Skip to content

Commit 1d4f932

Browse files
PotatoBoyH4PotatoBoyH4
committed
added tons of setpoints
1 parent ce4c0c6 commit 1d4f932

File tree

7 files changed

+547
-30
lines changed

7 files changed

+547
-30
lines changed

‎src/main/deploy/choreo/2025-project.chor‎

Lines changed: 192 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,199 @@
33
"version":1,
44
"type":"Swerve",
55
"variables":{
6-
"expressions":{},
6+
"expressions":{
7+
"endEffectorOffset":{
8+
"dimension":"Number",
9+
"var":{
10+
"exp":"9.408839",
11+
"val":9.408839
12+
}
13+
}
14+
},
715
"poses":{
8-
"startpos":{
16+
"A":{
17+
"x":{
18+
"exp":"126.0625 in",
19+
"val":3.2019875
20+
},
21+
"y":{
22+
"exp":"174.378839 in",
23+
"val":4.4292225106
24+
},
25+
"heading":{
26+
"exp":"0 rad",
27+
"val":0.0
28+
}
29+
},
30+
"B":{
31+
"x":{
32+
"exp":"126.0625 in",
33+
"val":3.2019875
34+
},
35+
"y":{
36+
"exp":"161.438839 in",
37+
"val":4.1005465106
38+
},
39+
"heading":{
40+
"exp":"0 rad",
41+
"val":0.0
42+
}
43+
},
44+
"C":{
45+
"x":{
46+
"exp":"137.65477204339692 in",
47+
"val":3.4964312099022816
48+
},
49+
"y":{
50+
"exp":"122.54275684567627 in",
51+
"val":3.1125860238801772
52+
},
53+
"heading":{
54+
"exp":"60 deg",
55+
"val":1.0471975511965976
56+
}
57+
},
58+
"D":{
59+
"x":{
60+
"exp":"148.86114076836753 in",
61+
"val":3.781072975516535
62+
},
63+
"y":{
64+
"exp":"116.07275684567627 in",
65+
"val":2.948248023880177
66+
},
67+
"heading":{
68+
"exp":"60 deg",
69+
"val":1.0471975511965976
70+
}
71+
},
72+
"E":{
73+
"x":{
74+
"exp":"188.34227204339692 in",
75+
"val":4.783893709902282
76+
},
77+
"y":{
78+
"exp":"106.66391784567627 in",
79+
"val":2.709263513280177
80+
},
81+
"heading":{
82+
"exp":"120 deg",
83+
"val":2.0943951023931953
84+
}
85+
},
86+
"F":{
87+
"x":{
88+
"exp":"199.54864076836753 in",
89+
"val":5.068535475516535
90+
},
91+
"y":{
92+
"exp":"113.13391784567627 in",
93+
"val":2.873601513280177
94+
},
95+
"heading":{
96+
"exp":"120 deg",
97+
"val":2.0943951023931953
98+
}
99+
},
100+
"G":{
101+
"x":{
102+
"exp":"227.4375 in",
103+
"val":5.7769125
104+
},
105+
"y":{
106+
"exp":"142.621161 in",
107+
"val":3.6225774894
108+
},
109+
"heading":{
110+
"exp":"180 deg",
111+
"val":3.141592653589793
112+
}
113+
},
114+
"H":{
115+
"x":{
116+
"exp":"227.4375 in",
117+
"val":5.7769125
118+
},
119+
"y":{
120+
"exp":"155.561161 in",
121+
"val":3.9512534894
122+
},
123+
"heading":{
124+
"exp":"180 deg",
125+
"val":3.141592653589793
126+
}
127+
},
128+
"I":{
129+
"x":{
130+
"exp":"215.84522795660308 in",
131+
"val":5.482468790097718
132+
},
133+
"y":{
134+
"exp":"194.45724315432372 in",
135+
"val":4.939213976119822
136+
},
137+
"heading":{
138+
"exp":"-120 deg",
139+
"val":-2.0943951023931953
140+
}
141+
},
142+
"J":{
143+
"x":{
144+
"exp":"204.63885923163247 in",
145+
"val":5.197827024483464
146+
},
147+
"y":{
148+
"exp":"200.92724315432375 in",
149+
"val":5.103551976119823
150+
},
151+
"heading":{
152+
"exp":"-120 deg",
153+
"val":-2.0943951023931953
154+
}
155+
},
156+
"K":{
157+
"x":{
158+
"exp":"165.15772795660308 in",
159+
"val":4.1950062900977185
160+
},
161+
"y":{
162+
"exp":"210.33608215432375 in",
163+
"val":5.342536486719823
164+
},
165+
"heading":{
166+
"exp":"-60 deg",
167+
"val":-1.0471975511965976
168+
}
169+
},
170+
"L":{
171+
"x":{
172+
"exp":"153.95135923163247 in",
173+
"val":3.9103645244834646
174+
},
175+
"y":{
176+
"exp":"203.86608215432372 in",
177+
"val":5.178198486719822
178+
},
179+
"heading":{
180+
"exp":"-60 deg",
181+
"val":-1.0471975511965976
182+
}
183+
},
184+
"fetch":{
185+
"x":{
186+
"exp":"61.8667 in",
187+
"val":1.57141418
188+
},
189+
"y":{
190+
"exp":"291.9457 in",
191+
"val":7.41542078
192+
},
193+
"heading":{
194+
"exp":"-54.011392 deg",
195+
"val":-0.9426766239853251
196+
}
197+
},
198+
"start":{
9199
"x":{
10200
"exp":"7.1008875 m",
11201
"val":7.1008875

