Skip to content

Commit

Permalink
Qual 24 auto path tuning and climber soft limits
Browse files Browse the repository at this point in the history
  • Loading branch information
@Lu-han-wang
Lu-han-wang committed Apr 4, 2024
1 parent b98c122 commit 3b9bff3
Show file tree
Hide file tree
Showing 15 changed files with 5,442 additions and 3,610 deletions.
3,166 changes: 1,924 additions & 1,242 deletions example.chor
View file

Large diffs are not rendered by default.

136 changes: 68 additions & 68 deletions src/main/deploy/choreo/Center 4 Piece NO VISION.1.traj
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,110 +3,110 @@
{
"x": 1.3,
"y": 5.55,
"heading": -3.84976732697312e-33,
"angularVelocity": -1.9831557980693148e-33,
"velocityX": 9.448573938622722e-28,
"velocityY": -4.206082822330018e-42,
"heading": -1.2998920650733451e-34,
"angularVelocity": 1.0764689630143437e-34,
"velocityX": 2.637529351204843e-27,
"velocityY": -3.056535118377816e-44,
"timestamp": 0
},
{
"x": 1.3478351083028997,
"x": 1.3524443052405402,
"y": 5.55,
"heading": -4.8678902537051504e-23,
"angularVelocity": -4.950842752489825e-22,
"velocityX": 0.48650254412202193,
"velocityY": -7.38159490280937e-16,
"timestamp": 0.09832447719102144
"heading": 3.023139483598902e-24,
"angularVelocity": 2.936437436457435e-23,
"velocityX": 0.5094023020094015,
"velocityY": 9.677868593859095e-18,
"timestamp": 0.1029526270958473
},
{
"x": 1.4435053231272212,
"x": 1.4573329128017642,
"y": 5.55,
"heading": -1.4987429217764691e-22,
"angularVelocity": -1.0291983494623288e-21,
"velocityX": 0.9730050701256885,
"velocityY": -1.4763189530712961e-15,
"timestamp": 0.19664895438204288
"heading": 1.1144728945653759e-23,
"angularVelocity": 7.888666555952759e-23,
"velocityX": 1.0188045756576416,
"velocityY": 1.9355736648899278e-17,
"timestamp": 0.2059052541916946
},
{
"x": 1.5870106409100084,
"x": 1.6146658139241066,
"y": 5.55,
"heading": -3.112613003777271e-22,
"angularVelocity": -1.6413716381394353e-21,
"velocityX": 1.4595075598926386,
"velocityY": -2.214478360880491e-15,
"timestamp": 0.2949734315730643
"heading": 3.0590742015273425e-23,
"angularVelocity": 1.8888311661678836e-22,
"velocityX": 1.5282067642224209,
"velocityY": 2.9033603087483173e-17,
"timestamp": 0.3088578812875419
},
{
"x": 1.7783510509623888,
"x": 1.7948329069620526,
"y": 5.55,
"heading": -5.558641111698033e-22,
"angularVelocity": -2.4877102607219597e-21,
"velocityX": 1.9460099409494,
"velocityY": -2.9526376037461346e-15,
"timestamp": 0.39329790876408577
"heading": 1.2421880634574581e-18,
"angularVelocity": 1.2065330509332349e-17,
"velocityX": 1.7499999574582317,
"velocityY": 3.3247336261992784e-17,
"timestamp": 0.4118105083833892
},
{
"x": 1.9749999999999999,
"x": 1.975,
"y": 5.55,
"heading": -3.214938289231762e-19,
"angularVelocity": -3.2640698835193928e-18,
"velocityX": 1.9999999456449535,
"velocityY": -3.034555437122026e-15,
"timestamp": 0.4916223859551072
"heading": 1.1259323482438084e-18,
"angularVelocity": -1.1292156256043626e-18,
"velocityX": 1.749999957458247,
"velocityY": 3.324733626199308e-17,
"timestamp": 0.5147631354792365
},
{
"x": 2.1716489490376114,
"x": 2.1551670930379476,
"y": 5.55,
"heading": 4.859839049689643e-22,
"angularVelocity": 3.274665902393944e-18,
"velocityX": 1.9999999456449535,
"velocityY": -3.034555437122026e-15,
"timestamp": 0.5899468631461287
"heading": 3.7088757404370447e-19,
"angularVelocity": -7.333904879349696e-18,
"velocityX": 1.749999957458247,
"velocityY": 3.324733626199308e-17,
"timestamp": 0.6177157625750838
},
{
"x": 2.3629893590899917,
"x": 2.3353341860758934,
"y": 5.55,
"heading": 2.7775686553911466e-22,
