932,-2.45293,-2.74932,2.45293], "fy":[2.45293,2.74932,-2.45292,-2.74932]}, + {"t":3.49858, "x":7.82285, "y":4.8622, "heading":-1.61943, "vx":-0.01387, "vy":-1.99939, "omega":0.25059, "ax":0.0, "ay":0.0, "alpha":0.41601, "fx":[2.05562,-1.86481,-2.05562,1.86481], "fy":[1.86481,2.05562,-1.86481,-2.05562]}, + {"t":3.53446, "x":7.82236, "y":4.79047, "heading":-1.61044, "vx":-0.01387, "vy":-1.99939, "omega":0.26552, "ax":0.0, "ay":0.0, "alpha":0.28471, "fx":[1.39533,-1.28886,-1.39533,1.28886], "fy":[1.28886,1.39533,-1.28886,-1.39532]}, + {"t":3.57033, "x":7.82186, "y":4.71875, "heading":-1.60091, "vx":-0.01387, "vy":-1.99939, "omega":0.27573, "ax":0.0, "ay":0.0, "alpha":0.15683, "fx":[0.76178,-0.71722,-0.76178,0.71722], "fy":[0.71722,0.76178,-0.71722,-0.76178]}, + {"t":3.60621, "x":7.82136, "y":4.64702, "heading":-1.59102, "vx":-0.01387, "vy":-1.99939, "omega":0.28136, "ax":0.0, "ay":0.0, "alpha":0.03082, "fx":[0.1483,-0.14242,-0.1483,0.14242], "fy":[0.14243,0.14831,-0.14241,-0.14829]}, + {"t":3.64208, "x":7.82086, "y":4.57529, "heading":-1.58093, "vx":-0.01387, "vy":-1.99939, "omega":0.28246, "ax":0.00011, "ay":0.01558, "alpha":-0.09482, "fx":[-0.45003,0.44454,0.45359,-0.44095], "fy":[-0.18516,-0.19422,0.70033,0.70939]}, + {"t":3.67796, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01386, "vy":-1.99884, "omega":0.27906, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 5fa74912..77f6a940 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -108,10 +108,8 @@ public enum Path { // DEPOT PLtoD("PL", "D", Action.FLOW), // FEED - DtoFL("DT", "FL", Action.FEED), FLtoFLM("FL", "FLM", Action.FEED), FRtoFRM("FR", "FRM", Action.FEED), - OtoFR("O", "FR", Action.FEED), FLMtoML("FLM", "ML", Action.FEED), FRMtoMR("FRM", "MR", Action.FEED), // INTAKE @@ -127,14 +125,10 @@ public enum Path { DtoRL("D", "RL", Action.SCORE), OtoRR("O", "RR", Action.SCORE), // FLOW - OtoIR("O", "FR", Action.FLOW), - DtoIL("D", "FL", Action.FLOW), MLtoD("ML", "D", Action.FLOW), // CLIMB MLtoCL("ML", "CL", Action.CLIMB), MRtoCR("MR", "CR", Action.CLIMB), - FRMtoCR("FRM", "CR", Action.CLIMB), - FLMtoCL("FLM", "CL", Action.CLIMB), OtoCR("O", "CR", Action.CLIMB), DtoCL("D", "CL", Action.CLIMB), From 763e67eb83950a30b201c585db507a864e8a3537 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Mon, 9 Mar 2026 14:11:26 -0700 Subject: [PATCH 21/42] fmt --- src/main/java/frc/robot/Autos.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 77f6a940..7d2a3b20 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -466,7 +466,7 @@ public Command getFillDepotScoreClimbAuto() { Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); - //TODO set left climb true + // TODO set left climb true for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); From 91277fbbdc46f392846f65b08548bf9d13cabc6b Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 18:12:23 -0700 Subject: [PATCH 22/42] Initial setup stuff for tuning --- src/main/java/frc/robot/Robot.java | 5 +++-- .../java/frc/robot/subsystems/intake/FintakeSubsystem.java | 2 +- src/main/java/frc/robot/subsystems/intake/Intake.java | 2 +- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 6 +++--- 4 files changed, 8 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1590489d..ac1089e2 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -495,7 +495,8 @@ public Robot() { PhoenixOdometryThread.getInstance().start(); SmartDashboard.putData("[BE ENABLED] Current zero climber", climber.runCurrentZeroing()); - SmartDashboard.putData("Zero Intake", intake.zeroRackOffCancoder().ignoringDisable(true)); + SmartDashboard.putData("Zero Intake Off Cancoder", intake.zeroPivotOffCancoder().ignoringDisable(true)); + SmartDashboard.putData("Zero intake 90 deg", intake.); SmartDashboard.putData("Zero Hood", shooter.zeroHood().ignoringDisable(true)); SmartDashboard.putData( "Test shot", @@ -780,7 +781,7 @@ private void addCompSysids( autoChooser.addOption("Climber Sysid", climber.runClimberSysid()); autoChooser.addOption("Indexer Roller Sysid", indexer.runRollerSysId()); autoChooser.addOption("Intake Roller Sysid", intake.runRollerSysid()); - autoChooser.addOption("Intake Extension Sysid", intake.runPivotSysid()); + autoChooser.addOption("Intake Pivot Sysid", intake.runPivotSysid()); autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid()); autoChooser.addOption("Hood Sysid", shooter.runHoodSysid()); diff --git a/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java index 8cc77389..cc85f96a 100644 --- a/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java @@ -111,7 +111,7 @@ public Rotation2d getPositionSetpoint() { } @Override - public Command zeroRackOffCancoder() { + public Command zeroPivotOffCancoder() { return this.idle(); } diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index 14620daf..33bd0ff1 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -33,7 +33,7 @@ public default Command runPivotSysid() { return Commands.none(); } - public Command zeroRackOffCancoder(); + public Command zeroPivotOffCancoder(); public Command runCurrentZeroing(); diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 6dba33dc..41d8de57 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -33,8 +33,8 @@ public class SlapdownSubsystem extends SubsystemBase implements Intake { public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromDegrees(5.425); public static final Rotation2d PIVOT_MAX_POSITION = Rotation2d.fromDegrees(145.425); // Not so sure abt this one... - public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; // TODO - public static final Rotation2d PIVOT_RETRACTED_POSITION = PIVOT_MAX_POSITION; // TODO + public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; + public static final Rotation2d PIVOT_RETRACTED_POSITION = PIVOT_MAX_POSITION; public static final double CURRENT_ZEROING_THRESHOLD = 30.0; // TODO: TUNE public static final double ROLLER_GEAR_RATIO = 2.0; public static final double PIVOT_GEAR_RATIO = 39.375; @@ -190,7 +190,7 @@ public Command runPivotSysid() { } @Override - public Command zeroRackOffCancoder() { + public Command zeroPivotOffCancoder() { return this.runOnce(() -> pivotIO.resetEncoder(cancoderIOInputs.cancoderPositionRotations)); } From 4f556b5f6b344508178767ae56fce12d4c8fa8ea Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 18:12:42 -0700 Subject: [PATCH 23/42] Cancoder config --- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 41d8de57..0fd21348 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -270,9 +270,8 @@ public static TalonFXConfiguration getRollerConfig() { public static CANcoderConfiguration getCancoderConfig() { CANcoderConfiguration config = new CANcoderConfiguration(); - // TODO: TUNE config.