‎src/main/deploy/choreo/KTofetch.traj‎

Lines changed: 62 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,62 @@
1+
{
2+
"name":"KTofetch",
3+
"version":1,
4+
"snapshot":{
5+
"waypoints":[
6+
{"x":4.1950062900977185, "y":5.342536486719823, "heading":-1.0471975511965976, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
7+
{"x":1.57141418, "y":7.41542078, "heading":-0.9426766239853251, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
8+
"constraints":[
9+
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
10+
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
11+
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}],
12+
"targetDt":0.05
13+
},
14+
"params":{
15+
"waypoints":[
16+
{"x":{"exp":"K.x", "val":4.1950062900977185}, "y":{"exp":"K.y", "val":5.342536486719823}, "heading":{"exp":"K.heading", "val":-1.0471975511965976}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
17+
{"x":{"exp":"fetch.x", "val":1.57141418}, "y":{"exp":"fetch.y", "val":7.41542078}, "heading":{"exp":"fetch.heading", "val":-0.9426766239853251}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
18+
"constraints":[
19+
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
20+
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
21+
{"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}],
22+
"targetDt":{
23+
"exp":"0.05 s",
24+
"val":0.05
25+
}
26+
},
27+
"trajectory":{
28+
"sampleType":"Swerve",
29+
"waypoints":[0.0,1.19692],
30+
"samples":[
31+
{"t":0.0, "x":4.19501, "y":5.34254, "heading":-1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-8.08578, "ay":6.38853, "alpha":0.62782, "fx":[-135.0894,-138.59076,-140.00364,-136.46362], "fy":[111.73935,107.3692,105.51149,110.0481]},
32+
{"t":0.04433, "x":4.18706, "y":5.34881, "heading":-1.0472, "vx":-0.35845, "vy":0.28321, "omega":0.02783, "ax":-8.08484, "ay":6.38779, "alpha":0.62181, "fx":[-135.09721,-138.56502,-139.96354,-136.45781], "fy":[111.6975,107.36909,105.52977,110.02143]},
33+
{"t":0.08866, "x":4.16323, "y":5.36764, "heading":-1.04596, "vx":-0.71685, "vy":0.56638, "omega":0.0554, "ax":-8.08364, "ay":6.38684, "alpha":0.6141, "fx":[-135.10853,-138.53482,-139.91087,-136.44722], "fy":[111.64213,107.36517,105.55471,109.99099]},
34+
{"t":0.13299, "x":4.12351, "y":5.39903, "heading":-1.04351, "vx":-1.0752, "vy":0.84951, "omega":0.08262, "ax":-8.08203, "ay":6.38556, "alpha":0.60386, "fx":[-135.12427,-138.49632,-139.84004,-136.43118], "fy":[111.56744,107.3576,105.58869,109.95279]},
35+
{"t":0.17732, "x":4.0679, "y":5.44296, "heading":-1.03985, "vx":-1.43348, "vy":1.13258, "omega":0.10939, "ax":-8.07977, "ay":6.38378, "alpha":0.58959, "fx":[-135.14607,-138.44262,-139.74102,-136.4084], "fy":[111.46301,107.3466,105.63596,109.89974]},