"angularVelocity": -2.1177538429362853e-21,
"velocityX": 1.9460099409494,
"velocityY": -2.9526376037461342e-15,
"timestamp": 0.6882713403371501
"heading": 5.784903488149876e-23,
"angularVelocity": -3.601945238984393e-18,
"velocityX": 1.7499999574582317,
"velocityY": 3.3247336261992784e-17,
"timestamp": 0.720668389670931
},
{
"x": 2.5064946768727787,
"x": 2.4926670871982357,
"y": 5.55,
"heading": 1.3535642950364731e-22,
"angularVelocity": -1.4482704622466874e-21,
"velocityX": 1.4595075598926386,
"velocityY": -2.214478360880491e-15,
"timestamp": 0.7865958175281715
"heading": 2.313994907190083e-23,
"angularVelocity": -3.3713647517875515e-22,
"velocityX": 1.5282067642224206,
"velocityY": 2.903360308748318e-17,
"timestamp": 0.8236210167667783
},
{
"x": 2.6021648916971003,
"x": 2.59755569475946,
"y": 5.55,
"heading": 4.4336130943898573e-23,
"angularVelocity": -9.257135268469803e-22,
"velocityX": 0.9730050701256885,
"velocityY": -1.4763189530712957e-15,
"timestamp": 0.884920294719193
"heading": 6.74919747645979e-24,
"angularVelocity": -1.5920673476423601e-22,
"velocityX": 1.0188045756576416,
"velocityY": 1.9355736648899284e-17,
"timestamp": 0.9265736438626256
},
{
"x": 2.65,
"y": 5.55,
"heading": 1.0000458734049135e-32,
"angularVelocity": -4.509165184158629e-22,
"velocityX": 0.48650254412202193,
"velocityY": -7.381594902809368e-16,
"timestamp": 0.9832447719102144
"heading": 1.8252098003122625e-33,
"angularVelocity": -6.55563404733714e-23,
"velocityX": 0.5094023020094015,
"velocityY": 9.677868593859098e-18,
"timestamp": 1.029526270958473
},
{
"x": 2.65,
"y": 5.55,
"heading": 6.0379055707724024e-33,
"angularVelocity": -1.0144896040028337e-33,
"velocityX": -2.5947212414743435e-27,
"velocityY": -2.7689211039324556e-36,
"timestamp": 1.0815692491012359
"heading": 1.8016677412477735e-33,
"angularVelocity": 8.51170517734784e-34,
"velocityX": 1.4186190450243289e-28,
"velocityY": 2.117039853937782e-37,
"timestamp": 1.1324788980543201
}
],
"eventMarkers": []
Expand Down
136 changes: 68 additions & 68 deletions src/main/deploy/choreo/Center 4 Piece NO VISION.2.traj
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,110 +3,110 @@
{
"x": 2.65,
"y": 5.55,
"heading": 6.0379055707724024e-33,
"angularVelocity": -1.0144896040028337e-33,
"velocityX": -2.5947212414743435e-27,
"velocityY": -2.7689211039324556e-36,
"heading": 1.8016677412477735e-33,
"angularVelocity": 8.51170517734784e-34,
"velocityX": 1.4186190450243289e-28,
"velocityY": 2.117039853937782e-37,
"timestamp": 0
},
{
"x": 2.6021648916971003,
"x": 2.59755569475946,
"y": 5.55,
"heading": 2.8757152740462255e-23,
"angularVelocity": 2.924719617515059e-22,
"velocityX": -0.486502544122022,
"velocityY": 2.8969745257225154e-16,
"timestamp": 0.09832447719102144
"heading": 3.0974362332611753e-23,
"angularVelocity": 3.008603393897169e-22,
"velocityX": -0.5094023020094016,
"velocityY": -1.1151344673328006e-15,
"timestamp": 0.1029526270958474
},
{
"x": 2.5064946768727787,
"x": 2.492667087198236,
"y": 5.55,
"heading": 8.885718281403545e-23,
"angularVelocity": 6.112417964311892e-22,
"velocityX": -0.9730050701256886,
"velocityY": 5.793948943555744e-16,
"timestamp": 0.19664895438204288
"heading": 1.0107812296723799e-22,
"angularVelocity": 6.809322171805306e-22,
"velocityX": -1.0188045756576416,
"velocityY": -2.2302688725800773e-15,
"timestamp": 0.2059052541916948
},
{
"x": 2.3629893590899917,
"x": 2.335334186075894,
"y": 5.55,
"heading": 1.8547270695366277e-22,
"angularVelocity": 9.826192510512864e-22,
"velocityX": -1.4595075598926388,
"velocityY": 8.690923145610366e-16,
"timestamp": 0.2949734315730643
