mirroring broken

Author: ds12a

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

@@ -13,6 +13,20 @@
    }
   },
   "poses":{
+   "A":{
+    "x":{
+     "exp":"3.2654999999999994 m",
+     "val":3.2654999999999994
+    },
+    "y":{
+     "exp":"4.3359 m",
+     "val":4.3359
+    },
+    "heading":{
+     "exp":"0 rad",
+     "val":0.0
+    }
+   },
    "B":{
     "x":{
      "exp":"3.2654999999999994 m",
@@ -183,16 +197,30 @@
    },
    "fetch":{
     "x":{
-     "exp":"1.48 m",
-     "val":1.48
+     "exp":"1.744809627532959 m",
+     "val":1.744809627532959
     },
     "y":{
-     "exp":"7.4 m",
-     "val":7.4
+     "exp":"7.167456150054932 m",
+     "val":7.167456150054932
     },
     "heading":{
-     "exp":"-52.8554 deg",
-     "val":-0.9225007574586108
+     "exp":"-54.01 deg",
+     "val":-0.9426523290021374
+    }
+   },
+   "fetchP":{
+    "x":{
+     "exp":"1.74 m",
+     "val":1.74
+    },
+    "y":{
+     "exp":"0.8818 m",
+     "val":0.8818
+    },
+    "heading":{
+     "exp":"54.01 deg",
+     "val":0.9426523290021374
     }
    },
    "start":{
@@ -251,18 +279,18 @@
      "val":3.141592653589793
     }
    },
-   "toFetch":{
+   "startP":{
     "x":{
-     "exp":"1.780285358428955 m",
-     "val":1.780285358428955
+     "exp":"7.1 m",
+     "val":7.1
     },
     "y":{
-     "exp":"7.00705099105835 m",
-     "val":7.00705099105835
+     "exp":"2.97 m",
+     "val":2.97
     },
     "heading":{
-     "exp":"fetch.heading",
-     "val":-0.9225007574586108
+     "exp":"180 deg",
+     "val":3.141592653589793
     }
    }
   }