36+
{"t":0.22165, "x":3.99642, "y":5.49944, "heading":-1.035, "vx":-1.79166, "vy":1.41558, "omega":0.13553, "ax":-8.07637, "ay":6.38111, "alpha":0.56834, "fx":[-135.17699,-138.36003,-139.59394,-136.37619], "fy":[111.30821,107.33245,105.70471,109.81777]},
37+
{"t":0.26598, "x":3.90906, "y":5.56846, "heading":-1.02899, "vx":-2.14968, "vy":1.69845, "omega":0.16072, "ax":-8.0707, "ay":6.37663, "alpha":0.53337, "fx":[-135.22351,-138.21682,-139.35303,-136.32785], "fy":[111.05551,107.31537,105.81323,109.67463]},
38+
{"t":0.31031, "x":3.80583, "y":5.65002, "heading":-1.02186, "vx":-2.50746, "vy":1.98113, "omega":0.18436, "ax":-8.05931, "ay":6.36765, "alpha":0.46527, "fx":[-135.30158,-137.91889,-138.88423,-136.24149], "fy":[110.56582,107.29379,106.0117,109.37614]},
39+
{"t":0.35464, "x":3.68675, "y":5.7441, "heading":-1.01369, "vx":-2.86473, "vy":2.26341, "omega":0.20499, "ax":-8.0249, "ay":6.34051, "alpha":0.27639, "fx":[-135.45065,-137.00926,-137.55649,-135.98842], "fy":[109.18603,107.23609,106.49813,108.48051]},
40+
{"t":0.39897, "x":3.55187, "y":5.85067, "heading":-1.0046, "vx":-3.22048, "vy":2.54449, "omega":0.21724, "ax":-3.3354, "ay":2.63509, "alpha":-4.89506, "fx":[-63.51845,-40.93333,-51.0611,-71.42416], "fy":[26.8117,44.09236,62.15702,46.22775]},
41+
{"t":0.4433, "x":3.40583, "y":5.96606, "heading":-0.99497, "vx":-3.36834, "vy":2.6613, "omega":0.00024, "ax":-0.00064, "ay":0.00042, "alpha":-0.00053, "fx":[-0.01133,-0.00916,-0.01057,-0.01273], "fy":[0.00543,0.00684,0.00901,0.0076]},
42+
{"t":0.48763, "x":3.25651, "y":6.08404, "heading":-0.99496, "vx":-3.36837, "vy":2.66132, "omega":0.00022, "ax":-0.00001, "ay":-0.00001, "alpha":0.0, "fx":[-0.00009,-0.00009,-0.00009,-0.00009], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
43+
{"t":0.53196, "x":3.10719, "y":6.20201, "heading":-0.99495, "vx":-3.36837, "vy":2.66132, "omega":0.00022, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
44+
{"t":0.57629, "x":2.95787, "y":6.31999, "heading":-0.99494, "vx":-3.36837, "vy":2.66132, "omega":0.00022, "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]},
45+
{"t":0.62062, "x":2.80855, "y":6.43797, "heading":-0.99493, "vx":-3.36837, "vy":2.66132, "omega":0.00022, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[0.00001,0.00001,0.00001,0.00001]},
46+
{"t":0.66495, "x":2.65923, "y":6.55594, "heading":-0.99492, "vx":-3.36837, "vy":2.66132, "omega":0.00022, "ax":0.00001, "ay":0.00001, "alpha":0.0, "fx":[0.00009,0.00009,0.00009,0.00009], "fy":[0.00011,0.00011,0.00011,0.00011]},
47+
{"t":0.70928, "x":2.50991, "y":6.67392, "heading":-0.99491, "vx":-3.36837, "vy":2.66132, "omega":0.00022, "ax":0.00064, "ay":-0.00043, "alpha":0.00053, "fx":[0.01132,0.00915,0.01056,0.01273], "fy":[-0.00544,-0.00685,-0.00902,-0.00761]},