"heading": 2.3477555341425875e-22,
"angularVelocity": 1.2986305858990852e-21,
"velocityX": -1.5282067642224206,
"velocityY": -3.3454030915708344e-15,
"timestamp": 0.3088578812875422
},
{
"x": 2.1716489490376114,
"x": 2.155167093037948,
"y": 5.55,
"heading": 3.3447354349273733e-22,
"angularVelocity": 1.5153992250314823e-21,
"velocityX": -1.9460099409494003,
"velocityY": 1.1587896700328936e-15,
"timestamp": 0.39329790876408577
"heading": -4.339137051715605e-18,
"angularVelocity": -4.2149209298264245e-17,
"velocityX": -1.7499999574582317,
"velocityY": -3.830931392918189e-15,
"timestamp": 0.4118105083833896
},
{
"x": 1.975,
"x": 1.9750000000000003,
"y": 5.55,
"heading": 3.8311709114649384e-18,
"angularVelocity": 3.8961167629490915e-17,
"velocityX": -1.9999999456449535,
"velocityY": 1.1909390740054647e-15,
"timestamp": 0.4916223859551072
"heading": -5.075120602263885e-18,
"angularVelocity": -7.14875930133471e-18,
"velocityX": -1.749999957458247,
"velocityY": -3.830931392918222e-15,
"timestamp": 0.514763135479237
},
{
"x": 1.7783510509623888,
"x": 1.7948329069620528,
"y": 5.55,
"heading": -2.498508405114417e-22,
"angularVelocity": -3.896711044658695e-17,
"velocityX": -1.9999999456449535,
"velocityY": 1.1909390740055757e-15,
"timestamp": 0.5899468631461287
"heading": 5.1672869211356845e-18,
"angularVelocity": 9.948660672703421e-17,
"velocityX": -1.749999957458247,
"velocityY": -3.830931392918222e-15,
"timestamp": 0.6177157625750844
},
{
"x": 1.5870106409100084,
"x": 1.6146658139241068,
"y": 5.55,
"heading": -1.4587469595092158e-22,
"angularVelocity": 1.0574797601655565e-21,
"velocityX": -1.9460099409494,
"velocityY": 1.158789669792878e-15,
"timestamp": 0.6882713403371501
"heading": -1.4919296950392176e-22,
"angularVelocity": -5.0192367692515385e-17,
"velocityX": -1.7499999574582317,
"velocityY": -3.830931392918184e-15,
"timestamp": 0.7206683896709318
},
{
"x": 1.4435053231272212,
"x": 1.4573329128017642,
"y": 5.55,
"heading": -7.282174700803422e-23,
"angularVelocity": 7.429782596130076e-22,
"velocityX": -1.4595075598926386,
"velocityY": 8.69092314321048e-16,
"timestamp": 0.7865958175281715
"heading": -6.91264116449162e-23,
"angularVelocity": 7.777029116770023e-22,
"velocityX": -1.5282067642224209,
"velocityY": -3.34540309155883e-15,
"timestamp": 0.8236210167667792
},
{
"x": 1.3478351083028997,
"x": 1.3524443052405402,
"y": 5.55,
"heading": -2.5578506347724489e-23,
"angularVelocity": 4.804830089905604e-22,
"velocityX": -0.9730050701256886,
"velocityY": 5.793948941155994e-16,
"timestamp": 0.884920294719193
"heading": -2.301536240907194e-23,
"angularVelocity": 4.478860863953205e-22,
"velocityX": -1.0188045756576418,
"velocityY": -2.2302688725680713e-15,
"timestamp": 0.9265736438626266
},
{
"x": 1.3,
"y": 5.55,
"heading": -2.4399941062861815e-24,
"angularVelocity": 2.3532809835684847e-22,
"velocityX": -0.486502544122022,
"velocityY": 2.896974523322856e-16,
"timestamp": 0.9832447719102146
"heading": -1.5521881796766908e-24,
"angularVelocity": 2.0847621700459283e-22,
"velocityX": -0.5094023020094016,
"velocityY": -1.1151344673207937e-15,
"timestamp": 1.029526270958474
},
{
"x": 1.3,
"y": 5.55,
"heading": -2.5540534783260732e-24,
"angularVelocity": -1.1600303143456076e-24,
"velocityX": -2.3816021168833625e-25,
"velocityY": -2.3995911001111773e-25,
"timestamp": 1.0815692491012363
"heading": -1.6341556490985657e-24,
"angularVelocity": -7.961668730806996e-25,
"velocityX": 8.301221234611629e-27,
"velocityY": 1.2007193078321649e-26,
"timestamp": 1.1324788980543214
}
],
"eventMarkers": []
Expand Down
Loading

0 comments on commit 3b9bff3

Please sign in to comment.