Merge pull request #47 from strykeforce/keep-st-joe-autos

Make alt autos to keep st joe variants

Author: mwitcpalek

src/main/deploy/choreo/CTofetchPSlow.traj

@@ -0,0 +1,85 @@
+{
+ "name":"CTofetchPSlow",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.6132737518457456, "y":3.1185381922643174, "heading":1.0471975511965976, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.9328655004501345, "y":1.1461, "heading":0.942477796076938, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.69577419757843, "y":0.8236, "heading":0.942477796076938, "intervals":27, "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":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":4.0}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"C.x", "val":3.6132737518457456}, "y":{"exp":"C.y", "val":3.1185381922643174}, "heading":{"exp":"C.heading", "val":1.0471975511965976}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.9328655004501343 m", "val":1.9328655004501345}, "y":{"exp":"1.1461 m", "val":1.1461}, "heading":{"exp":"fetchP.heading", "val":0.942477796076938}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"fetchP.x", "val":1.69577419757843}, "y":{"exp":"fetchP.y", "val":0.8236}, "heading":{"exp":"fetchP.heading", "val":0.942477796076938}, "intervals":27, "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":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"4 m / s", "val":4.0}}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.14821,1.54848],
+  "samples":[
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+  "splits":[0]
+ },
+ "events":[]
+}