48+
{"t":0.75361, "x":2.36059, "y":6.7919, "heading":-0.9949, "vx":-3.36834, "vy":2.6613, "omega":0.00024, "ax":3.3354, "ay":-2.63509, "alpha":4.89515, "fx":[63.37291,40.87287,51.20925,71.48177], "fy":[-26.79028,-44.27539,-62.15698,-46.06615]},
49+
{"t":0.79795, "x":2.21455, "y":6.90729, "heading":-0.99489, "vx":-3.22048, "vy":2.54449, "omega":0.21725, "ax":8.0249, "ay":-6.3405, "alpha":-0.27706, "fx":[135.45815,137.02999,137.54953,135.96714], "fy":[-109.1772,-107.20948,-106.50665,-108.50736]},
50+
{"t":0.84228, "x":2.07967, "y":7.01385, "heading":-0.98526, "vx":-2.86473, "vy":2.26341, "omega":0.20496, "ax":8.05931, "ay":-6.36765, "alpha":-0.46544, "fx":[135.33433,137.98275,138.85442,136.17469], "fy":[-110.52644,-107.21133,-106.04999,-109.45966]},
51+
{"t":0.88661, "x":1.96059, "y":7.10793, "heading":-0.97618, "vx":-2.50746, "vy":1.98113, "omega":0.18433, "ax":8.0707, "ay":-6.37663, "alpha":-0.53338, "fx":[135.27906,138.32175,139.30306,136.21735], "fy":[-110.98861,-107.17971,-105.87817,-109.81224]},
52+
{"t":0.93094, "x":1.85737, "y":7.18949, "heading":-0.968, "vx":-2.14968, "vy":1.69845, "omega":0.16069, "ax":8.07637, "ay":-6.38111, "alpha":-0.56827, "fx":[135.25269,138.50155,139.52628,136.22667], "fy":[-111.21698,-107.1494,-105.79315,-110.00361]},
53+
{"t":0.97527, "x":1.77, "y":7.25852, "heading":-0.96088, "vx":-1.79166, "vy":1.41558, "omega":0.13549, "ax":8.07977, "ay":-6.38378, "alpha":-0.58948, "fx":[135.23905,138.61544,139.65823,136.22543], "fy":[-111.35092,-107.12297,-105.74455,-110.12687]},
54+
{"t":1.0196, "x":1.69852, "y":7.315, "heading":-0.95487, "vx":-1.43348, "vy":1.13258, "omega":0.10936, "ax":8.08203, "ay":-6.38557, "alpha":-0.60373, "fx":[135.23152,138.6948,139.74478,136.22075], "fy":[-111.43812,-107.10071,-105.71393,-110.21378]},
55+
{"t":1.06393, "x":1.64291, "y":7.35893, "heading":-0.95003, "vx":-1.0752, "vy":0.84951, "omega":0.0826, "ax":8.08364, "ay":-6.38684, "alpha":-0.61396, "fx":[135.22694,138.75311,139.80587,136.21556], "fy":[-111.49935,-107.08258,-105.69298,-110.27812]},
56+
{"t":1.10826, "x":1.60319, "y":7.39031, "heading":-0.94637, "vx":-0.71685, "vy":0.56638, "omega":0.05538, "ax":8.08485, "ay":-6.38779, "alpha":-0.62165, "fx":[135.22359,138.79714,139.85161,136.21129], "fy":[-111.5451,-107.06854,-105.67735,-110.32682]},
57+
{"t":1.15259, "x":1.57936, "y":7.40914, "heading":-0.94391, "vx":-0.35845, "vy":0.28321, "omega":0.02782, "ax":8.08578, "ay":-6.38853, "alpha":-0.62766, "fx":[135.22047,138.83063,139.88764,136.20872], "fy":[-111.58127,-107.05856,-105.66458,-110.36376]},
58+
{"t":1.19692, "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]}],
59+
"splits":[0]
60+
},
61+
"events":[]
62+
}

