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Merged
merged 25 commits into from
May 6, 2025
Merged

Dcmp #151

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d96a9a1
AprilTags to field layout, config "default" to "dcmp"
caparomula Apr 2, 2025
bedd4ad
Added alternate 3piece
caparomula Apr 2, 2025
25062c5
Clean up alternate 3piece
caparomula Apr 2, 2025
f80f6c0
Move elevator to coiral intake height after scoring
caparomula Apr 2, 2025
2e0f1a7
Fix mis-spelling
caparomula Apr 2, 2025
05af59f
Practice field adjustments.
caparomula Apr 4, 2025
0c82f9c
Day one changes.
caparomula Apr 5, 2025
3183425
Refactor some multi-piece autos
caparomula Apr 5, 2025
54fc408
two-piece tweaks
caparomula Apr 5, 2025
c4fc4f3
Changes to robot
Pez357 Apr 5, 2025
4fec85e
Increase wait until elevator raise from source to reef
caparomula Apr 5, 2025
eebef95
Increase Algae L3 height
caparomula Apr 5, 2025
243ea07
small adjustment to choreo
Pez357 Apr 5, 2025
5e8d5cf
choreo adjustments
Pez357 Apr 5, 2025
54f68a3
choreo adjustments
Pez357 Apr 5, 2025
bca6692
Revert algae L3 height
caparomula Apr 5, 2025
f807c8f
choreo adjustment
Pez357 Apr 5, 2025
7e5030f
Merge branch 'dcmp' of github.com:TripleHelixProgramming/Reefscape in…
caparomula Apr 5, 2025
a01a9d3
choreo changes
Pez357 Apr 5, 2025
ba4eb31
chorero changes
Pez357 Apr 5, 2025
3737bb7
Add nt entry for algae follower motor
caparomula Apr 6, 2025
37e781a
Red 3 piece auto changes
Pez357 Apr 6, 2025
6a0afdf
Merge branch 'dcmp' of https://github.com/TripleHelixProgramming/Reef…
Pez357 Apr 6, 2025
b16d37e
chorero changes
Pez357 Apr 6, 2025
6b6035f
Final changes for districts
caparomula Apr 7, 2025
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4 changes: 2 additions & 2 deletions src/main/deploy/choreo/Pi.chor
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Expand Up @@ -505,8 +505,8 @@
}
},
"mass":{
"exp":"100 lbs",
"val":45.359237
"exp":"141 lbs",
"val":63.95652417
},
"inertia":{
"exp":"6 kg m ^ 2",
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100 changes: 53 additions & 47 deletions src/main/deploy/choreo/blueAlgaeToProcess.traj
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197 changes: 91 additions & 106 deletions src/main/deploy/choreo/blueCenterToL4F.traj
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191 changes: 95 additions & 96 deletions src/main/deploy/choreo/blueCenterToL4G.traj
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761 changes: 761 additions & 0 deletions src/main/deploy/choreo/blueL4DToSource - OLD.traj
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891 changes: 159 additions & 732 deletions src/main/deploy/choreo/blueL4DToSource.traj
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301 changes: 171 additions & 130 deletions src/main/deploy/choreo/blueL4FToSource.traj
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14 changes: 7 additions & 7 deletions src/main/deploy/choreo/blueL4GToAlgae.traj
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Expand Up @@ -26,14 +26,14 @@
},
"trajectory":{
"sampleType":"Swerve",
"waypoints":[0.0,0.21099],
"waypoints":[0.0,0.25051],
"samples":[
{"t":0.0, "x":5.85, "y":4.15, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00009, "ay":-14.04502, "alpha":0.0, "fx":[0.00097,0.00097,0.00097,0.00097], "fy":[-159.2678,-159.2678,-159.2678,-159.2678]},
{"t":0.0422, "x":5.85, "y":4.1375, "heading":3.14159, "vx":0.0, "vy":-0.59267, "omega":0.0, "ax":0.00004, "ay":-14.02907, "alpha":0.0, "fx":[0.00048,0.00048,0.00048,0.00048], "fy":[-159.08694,-159.08694,-159.08694,-159.08694]},
{"t":0.0844, "x":5.85, "y":4.1, "heading":3.14159, "vx":0.00001, "vy":-1.18467, "omega":0.0, "ax":-0.00026, "ay":0.0, "alpha":0.0, "fx":[-0.00289,-0.00289,-0.00289,-0.00289], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.16879, "x":5.85, "y":4.0125, "heading":3.14159, "vx":0.0, "vy":-0.59267, "omega":0.0, "ax":0.00009, "ay":14.04502, "alpha":0.0, "fx":[0.00097,0.00097,0.00097,0.00097], "fy":[159.2678,159.2678,159.2678,159.2678]},
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{"t":0.1002, "x":5.85, "y":4.1, "heading":3.14159, "vx":0.0, "vy":-0.99782, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.00244,-0.00244,-0.00244,-0.00244], "fy":[0.0,0.0,0.0,0.0]},
{"t":0.1503, "x":5.85, "y":4.05, "heading":3.14159, "vx":0.0, "vy":-0.99782, "omega":0.0, "ax":0.00003, "ay":9.95326, "alpha":0.0, "fx":[0.0004,0.0004,0.0004,0.0004], "fy":[159.14393,159.14393,159.14393,159.14393]},
{"t":0.20041, "x":5.85, "y":4.0125, "heading":3.14159, "vx":0.0, "vy":-0.49915, "omega":0.0, "ax":0.00005, "ay":9.96279, "alpha":0.0, "fx":[0.00082,0.00082,0.00082,0.00082], "fy":[159.29631,159.29631,159.29631,159.29631]},
{"t":0.25051, "x":5.85, "y":4.0, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
"splits":[0]
},
"events":[]
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131 changes: 69 additions & 62 deletions src/main/deploy/choreo/blueL4IToSource.traj
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118 changes: 63 additions & 55 deletions src/main/deploy/choreo/blueL4LToSource.traj
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101 changes: 51 additions & 50 deletions src/main/deploy/choreo/blueMoveAuto.traj
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60 changes: 31 additions & 29 deletions src/main/deploy/choreo/blueNoProcessToL4I.traj
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Expand Up @@ -3,7 +3,7 @@
"version":1,
"snapshot":{
"waypoints":[
{"x":7.2, "y":7.0, "heading":4.014257279586958, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":7.2, "y":7.0, "heading":4.014257279586958, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":5.3, "y":5.1, "heading":-2.0943951023931953, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
Expand All @@ -13,7 +13,7 @@
},
"params":{
"waypoints":[
{"x":{"exp":"7.2 m", "val":7.2}, "y":{"exp":"7 m", "val":7.0}, "heading":{"exp":"230 deg", "val":4.014257279586958}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"7.2 m", "val":7.2}, "y":{"exp":"7 m", "val":7.0}, "heading":{"exp":"230 deg", "val":4.014257279586958}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"blueL4I.x", "val":5.3}, "y":{"exp":"blueL4I.y", "val":5.1}, "heading":{"exp":"blueL4I.heading", "val":-2.0943951023931953}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
Expand All @@ -26,34 +26,36 @@
},
"trajectory":{
"sampleType":"Swerve",
"waypoints":[0.0,1.08007],
"waypoints":[0.0,1.17113],
"samples":[
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