Skip to content

Commit

Permalink
Merge pull request #11 from FIRSTTeam102/brayden_autos
Browse files Browse the repository at this point in the history 
Brayden autos
  • Loading branch information
@shinthebinn
shinthebinn authored Mar 30, 2024
2 parents fa0e57b + 9e8a55f commit 8519890
Show file tree
Hide file tree
Showing 49 changed files with 23,747 additions and 10,822 deletions.
4 changes: 3 additions & 1 deletion .pathplanner/settings.json
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,9 @@
"robotLength": 0.84,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"autoFolders": [
"New Folder"
],
"defaultMaxVel": 4.42,
"defaultMaxAccel": 20.0,
"defaultMaxAngVel": 619.768,
Expand Down
10,044 changes: 6,606 additions & 3,438 deletions choreo.chor
View file

Large diffs are not rendered by default.

311 changes: 156 additions & 155 deletions src/main/deploy/choreo/2 piece left.1.traj
View file
Original file line number Diff line number Diff line change
@@ -1,157 +1,158 @@
{
"samples": [
{
"x": 0.6235248446464539,
"y": 6.866034507751465,
"heading": 1.3037,
"angularVelocity": -4.322191282064769e-19,
"velocityX": -7.217119807256306e-20,
"velocityY": -5.737284120005055e-18,
"timestamp": 0
},
{
"x": 0.6479605438901133,
"y": 6.869173153614982,
"heading": 1.3036976853929116,
"angularVelocity": -0.00003420125047541537,
"velocityX": 0.3610683967062306,
"velocityY": 0.04637746677385236,
"timestamp": 0.06767609535082215
},
{
"x": 0.6968319343921952,
"y": 6.875450489923095,
"heading": 1.3036923603900246,
"angularVelocity": -0.00007868366015476742,
"velocityX": 0.7221366754204779,
"velocityY": 0.0927555922895904,
"timestamp": 0.1353521907016443
},
{
"x": 0.7701389910336393,
"y": 6.884866659045138,
"heading": 1.3036818951032874,
"angularVelocity": -0.0001546378626426958,
"velocityX": 1.0832045829687984,
"velocityY": 0.13913582149253725,
"timestamp": 0.20302828605246648
},
{
"x": 0.8641137016555179,
"y": 6.896935578985996,
"heading": 1.278165357348036,
"angularVelocity": -0.377039154268251,
"velocityX": 1.3885953398275834,
"velocityY": 0.17833357374260927,
"timestamp": 0.2707043814032886
},
{
"x": 0.9580882030461527,
"y": 6.909006127999201,
"heading": 1.179816306963164,
"angularVelocity": -1.4532317485966955,
"velocityX": 1.3885922481710244,
"velocityY": 0.17835764534927084,
"timestamp": 0.33838047675411076
},
{
"x": 1.052062741771001,
"y": 6.921076386345661,
"heading": 1.012746961397015,
"angularVelocity": -2.4686611232531686,
"velocityX": 1.3885927998313032,
"velocityY": 0.17835335038004493,
"timestamp": 0.4060565721049329
},
{
"x": 1.1460372822563507,
"y": 6.933146630985501,
"heading": 0.7854621166033714,
"angularVelocity": -3.358421368955095,
"velocityX": 1.3885928258449378,
"velocityY": 0.17835314784740675,
"timestamp": 0.47373266745575504
},
{
"x": 1.2400118226682206,
"y": 6.945216876197425,
"heading": 0.5235178410871962,
"angularVelocity": -3.870558343508111,
"velocityX": 1.388592824759185,
"velocityY": 0.17835315630066892,
"timestamp": 0.5414087628065772
},
{
"x": 1.3339863634408795,
"y": 6.9572871186003775,
"heading": 0.29518267414695665,
"angularVelocity": -3.3739412085846014,
"velocityX": 1.3885928300902979,
"velocityY": 0.17835311479456636,
"timestamp": 0.6090848581573994
},
{
"x": 1.4279609034991196,
"y": 6.9693573665655375,
"heading": 0.1268000189106551,
"angularVelocity": -2.4880669365369346,
"velocityX": 1.388592819533854,
"velocityY": 0.1783531969832136,
"timestamp": 0.6767609535082216
},
{
"x": 1.5219354277832027,
"y": 6.981427737341889,
"heading": 0.027024429838266126,
"angularVelocity": -1.4743106639821368,
"velocityX": 1.38859258645071,
"velocityY": 0.1783550116740703,
"timestamp": 0.7444370488590438
},
{
"x": 1.615910044720068,
"y": 6.993497386738595,
"heading": 0.000018019004787293556,
"angularVelocity": -0.3990539154701806,
"velocityX": 1.3885939555128846,
"velocityY": 0.17834435237639756,
"timestamp": 0.812113144209866
},
{
"x": 1.6892171360383907,
"y": 7.002913285881713,
"heading": 0.000007615738994617179,
"angularVelocity": -0.00015372142465942866,
"velocityX": 1.083205095363587,
"velocityY": 0.13913183221207334,
"timestamp": 0.8797892395606882
},
{
"x": 1.7380885418555654,
"y": 7.0091905029584325,
"heading": 0.0000023106612364746317,
"angularVelocity": -0.00007838924114270227,
"velocityX": 0.7221369017203642,
"velocityY": 0.09275383049478103,
"timestamp": 0.9474653349115104
},
{
