Skip to content

Commit

Permalink
created and tuned a lot of auto stuff
Browse files Browse the repository at this point in the history
  • Loading branch information
GearBoxFox committed Mar 12, 2024
1 parent 91a9eb2 commit 8765be3
Show file tree
Hide file tree
Showing 36 changed files with 11,543 additions and 5,577 deletions.
4 changes: 2 additions & 2 deletions .pathplanner/settings.json
Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,8 @@
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxVel": 1.5,
"defaultMaxAccel": 1.5,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"maxModuleSpeed": 4.5
Expand Down
5,180 changes: 3,337 additions & 1,843 deletions Crescendo2024.chor

Large diffs are not rendered by default.

157 changes: 157 additions & 0 deletions src/main/deploy/choreo/FrontWing1.1.traj
Original file line number Diff line number Diff line change
@@ -0,0 +1,157 @@
{
"samples": [
{
"x": 1.2263859510421753,
"y": 5.594110488891602,
"heading": 3.141,
"angularVelocity": -1.6112520136935844e-31,
"velocityX": 0,
"velocityY": 0,
"timestamp": 0
},
{
"x": 1.2701999983580183,
"y": 5.571793741558495,
"heading": 2.9123192627847865,
"angularVelocity": -2.75479375784366,
"velocityX": 0.5278042458729727,
"velocityY": -0.26883784352486495,
"timestamp": 0.08301192659671743
},
{
"x": 1.3598509429602765,
"y": 5.50482600027521,
"heading": 2.837562269615421,
"angularVelocity": -0.9005572600735416,
"velocityX": 1.0799766765779808,
"velocityY": -0.806724335029887,
"timestamp": 0.16602385319343485
},
{
"x": 1.459326562321469,
"y": 5.413786422039427,
"heading": 2.837562034760696,
"angularVelocity": -0.000002829168462845694,
"velocityX": 1.1983292454403298,
"velocityY": -1.0967047985533822,
"timestamp": 0.2490357797901523
},
{
"x": 1.558802177818681,
"y": 5.322746839581507,
"heading": 2.837561799906192,
"angularVelocity": -0.000002829165803381977,
"velocityX": 1.198329198893034,
"velocityY": -1.0967048494152307,
"timestamp": 0.3320477063868697
},
{
"x": 1.6582777933158976,
"y": 5.231707257123597,
"heading": 2.8375615650516535,
"angularVelocity": -0.0000028291662173205513,
"velocityX": 1.1983291988930937,
"velocityY": -1.0967048494150837,
"timestamp": 0.4150596329835871
},
{
"x": 1.7577534088131206,
"y": 5.140667674665702,
"heading": 2.837561330197081,
"angularVelocity": -0.0000028291666305712727,
"velocityX": 1.19832919889317,
"velocityY": -1.0967048494149187,
"timestamp": 0.4980715595803045
},
{
"x": 1.8572290243103502,
"y": 5.04962809220782,
"heading": 2.837561095342474,
"angularVelocity": -0.000002829167043337366,
"velocityX": 1.1983291988932463,
"velocityY": -1.0967048494147538,
"timestamp": 0.581083486177022
},
{
"x": 1.9567046398075858,
"y": 4.958588509749952,
"heading": 2.8375608604878324,
"angularVelocity": -0.000002829167457373439,
"velocityX": 1.198329198893323,
"velocityY": -1.0967048494145886,
"timestamp": 0.6640954127737394
},
{
"x": 2.056180255304828,
"y": 4.867548927292098,
"heading": 2.8375606256331567,
"angularVelocity": -0.00000282916787026248,
"velocityX": 1.1983291988933988,
"velocityY": -1.096704849414424,
"timestamp": 0.7471073393704568
},
{
"x": 2.1556558708020765,
"y": 4.776509344834258,
"heading": 2.8375603907784472,
"angularVelocity": -0.0000028291682836294088,
"velocityX": 1.1983291988934754,
"velocityY": -1.0967048494142588,
"timestamp": 0.8301192659671742
},
{
"x": 2.2551314862993315,
"y": 4.685469762376432,
"heading": 2.8375601559237027,