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive; - config.MagnetSensor.MagnetOffset = 0.0; + config.MagnetSensor.MagnetOffset = 0.262; config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5; return config; From d2020d13053de5a25f0c6d33c8d8e662a8e13478 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 18:15:36 -0700 Subject: [PATCH 24/42] Hardstop values off cancoder --- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 0fd21348..e52cf15d 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -30,9 +30,9 @@ import org.littletonrobotics.junction.Logger; public class SlapdownSubsystem extends SubsystemBase implements Intake { - public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromDegrees(5.425); + public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromDegrees(-18.61); public static final Rotation2d PIVOT_MAX_POSITION = - Rotation2d.fromDegrees(145.425); // Not so sure abt this one... + Rotation2d.fromDegrees(128); // Not so sure abt this one... public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; public static final Rotation2d PIVOT_RETRACTED_POSITION = PIVOT_MAX_POSITION; public static final double CURRENT_ZEROING_THRESHOLD = 30.0; // TODO: TUNE From dffbf5e954a5e09514ac29b78f90531e4394f8bb Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 18:16:50 -0700 Subject: [PATCH 25/42] Make it build + spotless --- src/main/java/frc/robot/Robot.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index ac1089e2..7bab3e1f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -495,8 +495,8 @@ public Robot() { PhoenixOdometryThread.getInstance().start(); SmartDashboard.putData("[BE ENABLED] Current zero climber", climber.runCurrentZeroing()); - SmartDashboard.putData("Zero Intake Off Cancoder", intake.zeroPivotOffCancoder().ignoringDisable(true)); - SmartDashboard.putData("Zero intake 90 deg", intake.); + SmartDashboard.putData( + "Zero Intake Off Cancoder", intake.zeroPivotOffCancoder().ignoringDisable(true)); SmartDashboard.putData("Zero Hood", shooter.zeroHood().ignoringDisable(true)); SmartDashboard.putData( "Test shot", From 3ba78f6a9c8bb6e27cbb789a68b4a3fbbd6f508d Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 19:09:22 -0700 Subject: [PATCH 26/42] Tune lol --- .../subsystems/intake/SlapdownSubsystem.java | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index e52cf15d..d0f1d629 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -30,9 +30,9 @@ import org.littletonrobotics.junction.Logger; public class SlapdownSubsystem extends SubsystemBase implements Intake { - public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromDegrees(-18.61); + public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromDegrees(-12); public static final Rotation2d PIVOT_MAX_POSITION = - Rotation2d.fromDegrees(128); // Not so sure abt this one... + Rotation2d.fromDegrees(122); // Not so sure abt this one... public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; public static final Rotation2d PIVOT_RETRACTED_POSITION = PIVOT_MAX_POSITION; public static final double CURRENT_ZEROING_THRESHOLD = 30.0; // TODO: TUNE @@ -223,13 +223,14 @@ public static TalonFXConfiguration getPivotConfig() { config.Feedback.SensorToMechanismRatio = PIVOT_GEAR_RATIO; - config.Slot0.kS = 0.0; - config.Slot0.kV = 0.0; + config.Slot0.kS = 0.05; + config.Slot0.kV = 8.0; // Might suck config.Slot0.kA = 0.0; + config.Slot0.kG = 0.55; config.Slot0.GravityType = GravityTypeValue.Arm_Cosine; config.Slot0.GravityArmPositionOffset = 0.0; // Maybe need this?? - config.Slot0.kP = 0.0; - config.Slot0.kD = 0.0; + config.Slot0.kP = 8.0; + config.Slot0.kD = 0.3; // TODO: TUNE config.CurrentLimits.StatorCurrentLimit = 80.0; // glup @@ -238,8 +239,8 @@ public static TalonFXConfiguration getPivotConfig() { config.CurrentLimits.SupplyCurrentLimitEnable = true; // TODO: TUNE - config.MotionMagic.MotionMagicCruiseVelocity = 5; - config.MotionMagic.MotionMagicAcceleration = 10; + config.MotionMagic.MotionMagicCruiseVelocity = 1; + config.MotionMagic.MotionMagicAcceleration = 1; return config; } From 95a7e5b6dcc6e8a58b2af640b373e16f3e194cde Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 19:28:21 -0700 Subject: [PATCH 27/42] Kind works --- .../frc/robot/subsystems/intake/Intake.java | 2 ++ .../subsystems/intake/SlapdownSubsystem.java | 21 +++++++++++++++---- 2 files changed, 19 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index 33bd0ff1..53063c07 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -44,4 +44,6 @@ public default Command climb() { public default Command restRetracted() { return Commands.none(); } + + public default void slapdownInit() {} } diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index d0f1d629..09100fd4 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -83,6 +83,11 @@ public SlapdownSubsystem(PivotIO pivotIO, CANcoderIO cancoderIO, RollerIO roller new Mechanism((volts) -> pivotIO.setMotorVoltage(volts.in(Volt)), null, this)); } + @Override + public void slapdownInit() { + pivotIO.resetEncoder(cancoderIOInputs.cancoderPositionRotations); + } + @Override public void periodic() { pivotIO.updateInputs(pivotIOInputs); @@ -122,7 +127,7 @@ public Command agitate() { this.run( () -> { pivotIO.setMotorPositionSetpoint( - PIVOT_EXTENDED_POSITION.minus(Rotation2d.fromDegrees(30))); // TODO: TUNE + PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40))); rollerIO.setRollerVelocity(10.0); }) .until(atExtensionTrigger)) @@ -142,7 +147,16 @@ public Command intake() { public Command restExtended() { return this.run( () -> { - // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + rollerIO.setRollerVoltage(0.0); + }); + } + + @Override + public Command restRetracted() { + return this.run( + () -> { + pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION); rollerIO.setRollerVoltage(0.0); }); } @@ -211,8 +225,7 @@ public Rotation2d getPositionSetpoint() { } public boolean atExtension() { - return MathUtil.isNear( - getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 2); // TODO: TUNE TOLERANCE + return MathUtil.isNear(getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 10); } public static TalonFXConfiguration getPivotConfig() { From 73ebd189832233291979fc35cd956252e52d2200 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 19:54:01 -0700 Subject: [PATCH 28/42] Tuning --- src/main/java/frc/robot/Superstructure.java | 2 +- .../frc/robot/subsystems/intake/FintakeSubsystem.java | 5 +++++ src/main/java/frc/robot/subsystems/intake/Intake.java | 2 ++ .../robot/subsystems/intake/SlapdownSubsystem.java | 11 ++++++++++- 4 files changed, 18 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index d7dddf9a..0ffb367d 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -491,7 +491,7 @@ private void addCommands() { climber.retract()); bindCommands( - SuperState.SPIT, intake.agitate(), indexer.spit(), shooter.spit(), climber.retract()); + SuperState.SPIT, intake.outtake(), indexer.spit(), shooter.spit(), climber.retract()); bindCommands( SuperState.PRE_CLIMB, intake.restRetracted(), diff --git a/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java index cc85f96a..b669241c 100644 --- a/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java @@ -58,6 +58,11 @@ public Command intake() { return this.run(() -> io.setRollerVoltage(10)); } + @Override + public Command outtake() { + return this.run(() -> io.setRollerVoltage(-10)); + } + @Override public Command agitate() { return