"x": 1.7625242471694946,
"y": 7.0123291015625,
"heading": 9.925554069905119e-19,
"angularVelocity": -0.00003414294551807602,
"velocityX": 0.36106848640215494,
"velocityY": 0.04637676845564921,
"timestamp": 1.0151414302623325
},
{
"x": 1.7625242471694946,
"y": 7.0123291015625,
"heading": 4.930172708842328e-19,
"angularVelocity": -9.633639100834258e-20,
"velocityX": -4.2792851430038895e-18,
"velocityY": -3.4270302349667407e-18,
"timestamp": 1.0828175256131547
}
]
"samples": [
{
"x": 0.6235248446464539,
"y": 6.866034507751465,
"heading": 1.3037,
"angularVelocity": 2.7068477576187765e-23,
"velocityX": -4.853948155553872e-23,
"velocityY": -6.243185313363585e-23,
"timestamp": 0
},
{
"x": 0.6479605553240734,
"y": 6.869173065177977,
"heading": 1.3036998817532777,
"angularVelocity": -0.0000017472450406683682,
"velocityX": 0.3610685643473286,
"velocityY": 0.04637615983684271,
"timestamp": 0.06767609559638565
},
{
"x": 0.6968319743321776,
"y": 6.875450180817172,
"heading": 1.3036996103660266,
"angularVelocity": -0.000004010090249051131,
"velocityX": 0.722137094012766,
"velocityY": 0.09275233129037688,
"timestamp": 0.1353521911927713
},
{
"x": 0.7701390946293506,
"y": 6.884865857027548,
"heading": 1.303699081157409,
"angularVelocity": -0.00000781972738083724,
"velocityX": 1.083205519632373,
"velocityY": 0.13912853759369243,
"timestamp": 0.20302828678915696
},
{
"x": 0.8641136418785188,
"y": 6.89693604798726,
"heading": 1.2781268289721,
"angularVelocity": -0.3778624041466495,
"velocityX": 1.388592920750396,
"velocityY": 0.17835235400838984,
"timestamp": 0.2707043823855426
},
{
"x": 0.958088185941953,
"y": 6.909006263750245,
"heading": 1.1796751937375807,
"angularVelocity": -1.4547475643641785,
"velocityX": 1.3885928736771431,
"velocityY": 0.17835272050816342,
"timestamp": 0.3383804779819283
},
{
"x": 1.0520627300139076,
"y": 6.921076479446895,
"heading": 1.0124911373568812,
"angularVelocity": -2.4703561118207933,
"velocityX": 1.3885928738030422,
"velocityY": 0.178352719527955,
"timestamp": 0.40605657357831393
},
{
"x": 1.1460372740816214,
"y": 6.933146695176562,
"heading": 0.785208686841268,
"angularVelocity": -3.358385978279628,
"velocityX": 1.3885928737403777,
"velocityY": 0.17835272001583247,
"timestamp": 0.4737326691746996
},
{
"x": 1.2400118181361255,
"y": 6.945216911009073,
"heading": 0.5237947450805,
"angularVelocity": -3.862721976749634,
"velocityX": 1.3885928735451927,
"velocityY": 0.1783527215354694,
"timestamp": 0.5414087647710852
},
{
"x": 1.3339863622028791,
"y": 6.9572871267462135,
"heading": 0.2954599282674446,
"angularVelocity": -3.3739360227697586,
"velocityX": 1.388592873726193,
"velocityY": 0.17835272012626976,
"timestamp": 0.6090848603674709
},
{
"x": 1.4279609062740386,
"y": 6.969357342449054,
"heading": 0.126956229009992,
"angularVelocity": -2.489855506180409,
"velocityX": 1.3885928737912927,
"velocityY": 0.17835271961943208,
"timestamp": 0.6767609559638565
},
{
"x": 1.521935450341706,
"y": 6.981427558179083,
"heading": 0.027070659114329158,
"angularVelocity": -1.4759357645478204,
"velocityX": 1.3885928737396922,
"velocityY": 0.1783527200211782,
"timestamp": 0.7444370515602422
},
{
"x": 1.6159099957667231,
"y": 6.993497763341015,
"heading": 9.235413386651335e-7,
"angularVelocity": -0.3999896172266207,
"velocityX": 1.388592893796256,
"velocityY": 0.1783525638641785,
"timestamp": 0.8121131471566279
},
{
"x": 1.6892171169315986,
"y": 7.002913432795811,
"heading": 3.921850758219532e-7,
"angularVelocity": -0.000007851461556117877,
"velocityX": 1.0832055324537762,
"velocityY": 0.13912843777145287,
"timestamp": 0.8797892427530135
},
{
"x": 1.7380885363341119,
"y": 7.00919054536428,
"heading": 1.1913070878580363e-7,
"angularVelocity": -0.000004034723998627552,
"velocityX": 0.7221370998406585,
"velocityY": 0.09275228591651416,
"timestamp": 0.9474653383493992
},
{
"x": 1.7625242471694946,
"y": 7.0123291015625,
"heading": -6.978679086372593e-23,
"angularVelocity": -0.000001760307058732952,
"velocityX": 0.3610685666784826,
"velocityY": 0.04637614168728246,
"timestamp": 1.015141433945785
},
{
"x": 1.7625242471694946,
"y": 7.0123291015625,
"heading": -3.402897415947517e-23,
"angularVelocity": 2.5545845274476152e-23,
"velocityX": -1.6289861869168524e-23,
"velocityY": -2.7174652182389944e-23,
"timestamp": 1.0828175295421705
}
],
"eventMarkers": []
}
Loading

0 comments on commit 8519890

Please sign in to comment.