"angularVelocity": -0.000002829168697323748,
"velocityX": 1.1983291988935516,
"velocityY": -1.096704849414094,
"timestamp": 0.9131311925638916
},
{
"x": 2.354607101796593,
"y": 4.594430179918619,
"heading": 2.8375599210689244,
"angularVelocity": -0.000002829169110584532,
"velocityX": 1.1983291988936342,
"velocityY": -1.096704849413922,
"timestamp": 0.996143119160609
},
{
"x": 2.45408271880603,
"y": 4.503390599113157,
"heading": 2.837559686214013,
"angularVelocity": -0.000002829170713915412,
"velocityX": 1.1983292171099962,
"velocityY": -1.0967048295089454,
"timestamp": 1.0791550457573265
},
{
"x": 2.5484359060007082,
"y": 4.424785420118879,
"heading": 2.7982046114916295,
"angularVelocity": -0.47408940300319863,
"velocityX": 1.13662206218943,
"velocityY": -0.9469142834878584,
"timestamp": 1.162166972354044
},
{
"x": 2.593973159790039,
"y": 4.3895583152771,
"heading": 2.599013995570559,
"angularVelocity": -2.3995421391526537,
"velocityX": 0.5485627867734783,
"velocityY": -0.4243619716588108,
"timestamp": 1.2451788989507615
},
{
"x": 2.593973159790039,
"y": 4.3895583152771,
"heading": 2.599013995570559,
"angularVelocity": 0,
"velocityX": -4.934633813021939e-37,
"velocityY": -2.767548277117811e-37,
"timestamp": 1.328190825547479
}
]
}
85 changes: 85 additions & 0 deletions src/main/deploy/choreo/FrontWing1.2.traj
Original file line number Diff line number Diff line change
@@ -0,0 +1,85 @@
{
"samples": [
{
"x": 2.593973159790039,
"y": 4.3895583152771,
"heading": 2.599013995570559,
"angularVelocity": 0,
"velocityX": -4.934633813021939e-37,
"velocityY": -2.767548277117811e-37,
"timestamp": 0
},
{
"x": 2.534366599021267,
"y": 4.442118048365455,
"heading": 2.6991662321397754,
"angularVelocity": 1.173988745719896,
"velocityX": -0.6987106220563037,
"velocityY": 0.6161074104533542,
"timestamp": 0.08530936683537149
},
{
"x": 2.4322324251030567,
"y": 4.53578051923557,
"heading": 2.6991662757513564,
"angularVelocity": 5.112167893680353e-7,
"velocityX": -1.1972210990067154,
"velocityY": 1.097915438182342,
"timestamp": 0.17061873367074298
},
{
"x": 2.330098253355979,
"y": 4.629442992473233,
"heading": 2.6991663193628423,
"angularVelocity": 5.112156854714172e-7,
"velocityX": -1.1972210735566082,
"velocityY": 1.0979154659348471,
"timestamp": 0.2559281005061145
},
{
"x": 2.227964081608902,
"y": 4.723105465710898,
"heading": 2.6991663629743283,
"angularVelocity": 5.112156767559466e-7,
"velocityX": -1.1972210735566007,
"velocityY": 1.0979154659348562,
"timestamp": 0.34123746734148597
},
{
"x": 2.1258299098618236,
"y": 4.816767938948561,
"heading": 2.6991664065858134,
"angularVelocity": 5.112156675644069e-7,
"velocityX": -1.1972210735566096,
"velocityY": 1.0979154659348476,
"timestamp": 0.42654683417685746
},
{
"x": 2.023695735807304,
"y": 4.910430409670039,
"heading": 2.6991664501973878,
"angularVelocity": 5.112167177081662e-7,
"velocityX": -1.1972211006045375,
"velocityY": 1.0979154364400177,
"timestamp": 0.511856201012229
},
{
"x": 1.9637236595153809,
"y": 4.962982177734375,
"heading": 2.79592312968437,
"angularVelocity": 1.1341858822337967,
"velocityX": -0.702995210451579,
"velocityY": 0.6160140441054905,
"timestamp": 0.5971655678476004
},
{
"x": 1.9637236595153809,
"y": 4.962982177734375,
"heading": 2.79592312968437,
"angularVelocity": -1.527841446263418e-36,
"velocityX": 0,
"velocityY": 0,
"timestamp": 0.6824749346829719
}
]
}
Loading

0 comments on commit 8765be3

Please sign in to comment.