src/main/deploy/choreo/ATofetch.traj

@@ -0,0 +1,84 @@
+{
+ "name":"CTofetchP",
+ "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":0.9426523290021374, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.74, "y":0.8818, "heading":0.9426523290021374, "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":0.9426523290021374}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"fetchP.x", "val":1.74}, "y":{"exp":"fetchP.y", "val":0.8818}, "heading":{"exp":"fetchP.heading", "val":0.9426523290021374}, "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":[0.0,1.16746,1.52936],
+  "samples":[
+    {"t":0.0, "x":3.61327, "y":3.11854, "heading":1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.31761, "ay":-3.73703, "alpha":-1.59794, "fx":[-50.03268,-57.79131,-60.37944,-53.00841], "fy":[-61.81779,-56.81286,-62.84987,-67.69756]},
+    {"t":0.03648, "x":3.61107, "y":3.11605, "heading":1.0472, "vx":-0.12104, "vy":-0.13634, "omega":-0.0583, "ax":-3.31839, "ay":-3.73811, "alpha":-1.23736, "fx":[-51.24931,-57.24367,-59.25106,-53.51994], "fy":[-61.94412,-58.06844,-62.7331,-66.50465]},
+    {"t":0.07297, "x":3.60444, "y":3.10859, "heading":1.04507, "vx":-0.2421, "vy":-0.27272, "omega":-0.10344, "ax":-3.31822, "ay":-3.73816, "alpha":-0.92573, "fx":[-52.26485,-56.66743,-58.34217,-53.97813], "fy":[-61.9917,-59.21299,-62.59122,-65.45716]},
+    {"t":0.10945, "x":3.5934, "y":3.09615, "heading":1.0413, "vx":-0.36316, "vy":-0.4091, "omega":-0.13721, "ax":-3.31803, "ay":-3.7382, "alpha":-0.68304, "fx":[-53.05265,-56.41619,-57.46476,-54.30636], "fy":[-62.12547,-59.97122,-62.53255,-64.62682]},
+    {"t":0.14593, "x":3.57794, "y":3.07874, "heading":1.03629, "vx":-0.48421, "vy":-0.54548, "omega":-0.16213, "ax":-3.31782, "ay":-3.73825, "alpha":-0.44471, "fx":[-53.82485,-55.9246,-56.80549,-54.67101], "fy":[-62.14089,-60.87759,-62.40973,-63.83106]},
+    {"t":0.18242, "x":3.55807, "y":3.05635, "heading":1.03038, "vx":-0.60526, "vy":-0.68186, "omega":-0.17836, "ax":-3.31758, "ay":-3.73831, "alpha":-0.27251, "fx":[-54.37786,-55.8342,-56.11799,-54.87978], "fy":[-62.25866,-61.37497,-62.39862,-63.23085]},
+    {"t":0.2189, "x":3.53378, "y":3.02899, "heading":1.02387, "vx":-0.7263, "vy":-0.81825, "omega":-0.1883, "ax":-3.3173, "ay":-3.73837, "alpha":-0.08628, "fx":[-54.98538,-55.39207,-55.63984,-55.17405], "fy":[-62.24493,-62.11162,-62.29601,-62.61497]},
+    {"t":0.25538, "x":3.50507, "y":2.99665, "heading":1.017, "vx":-0.84732, "vy":-0.95464, "omega":-0.19145, "ax":-3.31698, "ay":-3.73845, "alpha":0.03388, "fx":[-55.36313,-55.44103,-55.08518,-55.28077], "fy":[-62.34351,-62.41999,-62.3237,-62.18535]},
+    {"t":0.29187, "x":3.47195, "y":2.95933, "heading":1.01001, "vx":-0.96834, "vy":-1.09103, "omega":-0.19021, "ax":-3.31661, "ay":-3.73854, "alpha":0.19131, "fx":[-55.86183,-54.98098,-54.76578,-55.53665], "fy":[-62.27132,-63.13593,-62.19927,-61.67197]},
+    {"t":0.32835, "x":3.43442, "y":2.91704, "heading":1.00307, "vx":-1.08934, "vy":-1.22742, "omega":-0.18323, "ax":-3.31617, "ay":-3.73864, "alpha":0.25412, "fx":[-56.0512,-55.29347,-54.26238,-55.50884], "fy":[-62.40178,-63.15299,-62.30523,-61.42543]},
+    {"t":0.36483, "x":3.39247, "y":2.86977, "heading":0.99639, "vx":-1.21032, "vy":-1.36382, "omega":-0.17396, "ax":-3.31564, "ay":-3.73877, "alpha":0.38884, "fx":[-56.48963,-54.71031,-54.11296,-55.76787], "fy":[-62.28641,-63.84808,-62.15875,-61.00046]},
+    {"t":0.40132, "x":3.34611, "y":2.81752, "heading":0.99004, "vx":-1.33129, "vy":-1.50022, "omega":-0.15978, "ax":-3.315, "ay":-3.73892, "alpha":0.4135, "fx":[-56.55856,-55.10092,-53.70525,-55.67278], "fy":[-62.41856,-63.70453,-62.29704,-60.88394]},
+    {"t":0.4378, "x":3.29533, "y":2.7603, "heading":0.98421, "vx":-1.45223, "vy":-1.63663, "omega":-0.14469, "ax":-3.31418, "ay":-3.73912, "alpha":0.50256, "fx":[-56.8751,-54.59309,-53.64504,-55.87013], "fy":[-62.33907,-64.16306,-62.19854,-60.61638]},
+    {"t":0.47428, "x":3.24014, "y":2.69811, "heading":0.97893, "vx":-1.57314, "vy":-1.77304, "omega":-0.12635, "ax":-3.31314, "ay":-3.73936, "alpha":0.50692, "fx":[-56.84182,-54.97868,-53.3605,-55.73314], "fy":[-62.42313,-64.03517,-62.30343,-60.57162]},
+    {"t":0.51077, "x":3.18054, "y":2.63093, "heading":0.97433, "vx":-1.69401, "vy":-1.90947, "omega":-0.10786, "ax":-3.31174, "ay":-3.7397, "alpha":0.53135, "fx":[-56.99018,-54.6079,-53.3702,-55.85246], "fy":[-62.46094,-64.07158,-62.31941,-60.50408]},