this.run(() -> io.setRollerVoltage(-5)); diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index 53063c07..622a9247 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -14,6 +14,8 @@ public interface Intake extends Subsystem { /** Run balls towards the shooter */ public Command intake(); + public Command outtake(); + /** Run balls away from the shooter. This is for antijamming the robot */ public Command agitate(); diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 09100fd4..1115eed9 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -138,11 +138,20 @@ public Command agitate() { public Command intake() { return this.run( () -> { - // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); rollerIO.setRollerVelocity(80); }); } + @Override + public Command outtake() { + return this.run( + () -> { + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + rollerIO.setRollerVelocity(-80); + }); + } + @Override public Command restExtended() { return this.run( From a3075d67390947ec3c0f5465b801fa5ba26d5184 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 21:56:30 -0700 Subject: [PATCH 29/42] Current Limit --- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 1115eed9..1be7e7ba 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -254,9 +254,8 @@ public static TalonFXConfiguration getPivotConfig() { config.Slot0.kP = 8.0; config.Slot0.kD = 0.3; - // TODO: TUNE - config.CurrentLimits.StatorCurrentLimit = 80.0; // glup - config.CurrentLimits.StatorCurrentLimitEnable = false; + config.CurrentLimits.StatorCurrentLimit = 45.0; // glup + config.CurrentLimits.StatorCurrentLimitEnable = true; config.CurrentLimits.SupplyCurrentLimit = 40.0; config.CurrentLimits.SupplyCurrentLimitEnable = true; From 4c2623df2f1e3f2ef316df8742d8fde6717ccc56 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Mon, 9 Mar 2026 21:57:00 -0700 Subject: [PATCH 30/42] Zero on init --- src/main/java/frc/robot/Robot.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7a0ff362..a788509c 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -498,6 +498,7 @@ public Robot() { Logger.recordOutput("Robot Edition", ROBOT_EDITION); shooter.turretInit(); + intake.slapdownInit(); PhoenixOdometryThread.getInstance().start(); From f2e2206aecde10c1dca2033061984a5e465d2f8d Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 10 Mar 2026 15:30:44 -0700 Subject: [PATCH 31/42] try intake voltage control. will probably revert bc i just remembered we can do remote cancoders --- src/main/java/frc/robot/Robot.java | 2 +- .../frc/robot/components/pivot/PivotIO.java | 1 + .../subsystems/intake/SlapdownSubsystem.java | 106 +++++++++++++----- 3 files changed, 77 insertions(+), 32 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a788509c..1dcf92ea 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -498,7 +498,7 @@ public Robot() { Logger.recordOutput("Robot Edition", ROBOT_EDITION); shooter.turretInit(); - intake.slapdownInit(); + // intake.slapdownInit(); PhoenixOdometryThread.getInstance().start(); diff --git a/src/main/java/frc/robot/components/pivot/PivotIO.java b/src/main/java/frc/robot/components/pivot/PivotIO.java index 446b7aa0..73f516d7 100644 --- a/src/main/java/frc/robot/components/pivot/PivotIO.java +++ b/src/main/java/frc/robot/components/pivot/PivotIO.java @@ -74,6 +74,7 @@ public void updateInputs(PivotIOInputs inputs) { inputs.statorCurrentAmps = statorCurrent.getValueAsDouble(); inputs.supplyCurrentAmps = supplyCurrent.getValueAsDouble(); inputs.tempC = temp.getValueAsDouble(); + inputs.voltage = voltage.getValueAsDouble(); } public void setMotorVoltage(double voltage) { diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 1be7e7ba..5f24d21c 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -39,6 +39,8 @@ public class SlapdownSubsystem extends SubsystemBase implements Intake { public static final double ROLLER_GEAR_RATIO = 2.0; public static final double PIVOT_GEAR_RATIO = 39.375; + public static final double PIVOT_CURRENT_THRESHOLD = 18; + private final PivotIO pivotIO; private PivotIOInputsAutoLogged pivotIOInputs = new PivotIOInputsAutoLogged(); @@ -118,65 +120,107 @@ public void simulationPeriodic() { @Override public Command agitate() { return Commands.sequence( - this.run( - () -> { - pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); - rollerIO.setRollerVelocity(10.0); - }) - .until(atExtensionTrigger), - this.run( - () -> { - pivotIO.setMotorPositionSetpoint( - PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40))); - rollerIO.setRollerVelocity(10.0); - }) - .until(atExtensionTrigger)) - .repeatedly(); + this.run( + () -> { + // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + // assume it's starting down i guess + pivotIO.setMotorVoltage(7); + rollerIO.setRollerVelocity(10.0); + }) + // .until(atExtensionTrigger)) + // .withTimeout(1), + // this.run( + // () -> { + // // pivotIO.setMotorPositionSetpoint( + // // PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40))); + // pivotIO.setMotorVoltage(-5); + // rollerIO.setRollerVelocity(10.0); + // }) + // // .until(atExtensionTrigger)) + // .withTimeout(1)) + // .repeatedly(); + ); } @Override public Command intake() { - return this.run( - () -> { - pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); - rollerIO.setRollerVelocity(80); - }); + // return this.run( + // () -> { + // // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + // pivotIO.setMotorVoltage(3); + // rollerIO.setRollerVelocity(80); + // }).until(pivotIOInputs.statorCurrentAmps > 30); + + return Commands.sequence( + this.run( + () -> { + pivotIO.setMotorVoltage(-5); + rollerIO.setRollerVelocity(80); + }) + .until( + new Trigger(() -> currentFilterValue > PIVOT_CURRENT_THRESHOLD) + // .debounce(0.1) + ), + // .withTimeout(1), + this.run( + () -> { + pivotIO.setMotorVoltage(0); + rollerIO.setRollerVelocity(80); + })); } @Override public Command outtake() { return this.run( () -> { - pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + pivotIO.setMotorVoltage(0); rollerIO.setRollerVelocity(-80); }); } @Override public Command restExtended() { - return this.run( - () -> { - pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); - rollerIO.setRollerVoltage(0.0); - }); + // return this.run( + // () -> { + // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + // rollerIO.setRollerVoltage(0.0); + // }); + return Commands.sequence( + // this.run( + // () -> { + // pivotIO.setMotorVoltage(-3); + // rollerIO.setRollerVoltage(0); + // }) + // .until( + // new Trigger(() -> pivotIOInputs.statorCurrentAmps > PIVOT_CURRENT_THRESHOLD) + // // .debounce(0.1) + // ), + this.run( + () -> { + pivotIO.setMotorVoltage(0); + rollerIO.setRollerVoltage(0); + })); } @Override public Command restRetracted() { return this.run( () -> { - pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION); + // pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION); + pivotIO.setMotorVoltage(0); rollerIO.setRollerVoltage(0.0); }); } @Override public Command runCurrentZeroing() { - return Commands.sequence( - this.run(() -> pivotIO.setMotorVoltage(-2)), // TODO: TUNE VOLTAGE - Commands.waitUntil(() -> currentFilterValue > CURRENT_ZEROING_THRESHOLD), - this.runOnce(() -> pivotIO.resetEncoder(Rotation2d.kZero)), - Commands.print("Intake pivot zeroed")); + // return Commands.sequence( + // this.run(() -> pivotIO.setMotorVoltage(-2)), // TODO: TUNE VOLTAGE + // Commands.waitUntil(() -> currentFilterValue > CURRENT_ZEROING_THRESHOLD), + // this.runOnce(() -> pivotIO.resetEncoder(Rotation2d.kZero)), + // Commands.print("Intake pivot zeroed")); + return Commands.none(); } @Override From 2a48465e15f8f795e581721397fccc1871da6518 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 10 Mar 2026 16:12:54 -0700 Subject: [PATCH 32/42] Revert "try intake voltage control. will probably revert bc i just remembered we can do remote cancoders" This reverts commit f2e2206aecde10c1dca2033061984a5e465d2f8d. --- src/main/java/frc/robot/Robot.java | 2 +- .../frc/robot/components/pivot/PivotIO.java | 1 - .../subsystems/intake/SlapdownSubsystem.java | 106 +++++------------- 3 files changed, 32 insertions(+), 77 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1dcf92ea..a788509c 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -498,7 +498,7 @@ public Robot() { Logger.recordOutput("Robot Edition", ROBOT_EDITION); shooter.turretInit(); - // intake.slapdownInit(); + intake.slapdownInit(); PhoenixOdometryThread.getInstance().start(); diff --git a/src/main/java/frc/robot/components/pivot/PivotIO.java b/src/main/java/frc/robot/components/pivot/PivotIO.java index 73f516d7..446b7aa0 100644 --- a/src/main/java/frc/robot/components/pivot/PivotIO.java +++ b/src/main/java/frc/robot/components/pivot/PivotIO.java @@ -74,7 +74,6 @@ public void updateInputs(PivotIOInputs inputs) { inputs.statorCurrentAmps = statorCurrent.getValueAsDouble(); inputs.supplyCurrentAmps = supplyCurrent.getValueAsDouble(); inputs.tempC = temp.getValueAsDouble(); - inputs.voltage = voltage.getValueAsDouble(); } public void setMotorVoltage(double voltage) { diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 5f24d21c..1be7e7ba 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -39,8 +39,6 @@ public class SlapdownSubsystem extends SubsystemBase implements Intake { public static final double ROLLER_GEAR_RATIO = 2.0; public static final double PIVOT_GEAR_RATIO = 39.375; - public static final double PIVOT_CURRENT_THRESHOLD = 18; - private final PivotIO pivotIO; private PivotIOInputsAutoLogged pivotIOInputs = new PivotIOInputsAutoLogged(); @@ -120,107 +118,65 @@ public void simulationPeriodic() { @Override public Command agitate() { return Commands.sequence( - this.run( - () -> { - // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); - // assume it's starting down i guess - pivotIO.setMotorVoltage(7); - rollerIO.setRollerVelocity(10.0); - }) - // .until(atExtensionTrigger)) - // .withTimeout(1), - // this.run( - // () -> { - // // pivotIO.setMotorPositionSetpoint( - // // PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40))); - // pivotIO.setMotorVoltage(-5); - // rollerIO.setRollerVelocity(10.0); - // }) - // // .until(atExtensionTrigger)) - // .withTimeout(1)) - // .repeatedly(); - ); + this.run( + () -> { + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + rollerIO.setRollerVelocity(10.0); + }) + .until(atExtensionTrigger), + this.run( + () -> { + pivotIO.setMotorPositionSetpoint( + PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40))); + rollerIO.setRollerVelocity(10.0); + }) + .until(atExtensionTrigger)) + .repeatedly(); } @Override public Command intake() { - // return this.run( - // () -> { - // // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); - // pivotIO.setMotorVoltage(3); - // rollerIO.setRollerVelocity(80); - // }).until(pivotIOInputs.statorCurrentAmps > 30); - - return Commands.sequence( - this.run( - () -> { - pivotIO.setMotorVoltage(-5); - rollerIO.setRollerVelocity(80); - }) - .until( - new Trigger(() -> currentFilterValue > PIVOT_CURRENT_THRESHOLD) - // .debounce(0.1) - ), - // .withTimeout(1), - this.run( - () -> { - pivotIO.setMotorVoltage(0); - rollerIO.setRollerVelocity(80); - })); + return this.run( + () -> { + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + rollerIO.setRollerVelocity(80); + }); } @Override public Command outtake() { return this.run( () -> { - // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); - pivotIO.setMotorVoltage(0); + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); rollerIO.setRollerVelocity(-80); }); } @Override public Command restExtended() { - // return this.run( - // () -> { - // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); - // rollerIO.setRollerVoltage(0.0); - // }); - return Commands.sequence( - // this.run( - // () -> { - // pivotIO.setMotorVoltage(-3); - // rollerIO.setRollerVoltage(0); - // }) - // .until( - // new Trigger(() -> pivotIOInputs.statorCurrentAmps > PIVOT_CURRENT_THRESHOLD) - // // .debounce(0.1) - // ), - this.run( - () -> { - pivotIO.setMotorVoltage(0); - rollerIO.setRollerVoltage(0); - })); + return this.run( + () -> { + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + rollerIO.setRollerVoltage(0.0); + }); } @Override public Command restRetracted() { return this.run( () -> { - // pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION); - pivotIO.setMotorVoltage(0); + pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION); rollerIO.setRollerVoltage(0.0); }); } @Override public Command runCurrentZeroing() { - // return Commands.sequence( - // this.run(() -> pivotIO.setMotorVoltage(-2)), // TODO: TUNE VOLTAGE - // Commands.waitUntil(() -> currentFilterValue > CURRENT_ZEROING_THRESHOLD), - // this.runOnce(() -> pivotIO.resetEncoder(Rotation2d.kZero)), - // Commands.print("Intake pivot zeroed")); - return Commands.none(); + return Commands.sequence( + this.run(() -> pivotIO.setMotorVoltage(-2)), // TODO: TUNE VOLTAGE + Commands.waitUntil(() -> currentFilterValue > CURRENT_ZEROING_THRESHOLD), + this.runOnce(() -> pivotIO.resetEncoder(Rotation2d.kZero)), + Commands.print("Intake pivot zeroed")); } @Override From d0275547f3da3f5114f840b144d6edbff36c7fd1 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 10 Mar 2026 16:38:13 -0700 Subject: [PATCH 33/42] Revert "Merge branch 'stop-scoring-fix' into feature/comp-auto" This reverts commit 27722b1f78bcc1cd6eb0a7dbc5891daf703532f3, reversing changes made to 2a48465e15f8f795e581721397fccc1871da6518. --- src/main/java/frc/robot/Superstructure.