Base autos (//▽//) (#81)

Author: Wu-Fan-529

src/main/deploy/choreo/AutoPIDTuning.traj

@@ -42,9 +42,9 @@
    "tmax":1.2,
    "cof":1.5,
    "bumper":{
-    "front":0.4064,
-    "side":0.4064,
-    "back":0.4064
+    "front":0.3937,
+    "side":0.3937,
+    "back":0.3937
    },
    "differentialTrackWidth":0.5588
   },

src/main/deploy/choreo/DSideAllianceToDepot.traj

@@ -0,0 +1,106 @@
+{
+ "name":"DSideAllianceToTrench",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.314097738265991, "y":5.371868133544922, "heading":0.5235987755982988, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.684748649597168, "y":6.5911078453063965, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.12706184387207, "y":7.658281326293945, "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}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"d_side_alliance_bump.x", "val":3.314097738265991}, "y":{"exp":"d_side_alliance_bump.y", "val":5.371868133544922}, "heading":{"exp":"d_side_alliance_bump.heading", "val":0.5235987755982988}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.684748649597168 m", "val":2.684748649597168}, "y":{"exp":"6.5911078453063965 m", "val":6.5911078453063965}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"d_side_trench.x", "val":4.12706184387207}, "y":{"exp":"d_side_trench.y", "val":7.658281326293945}, "heading":{"exp":"d_side_trench.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}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.3937,
+    "side":0.3937,
+    "back":0.3937
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.65175,1.41441],
+  "samples":[
+    {"t":0.0, "x":3.3141, "y":5.37187, "heading":0.5236, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.39983, "ay":5.12433, "alpha":1.54844, "fx":[-128.13153,-132.14806,-123.56549,-119.63069], "fy":[84.23881,77.74786,90.75171,95.91519]},
+    {"t":0.02962, "x":3.31085, "y":5.37412, "heading":0.52428, "vx":-0.21922, "vy":0.15181, "omega":0.04587, "ax":-7.2996, "ay":5.26218, "alpha":1.61593, "fx":[-126.7023,-130.86171,-121.54049,-117.55169], "fy":[86.34255,79.85495,93.41106,98.42386]},
+    {"t":0.05925, "x":3.30115, "y":5.38092, "heading":0.52635, "vx":-0.43547, "vy":0.3077, "omega":0.09374, "ax":-7.17627, "ay":5.42449, "alpha":1.69614, "fx":[-124.96508,-129.26704,-119.01749,-115.01578], "fy":[88.8025,82.36593,96.56442,101.34324]},
+    {"t":0.08887, "x":3.2851, "y":5.39242, "heading":0.52987, "vx":-0.64807, "vy":0.4684, "omega":0.14399, "ax":-7.02136, "ay":5.61798, "alpha":1.79289, "fx":[-122.80983,-127.24469,-115.80686,-111.86399], "fy":[91.71839,85.40354,100.3448,104.7744]},
+    {"t":0.1185, "x":3.26282, "y":5.40876, "heading":0.53492, "vx":-0.85607, "vy":0.63483, "omega":0.19711, "ax":-6.82191, "ay":5.85178, "alpha":1.91156, "fx":[-120.07028,-124.60804,-111.6166,-107.86001], "fy":[95.2276,89.1428,104.92987,108.84814]},
+    {"t":0.14812, "x":3.23447, "y":5.43014, "heading":0.5416, "vx":-1.05817, "vy":0.80819, "omega":0.25374, "ax":-6.5574, "ay":6.13833, "alpha":2.05993, "fx":[-116.48527,-121.05115,-105.97985,-102.64143], "fy":[99.52226,93.8388,110.5533,113.73081]},
+    {"t":0.17775, "x":3.20024, "y":5.45677, "heading":0.55002, "vx":-1.25243, "vy":0.99004, "omega":0.31476, "ax":-6.19387, "ay":6.49436, "alpha":2.24924, "fx":[-111.62539,-116.04375,-98.12056,-95.6339], "fy":[104.8731,99.86963,117.504,119.62198]},
+    {"t":0.20737, "x":3.16042, "y":5.48895, "heading":0.56033, "vx":-1.43593, "vy":1.18243, "omega":0.3814, "ax":-5.67257, "ay":6.94067, "alpha":2.49522, "fx":[-104.74731,-108.60498,-86.70324,-85.89958], "fy":[111.65604,107.79294,126.06648,126.71954]},
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+    {"t":0.3555, "x":2.90071, "y":5.74779, "heading":0.64881, "vx":-1.86664, "vy":2.37105, "omega":0.85383, "ax":4.65368, "ay":7.57751, "alpha":3.66469, "fx":[55.75647,90.59389,98.66074,71.61976], "fy":[141.88973,122.44646,116.40997,134.81895]},
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+  "splits":[0]
+ },
+ "events":[]
+}