added a ton of traj's. fixed small problems and started on flipping to processor side

Author: PotatoBoyH4

src/main/deploy/choreo/ATofetch.traj

@@ -0,0 +1,70 @@
+{
+ "name":"ATofetch",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.2019875, "y":4.4292225106, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.57141418, "y":7.41542078, "heading":-0.9426766239853251, "intervals":31, "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":17.548, "h":8.052}}, "enabled":false},
+    {"from":1, "to":0, "data":{"type":"KeepOutCircle", "props":{"x":1.2161137368530035, "y":5.864292200654745, "r":0.3248109411104518}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"A.x", "val":3.2019875}, "y":{"exp":"A.y", "val":4.4292225106}, "heading":{"exp":"A.heading", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"fetch.x", "val":1.57141418}, "y":{"exp":"fetch.y", "val":7.41542078}, "heading":{"exp":"fetch.heading", "val":-0.9426766239853251}, "intervals":31, "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":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false},
+    {"from":1, "to":0, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"1.2161137368530035 m", "val":1.2161137368530035}, "y":{"exp":"5.864292200654745 m", "val":5.864292200654745}, "r":{"exp":"0.3248109411104518 m", "val":0.3248109411104518}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.219],
+  "samples":[
+    {"t":0.0, "x":3.20199, "y":4.42922, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.73119, "ay":8.85668, "alpha":-8.1153, "fx":[-61.82511,-38.03643,-93.76775,-128.27548], "fy":[163.91169,171.12075,148.13917,119.42691]},
+    {"t":0.03694, "x":3.19876, "y":4.43527, "heading":0.0, "vx":-0.17477, "vy":0.32716, "omega":-0.29977, "ax":-4.74487, "ay":8.87046, "alpha":-7.80369, "fx":[-63.03167,-39.64934,-93.45619,-126.69852], "fy":[163.42337,170.73313,148.31417,121.06527]},
+    {"t":0.07388, "x":3.18907, "y":4.4534, "heading":-0.01107, "vx":-0.35004, "vy":0.65483, "omega":-0.58804, "ax":-4.76138, "ay":8.88754, "alpha":-7.39857, "fx":[-65.14939,-41.42781,-92.68925,-124.69208], "fy":[162.55633,170.28317,148.76733,123.09151]},
+    {"t":0.11082, "x":3.17289, "y":4.48365, "heading":-0.0328, "vx":-0.52592, "vy":0.98313, "omega":-0.86133, "ax":-4.78059, "ay":8.90831, "alpha":-6.87925, "fx":[-68.04962,-43.63075,-91.4958,-122.08996], "fy":[161.32124,169.69631,149.46881,125.62509]},
+    {"t":0.14776, "x":3.1502, "y":4.52605, "heading":-0.06461, "vx":-0.70251, "vy":1.31219, "omega":-1.11545, "ax":-4.80235, "ay":8.9334, "alpha":-6.2068, "fx":[-71.54797,-46.67642,-89.91693,-118.60513], "fy":[159.74729,168.83532,150.37589,128.8599]},
+    {"t":0.1847, "x":3.12097, "y":4.58061, "heading":-0.10582, "vx":-0.87991, "vy":1.64219, "omega":-1.34472, "ax":-4.82628, "ay":8.96371, "alpha":-5.30241, "fx":[-75.3661,-51.2713,-88.01787,-113.71904], "fy":[157.91413,167.42812,151.42639,133.11172]},
+    {"t":0.22164, "x":3.08518, "y":4.64739, "heading":-0.15549, "vx":-1.05819, "vy":1.9733, "omega":-1.54059, "ax":-4.85148, "ay":8.9994, "alpha":-3.99599, "fx":[-79.07923,-58.69549,-85.91722,-106.39745], "fy":[155.99918,164.86783,152.52052,138.92116]},
