chorero changes

Author: Pez357

src/main/deploy/choreo/blueL4DToSource - OLD.traj

@@ -20,17 +20,19 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"blueL4D.x", "val":3.95}, "y":{"exp":"blueL4D.y", "val":2.8}, "heading":{"exp":"blueL4D.heading", "val":1.0471975511965976}, "intervals":420, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.9799468517303467 m", "val":3.9799468517303462}, "y":{"exp":"2.8067240715026855 m", "val":2.8067240715026855}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"3.9799468517303467 m", "val":3.9799468517303462}, "y":{"exp":"2.8067240715026855 m", "val":2.8067240715026855}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"2.8243722915649414 m", "val":2.8243722915649414}, "y":{"exp":"1.8145077228546143 m", "val":1.8145077228546145}, "heading":{"exp":"95 deg", "val":1.6580627893946132}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.6288633346557617 m", "val":1.6288633346557615}, "y":{"exp":"1.326193928718567 m", "val":1.326193928718567}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"blueRightFeeder.x", "val":1.0}, "y":{"exp":"blueRightFeeder.y", "val":1.0}, "heading":{"exp":"blueRightFeeder.heading", "val":4.084070449666731}, "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":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.6 m / s", "val":0.6}}}, "enabled":true},
+    {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
+    {"from":3, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.6 m / s", "val":0.6}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
-    {"from":0, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1.1 m / s ^ 2", "val":1.1}}}, "enabled":true}],
+    {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1.1 m / s ^ 2", "val":1.1}}}, "enabled":true},
+    {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05