‎src/main/deploy/choreo/New Path.traj‎

Lines changed: 0 additions & 28 deletions
This file was deleted.

‎src/main/deploy/choreo/constants.traj‎

Lines changed: 41 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,41 @@
1+
{
2+
"name":"constants",
3+
"version":1,
4+
"snapshot":{
5+
"waypoints":[],
6+
"constraints":[],
7+
"targetDt":0.05
8+
},
9+
"params":{
10+
"waypoints":[
11+
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "y":{"exp":"5.0756788 m", "val":5.0756788}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
12+
{"x":{"exp":"215.84522795660308 in", "val":5.482468790097718}, "y":{"exp":"194.45724315432372 in", "val":4.939213976119822}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
13+
{"x":{"exp":"204.63885923163247 in", "val":5.197827024483464}, "y":{"exp":"200.92724315432375 in", "val":5.103551976119823}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
14+
{"x":{"exp":"165.15772795660308 in", "val":4.1950062900977185}, "y":{"exp":"210.33608215432375 in", "val":5.342536486719823}, "heading":{"exp":"-60 deg", "val":-1.0471975511965976}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
15+
{"x":{"exp":"153.95135923163247 in", "val":3.9103645244834646}, "y":{"exp":"203.86608215432372 in", "val":5.178198486719822}, "heading":{"exp":"-60 deg", "val":-1.0471975511965976}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
16+
{"x":{"exp":"126.0625 in", "val":3.2019875}, "y":{"exp":"174.378839 in", "val":4.4292225106}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
17+
{"x":{"exp":"126.0625 in", "val":3.2019875}, "y":{"exp":"161.438839 in", "val":4.1005465106}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
18+
{"x":{"exp":"137.65477204339692 in", "val":3.4964312099022816}, "y":{"exp":"122.54275684567627 in", "val":3.1125860238801772}, "heading":{"exp":"60 deg", "val":1.0471975511965976}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
19+
{"x":{"exp":"148.86114076836753 in", "val":3.781072975516535}, "y":{"exp":"116.07275684567627 in", "val":2.948248023880177}, "heading":{"exp":"60 deg", "val":1.0471975511965976}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
20+
{"x":{"exp":"188.34227204339692 in", "val":4.783893709902282}, "y":{"exp":"106.66391784567627 in", "val":2.709263513280177}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
21+
{"x":{"exp":"199.54864076836753 in", "val":5.068535475516535}, "y":{"exp":"113.13391784567627 in", "val":2.873601513280177}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
22+
{"x":{"exp":"227.4375 in", "val":5.7769125}, "y":{"exp":"142.621161 in", "val":3.6225774894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
23+
{"x":{"exp":"227.4375 in", "val":5.7769125}, "y":{"exp":"155.561161 in", "val":3.9512534894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
24+
{"x":{"exp":"61.8667 in", "val":1.57141418}, "y":{"exp":"291.9457 in", "val":7.41542078}, "heading":{"exp":"-54.011392 deg", "val":-0.9426766239853251}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
25+
"constraints":[
26+
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
27+
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
28+
{"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":true}],
29+
"targetDt":{
30+
"exp":"0.05 s",
31+
"val":0.05
32+
}
33+
},
34+
"trajectory":{
35+
"sampleType":null,
36+
"waypoints":[],
37+
"samples":[],
38+
"splits":[]
39+
},
40+
"events":[]
41+
}

0 commit comments

Comments
 (0)