+    {"t":0.25857, "x":3.04278, "y":4.72642, "heading":-0.2124, "vx":-1.2374, "vy":2.30573, "omega":-1.6882, "ax":-4.87421, "ay":9.03366, "alpha":-1.89066, "fx":[-82.03267,-71.48461,-83.8767,-94.24165], "fy":[154.34597,159.56704,153.45958,147.26725]},
+    {"t":0.29551, "x":2.99374, "y":4.81776, "heading":-0.27476, "vx":-1.41745, "vy":2.63943, "omega":-1.75804, "ax":-4.86921, "ay":9.01547, "alpha":2.04639, "fx":[-83.16754,-95.04219,-82.71332,-70.37236], "fy":[153.56376,146.43334,153.6423,159.76311]},
+    {"t":0.33245, "x":2.93806, "y":4.92141, "heading":-0.3397, "vx":-1.59731, "vy":2.97245, "omega":-1.68245, "ax":-4.66322, "ay":8.55992, "alpha":10.69818, "fx":[-80.5656,-138.18653,-88.52894,-9.99874], "fy":[154.67159,105.85661,148.14876,173.73027]},
+    {"t":0.36939, "x":2.87588, "y":5.03705, "heading":-0.40185, "vx":-1.76957, "vy":3.28865, "omega":-1.28726, "ax":-4.72223, "ay":7.07048, "alpha":19.31066, "fx":[-74.31686,-157.51151,-132.36738,42.90037], "fy":[156.84566,71.35326,85.65129,167.21746]},
+    {"t":0.40633, "x":2.80729, "y":5.16335, "heading":-0.4494, "vx":-1.944, "vy":3.54983, "omega":-0.57394, "ax":-2.77672, "ay":6.01607, "alpha":15.40494, "fx":[-55.13791,-112.28147,-44.12373,22.61807], "fy":[133.94466,77.06963,66.88697,131.42508]},
+    {"t":0.44327, "x":2.73358, "y":5.29859, "heading":-0.4706, "vx":-2.04657, "vy":3.77206, "omega":-0.00489, "ax":0.15486, "ay":0.09246, "alpha":0.01693, "fx":[2.61593,2.57865,2.65226,2.68947], "fy":[1.62822,1.55477,1.5173,1.59055]},
+    {"t":0.48021, "x":2.65809, "y":5.43799, "heading":-0.47078, "vx":-2.04085, "vy":3.77547, "omega":-0.00427, "ax":-0.00413, "ay":-0.00218, "alpha":-0.00001, "fx":[-0.07024,-0.07022,-0.07026,-0.07028], "fy":[-0.03711,-0.03706,-0.03703,-0.03708]},
+    {"t":0.51715, "x":2.5827, "y":5.57745, "heading":-0.47094, "vx":-2.04101, "vy":3.77539, "omega":-0.00427, "ax":-0.04054, "ay":-0.02189, "alpha":-0.00008, "fx":[-0.68956,-0.6894,-0.68973,-0.68989], "fy":[-0.37252,-0.3722,-0.37203,-0.37236]},
+    {"t":0.55409, "x":2.50728, "y":5.71689, "heading":-0.47109, "vx":-2.0425, "vy":3.77458, "omega":-0.00427, "ax":-0.05855, "ay":-0.03166, "alpha":-0.00011, "fx":[-0.99577,-0.99552,-0.99601,-0.99627], "fy":[-0.53895,-0.53845,-0.5382,-0.5387]},
+    {"t":0.59103, "x":2.43179, "y":5.8563, "heading":-0.47125, "vx":-2.04467, "vy":3.77341, "omega":-0.00428, "ax":-0.08146, "ay":-0.04414, "alpha":-0.00013, "fx":[-1.38544,-1.38515,-1.38573,-1.38602], "fy":[-0.75123,-0.75066,-0.75036,-0.75094]},
+    {"t":0.62797, "x":2.35621, "y":5.99566, "heading":-0.47141, "vx":-2.04768, "vy":3.77178, "omega":-0.00428, "ax":-0.11599, "ay":-0.063, "alpha":-0.00004, "fx":[-1.97287,-1.97278,-1.97295,-1.97304], "fy":[-1.07169,-1.07153,-1.07144,-1.07161]},
+    {"t":0.66491, "x":2.28049, "y":6.13494, "heading":-0.47157, "vx":-2.05196, "vy":3.76946, "omega":-0.00428, "ax":-0.15542, "ay":-0.08468, "alpha":0.00026, "fx":[-2.64397,-2.64454,-2.64343,-2.64286], "fy":[-1.43951,-1.44062,-1.44119,-1.44008]},
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+    {"t":1.219, "x":1.57141, "y":7.41542, "heading":-0.94268, "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":[]
+}