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index fe602cbd..9f524559 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -239,7 +239,7 @@ private void addTransitions() { bindTransition(SuperState.SPIN_UP_SCORE, SuperState.IDLE, shootReq.negate()); - bindTransition(SuperState.SCORE, SuperState.IDLE, shootReq.negate().or(scoreReq.negate())); + bindTransition(SuperState.SCORE, SuperState.IDLE, shootReq.negate()); // SCORE_FLOW transitions { @@ -253,14 +253,14 @@ private void addTransitions() { bindTransition( SuperState.SPIN_UP_SCORE_FLOW, SuperState.IDLE, - intakeReq.negate().and(shootReq.negate()).or(scoreReq.negate())); + intakeReq.negate().and(shootReq.negate())); bindTransition(SuperState.SCORE, SuperState.SCORE_FLOW, flowReq); bindTransition(SuperState.SCORE_FLOW, SuperState.SCORE, flowReq.negate()); bindTransition( - SuperState.SCORE_FLOW, SuperState.IDLE, intakeReq.negate().and(shootReq.negate()).or(scoreReq.negate())); + SuperState.SCORE_FLOW, SuperState.IDLE, intakeReq.negate().and(shootReq.negate())); } // -------------------------------------------------------------------------- From a0415753976fe692f32551a424a3e5737e4d5b2d Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 10 Mar 2026 21:32:56 -0700 Subject: [PATCH 34/42] new depot outpost auto --- src/main/deploy/choreo/CtoO.traj | 115 +++++++ src/main/deploy/choreo/DtoC.traj | 113 +++++++ src/main/deploy/choreo/rebuiltChoreo.chor | 14 + src/main/deploy/choreo/testposes.traj | 341 +++++++++++--------- src/main/java/frc/robot/Autos.java | 90 ++++-- src/main/java/frc/robot/Robot.java | 14 +- src/main/java/frc/robot/Superstructure.java | 80 ++++- 7 files changed, 589 insertions(+), 178 deletions(-) create mode 100644 src/main/deploy/choreo/CtoO.traj create mode 100644 src/main/deploy/choreo/DtoC.traj diff --git a/src/main/deploy/choreo/CtoO.traj b/src/main/deploy/choreo/CtoO.traj new file mode 100644 index 00000000..1bcfebbe --- /dev/null +++ b/src/main/deploy/choreo/CtoO.traj @@ -0,0 +1,115 @@ +{ + "name":"CtoO", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.4044814109802246, "y":2.0, "heading":-3.120762420732352, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6131027936935425, "y":1.1535886526107788, "heading":1.9909931005444836, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.7321799635887146, "y":0.7198631167411804, "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":16.541, "h":8.0692}}, "enabled":false}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"CC.x", "val":2.4044814109802246}, "y":{"exp":"CC.y", "val":2.0}, "heading":{"exp":"CC.heading", "val":-3.120762420732352}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.6131027936935425 m", "val":1.6131027936935425}, "y":{"exp":"1.1535886526107788 m", "val":1.1535886526107788}, "heading":{"exp":"1.9909931005444836 rad", "val":1.9909931005444836}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.8731,1.62816], + "samples":[ + {"t":0.0, "x":2.40448, "y":2.0, 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"ay":7.52423, "alpha":-0.00006, "fx":[-2.42933,-2.42933,-2.4282,-2.4282], "fy":[124.40143,124.40143,124.40145,124.40145]}, + {"t":3.2022, "x":2.40412, "y":2.01832, "heading":-3.12076, "vx":0.01025, "vy":-0.52517, "omega":0.0, "ax":-0.14695, "ay":7.52669, "alpha":-0.00005, "fx":[-2.42999,-2.42999,-2.42913,-2.42913], "fy":[124.4421,124.4421,124.44212,124.44212]}, + {"t":3.27198, "x":2.40448, "y":2.0, "heading":-3.12076, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 3c01f278..b060eae2 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -34,6 +34,20 @@ } }, "poses":{ + "CC":{ + "x":{ + "exp":"2.4044814109802246 m", + "val":2.4044814109802246 + }, + "y":{ + "exp":"2 m", + "val":2.0 + }, + "heading":{ + "exp":"-3.120762420732352 rad", + "val":-3.120762420732352 + } + }, "CL":{ "x":{ "exp":"1.998773455619812 m", diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index 82d99702..f2df0f1b 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -6,7 +6,8 @@ {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + 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"fx":[-40.25461,11.26476,29.44066,-42.90147], "fy":[-66.54976,-76.57819,-34.97711,-21.1043]}, + {"t":6.47859, "x":2.68055, "y":3.33635, "heading":-1.83547, "vx":-0.89548, "vy":2.39568, "omega":-2.46264, "ax":-1.02644, "ay":-3.29332, "alpha":-6.282, "fx":[-50.46638,4.96198,30.65297,-53.03075], "fy":[-68.90159,-84.76836,-43.90394,-20.22601]}, + {"t":6.51442, "x":2.6478, "y":3.42009, "heading":-1.92372, "vx":-0.93226, "vy":2.27766, "omega":-2.68777, "ax":-1.16499, "ay":-3.50797, "alpha":-7.23655, "fx":[-58.88132,2.28216,39.84858,-60.29449], "fy":[-71.04547,-92.63089,-51.96327,-16.35552]}, + {"t":6.55026, "x":2.61364, "y":3.49945, "heading":-2.02004, "vx":-0.97401, "vy":2.15194, "omega":-2.9471, "ax":-0.65141, "ay":-3.50958, "alpha":-8.6893, "fx":[-61.07915,9.19376,62.596,-53.7908], "fy":[-74.33272,-98.71258,-52.7563,-6.30029]}, + {"t":6.5861, "x":2.57832, "y":3.57432, "heading":-2.12565, "vx":-0.99736, "vy":2.02618, "omega":-3.25849, "ax":1.77662, "ay":-2.76423, "alpha":-10.31613, "fx":[-45.33759,36.76017,93.72827,32.34397], "fy":[-82.35719,-98.04754,-36.20351,33.79916]}, + {"t":6.62193, "x":2.54372, "y":3.64515, "heading":-2.24242, "vx":-0.93369, "vy":1.92712, "omega":-3.62818, "ax":5.85611, "ay":-2.79999, "alpha":-2.9788, "fx":[83.61538,88.45532,107.71999,107.49572], "fy":[-65.44488,-69.62915,-35.08283,-15.01673]}, + {"t":6.65777, "x":2.51402, "y":3.71242, "heading":-2.37244, "vx":-0.72383, "vy":1.82678, "omega":-3.73492, "ax":3.10937, "ay":-4.9947, "alpha":9.02383, "fx":[100.08886,118.69486,-44.47792,31.32823], "fy":[-72.29903,-24.01351,-114.44857,-119.55729]}, + {"t":6.6936, "x":2.49008, "y":3.77467, "heading":-2.50629, "vx":-0.6124, "vy":1.64778, "omega":-3.41155, "ax":2.72966, "ay":-4.90875, "alpha":10.09522, "fx":[95.9696,122.09092,-58.26759,20.7297], "fy":[-78.54639,-14.80974,-108.96574,-122.31253]}, + {"t":6.72944, "x":2.46989, "y":3.83057, "heading":-2.62854, "vx":-0.51458, "vy":1.47187, "omega":-3.04977, "ax":2.43872, "ay":-4.94712, "alpha":10.50116, "fx":[91.47521,122.78276,-65.58389,12.60794], "fy":[-84.01169,-14.57156,-105.01729,-123.57112]}, + {"t":6.76528, "x":2.45301, "y":3.88014, "heading":-2.73784, "vx":-0.42719, "vy":1.29459, "omega":-2.67345, "ax":2.1921, "ay":-5.01443, "alpha":10.66311, "fx":[87.10425,122.78249,-70.61007,5.69522], "fy":[-88.66438,-16.95418,-101.84465,-124.16008]}, + {"t":6.80111, "x":2.43911, "y":3.92331, "heading":-2.83364, "vx":-0.34863, "vy":1.11489, "omega":-2.29133, "ax":1.98091, "ay":-5.08344, "alpha":10.70532, "fx":[83.05167,122.48563,-74.2756,-0.25654], "fy":[-92.54436,-20.02632,-99.27906,-124.33724]}, + {"t":6.83695, "x":2.42789, "y":3.96, "heading":-2.91575, "vx":-0.27764, "vy":0.93272, "omega":-1.90769, "ax":1.80153, "ay":-5.14435, "alpha":10.68702, "fx":[79.43571,122.05748,-77.01153,-5.33958], "fy":[-95.71248,-23.03119,-97.21702,-124.2543]}, + {"t":6.87279, "x":2.4191, "y":3.99013, "heading":-2.98412, "vx":-0.21308, "vy":0.74837, "omega":-1.52471, "ax":1.65114, "ay":-5.19249, "alpha":10.64672, "fx":[76.33697,121.60592,-79.13904,-9.60757], "fy":[-98.2335,-25.62332,-95.52214,-124.02021]}, + {"t":6.90862, "x":2.41252, "y":4.01361, "heading":-3.03876, "vx":-0.15391, "vy":0.56229, "omega":-1.14317, "ax":1.52668, "ay":-5.22457, "alpha":10.61458, "fx":[73.81233,121.2117,-80.95964,-13.09902], "fy":[-100.16745,-27.62884,-94.00653,-123.71783]}, + {"t":6.94446, "x":2.40798, "y":4.03041, "heading":-3.07972, "vx":-0.0992, "vy":0.37506, "omega":-0.76279, "ax":1.42493, "ay":-5.2375, "alpha":10.61576, "fx":[71.90275,120.93521,-82.76078,-15.84103], "fy":[-101.56441,-28.95239,-92.44771,-123.41096]}, + {"t":6.98029, "x":2.40534, "y":4.04048, "heading":-3.10706, "vx":-0.04814, "vy":0.18737, "omega":-0.38236, "ax":1.34331, "ay":-5.22852, "alpha":10.66974, "fx":[70.63876,120.81847,-84.77133,-17.84804], "fy":[-102.46132,-29.53496,-90.63663,-123.14867]}, + {"t":7.01613, "x":2.40448, "y":4.04384, "heading":-3.12076, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 