From 2cdbff460cd2163935f1e10db141fd6c58246c42 Mon Sep 17 00:00:00 2001 From: Brayden N Date: Sun, 24 Mar 2024 13:14:28 -0400 Subject: [PATCH 1/2] added trolololl auto --- choreo.chor | 2386 +++++++++++++---- src/main/deploy/choreo/2 piece left.1.traj | 788 ++++-- src/main/deploy/choreo/2 piece left.traj | 1139 ++++---- src/main/deploy/choreo/2 piece right.1.traj | 752 ++++-- src/main/deploy/choreo/2 piece right.traj | 1175 ++++---- src/main/deploy/choreo/2piece.1.traj | 185 +- src/main/deploy/choreo/2piece.2.traj | 185 +- src/main/deploy/choreo/2piece.traj | 347 +-- src/main/deploy/choreo/4 piece.1.traj | 914 ++++++- src/main/deploy/choreo/4 piece.traj | 1643 ++++++------ src/main/deploy/choreo/Minor Trolling.1.traj | 310 --- src/main/deploy/choreo/Minor Trolling.2.traj | 202 -- src/main/deploy/choreo/Minor Trolling.traj | 310 --- src/main/deploy/choreo/Passing_test.1.traj | 770 ++++++ src/main/deploy/choreo/Passing_test.traj | 770 ++++++ .../choreo/Source Minor trolling.1.traj | 446 +++ .../choreo/Source Minor trolling.2.traj | 248 ++ .../deploy/choreo/Source Minor trolling.traj | 680 +++++ src/main/deploy/choreo/amp exit.1.traj | 743 ++--- src/main/deploy/choreo/amp exit.traj | 743 ++--- src/main/deploy/choreo/amp.1.traj | 509 ++-- src/main/deploy/choreo/amp.traj | 509 ++-- src/main/deploy/choreo/exit center.1.traj | 293 +- src/main/deploy/choreo/exit center.traj | 293 +- .../deploy/pathplanner/autos/New Auto.auto | 25 + 25 files changed, 10734 insertions(+), 5631 deletions(-) delete mode 100644 src/main/deploy/choreo/Minor Trolling.1.traj delete mode 100644 src/main/deploy/choreo/Minor Trolling.2.traj delete mode 100644 src/main/deploy/choreo/Minor Trolling.traj create mode 100644 src/main/deploy/choreo/Passing_test.1.traj create mode 100644 src/main/deploy/choreo/Passing_test.traj create mode 100644 src/main/deploy/choreo/Source Minor trolling.1.traj create mode 100644 src/main/deploy/choreo/Source Minor trolling.2.traj create mode 100644 src/main/deploy/choreo/Source Minor trolling.traj create mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto diff --git a/choreo.chor b/choreo.chor index 9065cb5..71dff62 100644 --- a/choreo.chor +++ b/choreo.chor @@ -1,5 +1,5 @@ { - "version": "v0.2.2", + "version": "v0.3", "robotConfiguration": { "mass": 50, "rotationalInertia": 6, @@ -45,175 +45,210 @@ ], "trajectory": [ { - "x": 1.3126474618911796, + "x": 1.3126474618911743, "y": 5.567087650299072, - "heading": -3.275463440583649e-29, - "angularVelocity": -1.5542228939894143e-29, - "velocityX": -1.0432080618288646e-15, - "velocityY": -2.0061080376600202e-17, + "heading": -1.5647115234566982e-33, + "angularVelocity": 3.0237143772177192e-33, + "velocityX": 3.603959049240359e-19, + "velocityY": 6.962348088134745e-21, "timestamp": 0 }, { - "x": 1.3669642138871982, - "y": 5.568132171401609, - "heading": -5.88414271395013e-19, - "angularVelocity": -5.855040371370758e-18, - "velocityX": 0.5404810945104359, - "velocityY": 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newline at end of file From 28cda63f0f8b69a6d84d4a81c839e9a64af8340b Mon Sep 17 00:00:00 2001 From: Brayden N Date: Sat, 30 Mar 2024 11:38:21 -0400 Subject: [PATCH 2/2] Made some troll autos and double checked the other autos --- .pathplanner/settings.json | 4 +- choreo.chor | 10259 +++++++++------- src/main/deploy/choreo/2 piece left.1.traj | 755 +- src/main/deploy/choreo/2 piece left.2.traj | 347 +- src/main/deploy/choreo/2 piece left.3.traj | 401 +- src/main/deploy/choreo/2 piece left.traj | 1074 +- src/main/deploy/choreo/2 piece right.1.traj | 770 +- src/main/deploy/choreo/2 piece right.2.traj | 248 +- src/main/deploy/choreo/2 piece right.3.traj | 383 +- src/main/deploy/choreo/2 piece right.4.traj | 211 - src/main/deploy/choreo/2 piece right.traj | 1094 +- src/main/deploy/choreo/4 piece.1.traj | 841 +- src/main/deploy/choreo/4 piece.2.traj | 185 +- src/main/deploy/choreo/4 piece.3.traj | 419 +- src/main/deploy/choreo/4 piece.4.traj | 311 +- src/main/deploy/choreo/4 piece.5.traj | 365 +- src/main/deploy/choreo/4 piece.6.traj | 293 +- src/main/deploy/choreo/4 piece.traj | 1426 +-- .../deploy/choreo/Amp Minor trolling.1.traj | 302 + .../deploy/choreo/Amp Minor trolling.2.traj | 230 + .../deploy/choreo/Amp Minor trolling.traj | 518 + .../choreo/Center line 3 note source.1.traj | 401 + .../choreo/Center line 3 note source.2.traj | 473 + .../choreo/Center line 3 note source.3.traj | 914 ++ .../choreo/Center line 3 note source.traj | 1760 +++ src/main/deploy/choreo/Passing_test.traj | 770 -- .../choreo/Source 3 note centerline.1.traj | 401 + .../choreo/Source 3 note centerline.2.traj | 1382 +++ .../choreo/Source 3 note centerline.traj | 1769 +++ .../choreo/Source Minor trolling.1.traj | 848 +- .../choreo/Source Minor trolling.2.traj | 448 +- .../deploy/choreo/Source Minor trolling.traj | 1290 +- src/main/deploy/choreo/amp exit.1.traj | 698 +- src/main/deploy/choreo/amp exit.traj | 698 +- src/main/deploy/choreo/amp.1.traj | 376 +- src/main/deploy/choreo/amp.traj | 376 +- src/main/deploy/choreo/exit center.1.traj | 210 +- src/main/deploy/choreo/exit center.traj | 210 +- .../pathplanner/autos/1 piece no motion.auto | 8 +- .../autos/1 piece source side.auto | 6 - ...