7d2a3b20..433e649c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -105,8 +105,9 @@ public enum Path { // OUTPOST PRtoO("PR", "O", Action.OUTPOST), MRtoO("MR", "O", Action.OUTPOST), + CtoO("C", "O", Action.OUTPOST), // DEPOT - PLtoD("PL", "D", Action.FLOW), + PLtoD("PL", "D", Action.INTAKE), // FEED FLtoFLM("FL", "FLM", Action.FEED), FRtoFRM("FR", "FRM", Action.FEED), @@ -124,6 +125,7 @@ public enum Path { // SCORE DtoRL("D", "RL", Action.SCORE), OtoRR("O", "RR", Action.SCORE), + DtoC("D", "C", Action.SCORE), // FLOW MLtoD("ML", "D", Action.FLOW), // CLIMB @@ -213,29 +215,20 @@ public Command runPath(Path path, AutoRoutine routine) { public Command climbPath(Path path, AutoRoutine routine) { return Commands.sequence( - // setAutoScoreReqTrue(), + setAutoScoreReqFalse(), setAutoIntakeReqFalse(), setAutoPreClimbReqTrue(), // Commands.parallel( path.getTrajectory(routine) .cmd() .until( - routine.observe( - path.getTrajectory(routine) - .atTime( - path.getTrajectory(routine).getRawTrajectory().getTotalTime() - - (0.3)))), - // Commands.waitUntil( - // routine.observe( - // path.getTrajectory(routine) - // .atTime( - // path.getTrajectory(routine).getRawTrajectory().getTotalTime() - // - (1.3)))) - // .andThen(setAutoClimbReqTrue())), // TODo deadline? - // setAutoPreClimbReqTrue(), - // Commands.waitSeconds(1), // we shouldn't rly be waiting - // Commands.waitUntil() - // swerve.stop().until(new Trigger(() -> climber.atFullExtension()).debounce(0.1)), + // routine.observe( + // path.getTrajectory(routine) + // .atTime( + // path.getTrajectory(routine).getRawTrajectory().getTotalTime() + // - (0.3)))), + path.getTrajectory(routine).done()), + Commands.parallel(swerve.stop(), setAutoScoreReqTrue()).repeatedly().withTimeout(4), Commands.parallel( swerve.alignToClimb(() -> getClimbAutoTarget()), Commands.waitUntil(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose())) @@ -257,9 +250,13 @@ public Command feedPath(Path path, AutoRoutine routine) { public Command scorePath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoIntakeReqFalse(), - setAutoScoreReqTrue(), + // setAutoScoreReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - setAutoScoreReqFalse()); + // setAutoScoreReqTrue() + // , + // setAutoScoreReqFalse() + setAutoScoreReqTrue(), + swerve.stop().repeatedly().withTimeout(3)); } public Command emptyPath(Path path, AutoRoutine routine) { @@ -270,6 +267,7 @@ public Command emptyPath(Path path, AutoRoutine routine) { public Command intakePath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoScoreReqFalse(), + setAutoFlowReqFalse(), setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoIntakeReqFalse()); @@ -296,11 +294,11 @@ public ClimbTargets getClimbAutoTarget() { public Command outpostPath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqTrue(), - setAutoFlowReqTrue(), - setAutoIntakeReqTrue(), + setAutoScoreReqFalse(), + setAutoFlowReqFalse(), + setAutoIntakeReqFalse(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - swerve.stop().repeatedly().withTimeout(1) + swerve.stop().repeatedly().withTimeout(2) // Commands.waitSeconds(1) ); } @@ -376,6 +374,15 @@ public Command setAllReqsFalse() { setAutoClimbReqFalse()); } + public void setAllReqsFalsenotcmd() { + autoIntake = false; + autoScore = false; + autoFeed = false; + autoPreClimb = false; + autoFlow = false; + autoClimb = false; + } + public Command setleftClimbAutoTrue() { return Commands.runOnce(() -> leftClimbAuto = true); } @@ -461,7 +468,7 @@ public Command getOutpostFeedClimbAuto() { // awful names.. mb public Command getFillDepotScoreClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); + final AutoRoutine routine = factory.newRoutine("Fill Depot Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}; Command autoCommand = @@ -478,7 +485,7 @@ public Command getFillDepotScoreClimbAuto() { } public Command getFillOutpostScoreClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); + final AutoRoutine routine = factory.newRoutine("Fill Outpost Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}; Command autoCommand = @@ -493,6 +500,37 @@ public Command getFillOutpostScoreClimbAuto() { return routine.cmd(); } + public Command getDepotClimbAuto() { + final AutoRoutine routine = factory.newRoutine("Depot Climb Auto"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PLtoD, Path.DtoCL}; + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + routine.active().whileTrue(autoCommand); + + return routine.cmd(); + } + + public Command getDepotOutpostClimbAuto() { + final AutoRoutine routine = factory.newRoutine("Depot Outpost Climb Auto"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PLtoD, Path.DtoC, Path.CtoO, Path.OtoCR}; + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + routine.active().whileTrue(autoCommand); + + return routine.cmd(); + } + public Command getTestAuto() { final AutoRoutine routine = factory.newRoutine("test auto"); Path[] paths = {Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST}; diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a788509c..f8440d11 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -809,6 +809,8 @@ private void addAutos() { autoChooser.addOption("Outpost Score Climb", autos.getOutpostScoreClimbAuto()); autoChooser.addOption("Fill Depot Score Climb", autos.getFillDepotScoreClimbAuto()); autoChooser.addOption("Fill Outpost Score Climb", autos.getFillOutpostScoreClimbAuto()); + autoChooser.addOption("Depot Climb", autos.getDepotClimbAuto()); + autoChooser.addOption("Depot Outpost Climb", autos.getDepotOutpostClimbAuto()); autoChooser.addOption("Test Auto", autos.getTestAuto()); haveAutosGenerated = true; @@ -1007,16 +1009,22 @@ public void disabledPeriodic() {} public void disabledExit() {} @Override - public void autonomousInit() {} + public void autonomousInit() { + intake.slapdownInit(); + } @Override public void autonomousPeriodic() {} @Override - public void autonomousExit() {} + public void autonomousExit() { + autos.setAllReqsFalsenotcmd(); + } @Override - public void teleopInit() {} + public void teleopInit() { + intake.slapdownInit(); + } @Override public void teleopPeriodic() {} diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 9f524559..093c0d5d 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -44,7 +44,9 @@ public enum SuperState { SPIT, PRE_CLIMB, CLIMB, - POST_CLIMB; + POST_CLIMB, + SPIN_UP_SCORE_PRE_CLIMB, + SCORE_PRE_CLIMB; public final Trigger trigger; private SuperState() { @@ -179,7 +181,7 @@ private void addTriggers() { operator .b() .and(DriverStation::isTeleop) - .or(Autos.autoFlowReq.negate()) + .or(Autos.autoFlowReq.negate().and(DriverStation::isAutonomous)) .onTrue(Commands.runOnce(() -> flowState = false)); operator.leftBumper().onTrue(Commands.runOnce(() -> feedTarget = FeedTarget.LEFT)); @@ -205,7 +207,7 @@ private void addTriggers() { readyTrigger = new Trigger(shooter::atFlywheelVelocitySetpoint) - .debounce(0.05) + // .debounce(0.05) .and(new Trigger(shooter::atHoodSetpoint).debounce(0.05)) .and(new Trigger(shooter::atTurretSetpoint).debounce(0.05)) // .and( @@ -306,11 +308,38 @@ private void addTransitions() { bindTransition(SuperState.SPIT, SuperState.IDLE, antiJamReq.negate()); - (preClimbReq.and(climbReq.negate())).onTrue(changeStateTo(SuperState.PRE_CLIMB)); + (preClimbReq.and(climbReq.negate()).and(() -> DriverStation.isTeleop())) + .onTrue(changeStateTo(SuperState.PRE_CLIMB)); bindTransition(SuperState.PRE_CLIMB, SuperState.CLIMB, climbReq); bindTransition( SuperState.PRE_CLIMB, SuperState.IDLE, preClimbReq.negate().and(climbReq.negate())); + + bindTransition( + SuperState.SPIN_UP_SCORE_FLOW, + SuperState.SPIN_UP_SCORE_PRE_CLIMB, + new Trigger(() -> DriverStation.isAutonomous()).and(preClimbReq).and(scoreReq)); + + bindTransition( + SuperState.SPIN_UP_SCORE_PRE_CLIMB, + SuperState.SCORE_PRE_CLIMB, + new Trigger(() -> DriverStation.isAutonomous()) + .and(preClimbReq) + .and(scoreReq) + .and(readyTrigger)); + + bindTransition( + SuperState.SCORE_FLOW, + SuperState.SCORE_PRE_CLIMB, + new Trigger(() -> DriverStation.isAutonomous()) + .and(preClimbReq) + .and(scoreReq) + .and(readyTrigger)); + + bindTransition( + SuperState.SCORE_PRE_CLIMB, + SuperState.CLIMB, + new Trigger(() -> DriverStation.isAutonomous()).and(climbReq)); } private void addCommands() { @@ -518,6 +547,49 @@ private void addCommands() { indexer.rest(), shooter.rest(swerve::getPose, swerve::getVelocityFieldRelative), climber.extend()); + + bindCommands( + SuperState.SPIN_UP_SCORE_PRE_CLIMB, + intake.restRetracted(), + indexer.rest(), + shooter.score( + swerve::getPose, + () -> + AutoAim.getCompensatedSOTMShotData( + shooter.getTurretPose(swerve.getPose()), + FieldUtils.getCurrentHubTranslation(), + swerve.getVelocityFieldRelative(), + Robot.ROBOT_EDITION == RobotEdition.ALPHA + ? AutoAim.ALPHA_HUB_SHOT_TREE + : AutoAim.COMP_HUB_SHOT_TREE), + swerve::getVelocityFieldRelative), + climber.extend()); + + bindCommands( + SuperState.SCORE_PRE_CLIMB, + intake.restRetracted(), + indexer.kick( + () -> + AutoAim.getCompensatedSOTMShotData( + shooter.getTurretPose(swerve.getPose()), + FieldUtils.getCurrentHubTranslation(), + swerve.getVelocityFieldRelative(), + Robot.ROBOT_EDITION == RobotEdition.ALPHA + ? AutoAim.ALPHA_HUB_SHOT_TREE + : AutoAim.COMP_HUB_SHOT_TREE) + .flywheelVelocityRotPerSec()), + shooter.score( + swerve::getPose, + () -> + AutoAim.getCompensatedSOTMShotData( + shooter.getTurretPose(swerve.getPose()), + FieldUtils.getCurrentHubTranslation(), + swerve.getVelocityFieldRelative(), + Robot.ROBOT_EDITION == RobotEdition.ALPHA + ? AutoAim.ALPHA_HUB_SHOT_TREE + : AutoAim.COMP_HUB_SHOT_TREE), + swerve::getVelocityFieldRelative), + climber.extend()); } public void periodic() { From 3d33908564de42c93cf8ebc116b18165460ff88a Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 13 Mar 2026 07:26:23 -0700 Subject: [PATCH 35/42] remote cancoder seems to work --- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 6dba33dc..0b81ebc4 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -4,6 +4,7 @@ import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.GravityTypeValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; @@ -30,7 +31,7 @@ import org.littletonrobotics.junction.Logger; public class SlapdownSubsystem extends SubsystemBase implements Intake { - public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromDegrees(5.425); + public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromRotations(-0.049805); public static final Rotation2d PIVOT_MAX_POSITION = Rotation2d.fromDegrees(145.425); // Not so sure abt this one... public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; // TODO @@ -222,6 +223,8 @@ public static TalonFXConfiguration getPivotConfig() { config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; config.Feedback.SensorToMechanismRatio = PIVOT_GEAR_RATIO; + config.Feedback.FeedbackRemoteSensorID = 6; + config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder; config.Slot0.kS = 0.0; config.Slot0.kV = 0.0; From 0251cd8e3140b5d185fbab2e814ee67b8a55db75 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 13 Mar 2026 07:42:49 -0700 Subject: [PATCH 36/42] fix gear ratios w remote cancoder --- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 0b81ebc4..a62bf05e 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -221,6 +221,9 @@ public static TalonFXConfiguration getPivotConfig() { config.MotorOutput.NeutralMode = NeutralModeValue.Brake; config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder; + config.Feedback.FeedbackRemoteSensorID = 6; + config.Feedback.RotorToSensorRatio = PIVOT_GEAR_RATIO; config.Feedback.SensorToMechanismRatio = PIVOT_GEAR_RATIO; config.Feedback.FeedbackRemoteSensorID = 6; From 86ef88b150d00f71661dfd717d1065edc6e0fb9d Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 13 Mar 2026 08:12:12 -0700 Subject: [PATCH 37/42] i don't evn know what i did here --- src/main/java/frc/robot/Robot.java | 7 ++++++- .../robot/subsystems/intake/SlapdownSubsystem.java | 12 ++++++------ .../java/frc/robot/subsystems/shooter/Shooter.java | 2 +- .../robot/subsystems/shooter/ShooterSubsystem.java | 2 +- .../robot/subsystems/shooter/TurretSubsystem.java | 2 +- 5 files changed, 15 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 9b2c233f..a2b48c61 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -706,7 +706,12 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta // current zero shooter hood driver .b() - .whileTrue(Commands.parallel(shooter.runCurrentZeroing(), intake.runCurrentZeroing())); + .whileTrue( + Commands.parallel( + shooter.runHoodCurrentZeroing() + // , + // intake.runCurrentZeroing() + )); // new Trigger(() -> intake.beambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.5)); diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index a62bf05e..411f377c 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -37,7 +37,7 @@ public class SlapdownSubsystem extends SubsystemBase implements Intake { public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; // TODO public static final Rotation2d PIVOT_RETRACTED_POSITION = PIVOT_MAX_POSITION; // TODO public static final double CURRENT_ZEROING_THRESHOLD = 30.0; // TODO: TUNE - public static final double ROLLER_GEAR_RATIO = 2.0; + public static final double ROLLER_GEAR_RATIO = 60.0 / 29.0; public static final double PIVOT_GEAR_RATIO = 39.375; private final PivotIO pivotIO; @@ -123,7 +123,7 @@ public Command agitate() { this.run( () -> { pivotIO.setMotorPositionSetpoint( - PIVOT_EXTENDED_POSITION.minus(Rotation2d.fromDegrees(30))); // TODO: TUNE + PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(30))); // TODO: TUNE rollerIO.setRollerVelocity(10.0); }) .until(atExtensionTrigger)) @@ -134,7 +134,7 @@ public Command agitate() { public Command intake() { return this.run( () -> { - // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); rollerIO.setRollerVelocity(80); }); } @@ -143,7 +143,7 @@ public Command intake() { public Command restExtended() { return this.run( () -> { - // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); rollerIO.setRollerVoltage(0.0); }); } @@ -153,7 +153,7 @@ public Command runCurrentZeroing() { return Commands.sequence( this.run(() -> pivotIO.setMotorVoltage(-2)), // TODO: TUNE VOLTAGE Commands.waitUntil(() -> currentFilterValue > CURRENT_ZEROING_THRESHOLD), - this.runOnce(() -> pivotIO.resetEncoder(Rotation2d.kZero)), + this.runOnce(() -> pivotIO.resetEncoder(PIVOT_MIN_POSITION)), Commands.print("Intake pivot zeroed")); } @@ -225,7 +225,7 @@ public static TalonFXConfiguration getPivotConfig() { config.Feedback.FeedbackRemoteSensorID = 6; config.Feedback.RotorToSensorRatio = PIVOT_GEAR_RATIO; - config.Feedback.SensorToMechanismRatio = PIVOT_GEAR_RATIO; + config.Feedback.SensorToMechanismRatio = 1; config.Feedback.FeedbackRemoteSensorID = 6; config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder; diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 366cf4d9..c1eb99ba 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -63,7 +63,7 @@ public default Command torqueCurrentTest( * Runs the hood backwards until it hits its hard stop and the current spikes, then resets encoder * position. */ - public Command runCurrentZeroing(); + public Command runHoodCurrentZeroing(); public Rotation2d getHoodSetpoint(); diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java index ec63764b..5f571010 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java @@ -177,7 +177,7 @@ public Command zeroHood() { } @Override - public Command runCurrentZeroing() { + public Command runHoodCurrentZeroing() { return this.run(() -> hoodIO.setHoodVoltage(-3.0)) .until( new Trigger(() -> Math.abs(currentFilterValue) > CURRENT_ZERO_THRESHOLD).debounce(0.25)) diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 80ddc4c6..7b2d0607 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -348,7 +348,7 @@ public Command zeroHood() { return this.runOnce(() -> hoodIO.resetEncoder(HOOD_MIN_ANGLE)); } - public Command runCurrentZeroing() { + public Command runHoodCurrentZeroing() { return this.run(() -> hoodIO.setHoodVoltage(-3.0)) .until( new Trigger(() -> Math.abs(currentFilterValue) > HOOD_CURRENT_ZERO_THRESHOLD) From afdce50a6096ce787d56c92e0367c1ff57b08083 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 13 Mar 2026 08:13:41 -0700 Subject: [PATCH 38/42] i am geeked --- src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f8440d11..af97e64f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -728,7 +728,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta shooter .resetTurretToPosition(shooter.getCalculatedTurretRotations()) .andThen( - Commands.parallel(shooter.runCurrentZeroing(), intake.runCurrentZeroing()))); + Commands.parallel(shooter.runHoodCurrentZeroing(), intake.runCurrentZeroing()))); new Trigger(() -> AutoAim.targetInTurretDeadzone()) .onTrue(driver.rumbleCmd(1, 1).withTimeout(0.25)); From fd3d3d79ff74870b8b51e3ef9a8bd33ca532a4bc Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 13 Mar 2026 08:30:48 -0700 Subject: [PATCH 39/42] fix min position --- src/main/java/frc/robot/Robot.java | 3 ++- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index af97e64f..0bd25b81 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -728,7 +728,8 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta shooter .resetTurretToPosition(shooter.getCalculatedTurretRotations()) .andThen( - Commands.parallel(shooter.runHoodCurrentZeroing(), intake.runCurrentZeroing()))); + Commands.parallel( + shooter.runHoodCurrentZeroing(), intake.runCurrentZeroing()))); new Trigger(() -> AutoAim.targetInTurretDeadzone()) .onTrue(driver.rumbleCmd(1, 1).withTimeout(0.25)); diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 956d22a2..28c2c6ea 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -31,7 +31,7 @@ import org.littletonrobotics.junction.Logger; public class SlapdownSubsystem extends SubsystemBase implements Intake { - public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromRotations(-0.049805); + public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromRotations(-0.050781); public static final Rotation2d PIVOT_MAX_POSITION = Rotation2d.fromDegrees(122); // Not so sure abt this one... public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; From eab82b5312d15a216854864081916bb1a55d767c Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 13 Mar 2026 08:41:14 -0700 Subject: [PATCH 40/42] not do that twice --- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 28c2c6ea..32f691d4 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -248,8 +248,6 @@ public static TalonFXConfiguration getPivotConfig() { config.Feedback.RotorToSensorRatio = PIVOT_GEAR_RATIO; config.Feedback.SensorToMechanismRatio = 1; - config.Feedback.FeedbackRemoteSensorID = 6; - config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder; config.Slot0.kS = 0.05; config.Slot0.kV = 8.0; // Might suck From aba093e9678d2960b38bd3053459ffec27a3dc80 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 13 Mar 2026 11:22:27 -0700 Subject: [PATCH 41/42] adjust min position again --- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 32f691d4..e400bfef 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -31,7 +31,7 @@ import org.littletonrobotics.junction.Logger; public class SlapdownSubsystem extends SubsystemBase implements Intake { - public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromRotations(-0.050781); + public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromRotations(-0.051025); public static final Rotation2d PIVOT_MAX_POSITION = Rotation2d.fromDegrees(122); // Not so sure abt this one... public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; @@ -159,7 +159,7 @@ public Command restExtended() { () -> { pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); rollerIO.setRollerVoltage(0.0); - }); + }).unless(atExtensionTrigger); } @Override @@ -235,7 +235,7 @@ public Rotation2d getPositionSetpoint() { } public boolean atExtension() { - return MathUtil.isNear(getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 10); + return MathUtil.isNear(getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 5); } public static TalonFXConfiguration getPivotConfig() { From 4b35d4529aaf8f13b036a6cb43bf1c05a03f3c1b Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 13 Mar 2026 11:33:57 -0700 Subject: [PATCH 42/42] fmt --- .../frc/robot/subsystems/intake/SlapdownSubsystem.java | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index e400bfef..0174bac5 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -156,10 +156,11 @@ public Command outtake() { @Override public Command restExtended() { return this.run( - () -> { - pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); - rollerIO.setRollerVoltage(0.0); - }).unless(atExtensionTrigger); + () -> { + pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION); + rollerIO.setRollerVoltage(0.0); + }) + .unless(atExtensionTrigger); } @Override