{New Auto.auto => Amp Minor Trolling.auto} | 14 +- .../autos/Source Minor Trolling.auto | 56 + .../pathplanner/paths/Example Path.path | 74 - 43 files changed, 20707 insertions(+), 12911 deletions(-) delete mode 100644 src/main/deploy/choreo/2 piece right.4.traj create mode 100644 src/main/deploy/choreo/Amp Minor trolling.1.traj create mode 100644 src/main/deploy/choreo/Amp Minor trolling.2.traj create mode 100644 src/main/deploy/choreo/Amp Minor trolling.traj create mode 100644 src/main/deploy/choreo/Center line 3 note source.1.traj create mode 100644 src/main/deploy/choreo/Center line 3 note source.2.traj create mode 100644 src/main/deploy/choreo/Center line 3 note source.3.traj create mode 100644 src/main/deploy/choreo/Center line 3 note source.traj delete mode 100644 src/main/deploy/choreo/Passing_test.traj create mode 100644 src/main/deploy/choreo/Source 3 note centerline.1.traj create mode 100644 src/main/deploy/choreo/Source 3 note centerline.2.traj create mode 100644 src/main/deploy/choreo/Source 3 note centerline.traj rename src/main/deploy/pathplanner/autos/{New Auto.auto => Amp Minor Trolling.auto} (54%) create mode 100644 src/main/deploy/pathplanner/autos/Source Minor Trolling.auto delete mode 100644 src/main/deploy/pathplanner/paths/Example Path.path diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index 76910fa..5ceb42d 100644 --- a/.pathplanner/settings.json +++ b/.pathplanner/settings.json @@ -3,7 +3,9 @@ "robotLength": 0.84, "holonomicMode": true, "pathFolders": [], - "autoFolders": [], + "autoFolders": [ + "New Folder" + ], "defaultMaxVel": 4.42, "defaultMaxAccel": 20.0, "defaultMaxAngVel": 619.768, diff --git a/choreo.chor b/choreo.chor index 71dff62..6ad70c0 100644 --- a/choreo.chor +++ b/choreo.chor @@ -348,574 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source side.auto b/src/main/deploy/pathplanner/autos/1 piece source side.auto index 6efc70a..0a0852e 100644 --- a/src/main/deploy/pathplanner/autos/1 piece source side.auto +++ b/src/main/deploy/pathplanner/autos/1 piece source side.auto @@ -40,12 +40,6 @@ "data": { "name": "WaitUntilEnd" } - }, - { - "type": "path", - "data": { - "pathName": "2 piece right.4" - } } ] } diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/Amp Minor Trolling.auto similarity index 54% rename from src/main/deploy/pathplanner/autos/New Auto.auto rename to src/main/deploy/pathplanner/autos/Amp Minor Trolling.auto index 729d0f7..3c527e6 100644 --- a/src/main/deploy/pathplanner/autos/New Auto.auto +++ b/src/main/deploy/pathplanner/autos/Amp Minor Trolling.auto @@ -2,19 +2,25 @@ "version": 1.0, "startingPose": { "position": { - "x": 2, - "y": 2 + "x": 1.3969277143478394, + "y": 7.284343719482422 }, - "rotation": 0 + "rotation": 180.0 }, "command": { "type": "sequential", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "Options" + } + }, { "type": "path", "data": { - "pathName": null + "pathName": "Amp Minor trolling" } } ] diff --git a/src/main/deploy/pathplanner/autos/Source Minor Trolling.auto b/src/main/deploy/pathplanner/autos/Source Minor Trolling.auto new file mode 100644 index 0000000..99221c0 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Source Minor Trolling.auto @@ -0,0 +1,56 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6495805978775024, + "y": 4.286937236785889 + }, + "rotation": -72.18110552179574 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Options" + } + }, + { + "type": "named", + "data": { + "name": "SpeakerSetting" + } + }, + { + "type": "named", + "data": { + "name": "Index" + } + }, + { + "type": "named", + "data": { + "name": "ResetScoring" + } + }, + { + "type": "path", + "data": { + "pathName": "Source Minor trolling" + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path deleted file mode 100644 index 6f58563..0000000 --- a/src/main/deploy/pathplanner/paths/Example Path.path +++ /dev/null @@ -1,74 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 2.0, - "y": 7.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.999956809642841, - "y": 6.499913628611105 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 8.309255573380506, - "y": 4.02665014356157 - }, - "prevControl": { - "x": 7.246531927743191, - "y": 6.5518375217273 - }, - "nextControl": { - "x": 8.857826043835018, - "y": 2.723166181655895 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 14.525221164456582, - "y": 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