+    {"t":0.54725, "x":3.11654, "y":2.55878, "heading":0.97039, "vx":-1.81484, "vy":-2.0459, "omega":-0.08847, "ax":-3.30981, "ay":-3.74015, "alpha":0.55608, "fx":[-57.08532,-54.28028,-53.43189,-55.89413], "fy":[-62.35024,-64.29563,-62.26717,-60.4731]},
+    {"t":0.58373, "x":3.04812, "y":2.48165, "heading":0.96716, "vx":-1.93559, "vy":-2.18236, "omega":-0.06819, "ax":-3.30684, "ay":-3.74089, "alpha":0.49912, "fx":[-56.81835,-54.61328,-53.36085,-55.701], "fy":[-62.48158,-63.9549,-62.35369,-60.64487]},
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+    {"t":0.6567, "x":2.89809, "y":2.31245, "heading":0.96285, "vx":-2.17671, "vy":-2.45534, "omega":-0.03372, "ax":-3.28855, "ay":-3.74753, "alpha":0.41949, "fx":[-56.04247,-54.32046,-53.66354,-55.24772], "fy":[-62.29421,-64.35099,-62.18859,-61.04416]},
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+    {"t":0.8756, "x":2.39439, "y":1.72435, "heading":0.95995, "vx":-2.06862, "vy":-2.5231, "omega":-0.02649, "ax":3.34819, "ay":3.70089, "alpha":-0.41264, "fx":[57.04278,55.38489,54.58912,56.23394], "fy":[61.59451,63.41224,61.50207,60.25968]},
+    {"t":0.91208, "x":2.32115, "y":1.63477, "heading":0.95898, "vx":-1.94646, "vy":-2.38808, "omega":-0.04155, "ax":3.34192, "ay":3.70967, "alpha":-0.37225, "fx":[57.00048,55.06532,54.57787,56.18924], "fy":[61.83415,63.15346,61.79174,60.57422]},
+    {"t":0.94856, "x":2.25236, "y":1.55011, "heading":0.95746, "vx":-1.82454, "vy":-2.25274, "omega":-0.05513, "ax":3.33798, "ay":3.71509, "alpha":-0.32301, "fx":[56.65296,55.30763,54.62245,55.98712], "fy":[61.8988,63.16577,61.84279,60.80766]},
+    {"t":0.98505, "x":2.18802, "y":1.4704, "heading":0.95545, "vx":-1.70276, "vy":-2.1172, "omega":-0.06691, "ax":3.33535, "ay":3.7187, "alpha":-0.20108, "fx":[56.25615,55.4657,54.87963,55.7934], "fy":[62.01358,62.66319,61.98954,61.28954]},
+    {"t":1.02153, "x":2.12811, "y":1.39563, "heading":0.95301, "vx":-1.58107, "vy":-1.98153, "omega":-0.07425, "ax":3.33346, "ay":3.72129, "alpha":-0.0822, "fx":[55.78572,55.47602,55.36577,55.64119], "fy":[61.9716,62.44959,61.95569,61.75175]},
+    {"t":1.05801, "x":2.07265, "y":1.32581, "heading":0.9503, "vx":-1.45946, "vy":-1.84576, "omega":-0.07725, "ax":3.33202, "ay":3.72325, "alpha":0.13464, "fx":[55.06126,55.86362,55.90864,55.33933], "fy":[62.09112,61.57037,62.07984,62.51789]},
+    {"t":1.0945, "x":2.02162, "y":1.26095, "heading":0.94748, "vx":-1.3379, "vy":-1.70993, "omega":-0.07234, "ax":3.33091, "ay":3.72477, "alpha":0.33499, "fx":[54.31926,55.87885,56.76881,55.13164], "fy":[61.99129,61.13985,61.98399,63.24539]},
+    {"t":1.13098, "x":1.97503, "y":1.20105, "heading":0.94485, "vx":-1.21637, "vy":-1.57404, "omega":-0.06011, "ax":3.33001, "ay":3.72599, "alpha":0.66099, "fx":[53.26303,56.33767,57.6798,54.75793], "fy":[62.15153,59.81226,62.10698,64.37136]},
+    {"t":1.16746, "x":1.93287, "y":1.1461, "heading":0.94265, "vx":-1.09488, "vy":-1.4381, "omega":-0.036, "ax":3.28686, "ay":3.76029, "alpha":0.43861, "fx":[53.22967,55.26482,56.3711,54.2957], "fy":[62.59504,61.35917,62.59274,64.18222]},
+    {"t":1.20036, "x":1.89862, "y":1.10082, "heading":0.94147, "vx":-0.98675, "vy":-1.31439, "omega":-0.02157, "ax":3.21554, "ay":3.82545, "alpha":0.3529, "fx":[52.25937,53.96917,54.78792,53.38945], "fy":[64.06835,62.47689,63.69048,64.83786]},
+    {"t":1.23326, "x":1.8679, "y":1.05965, "heading":0.94076, "vx":-0.88096, "vy":-1.18853, "omega":-0.00996, "ax":3.15168, "ay":3.87847, "alpha":0.25445, "fx":[51.60283,52.78843,53.50929,52.24734], "fy":[64.58462,63.95134,64.56094,65.5119]},
+    {"t":1.26616, "x":1.84062, "y":1.02265, "heading":0.94043, "vx":-0.77727, "vy":-1.06093, "omega":-0.00159, "ax":3.09553, "ay":3.92364, "alpha":0.20494, "fx":[50.75963,51.80658,52.29112,51.5464], "fy":[65.67794,64.6358,65.33153,65.9753]},
+    {"t":1.29906, "x":1.81673, "y":0.98987, "heading":0.94038, "vx":-0.67543, "vy":-0.93185, "omega":0.00515, "ax":3.04581, "ay":3.96253, "alpha":0.13048, "fx":[50.27412,50.88909,51.30368,50.62175], "fy":[66.00098,65.73954,65.98342,66.49022]},
+    {"t":1.33196, "x":1.79615, "y":0.96135, "heading":0.94055, "vx":-0.57522, "vy":-0.80148, "omega":0.00945, "ax":3.0015, "ay":3.99635, "alpha":0.08957, "fx":[49.61225,50.11033,50.32701,50.08492], "fy":[66.807,66.26329,66.56807,66.8309]},
+    {"t":1.36486, "x":1.77885, "y":0.93715, "heading":0.94086, "vx":-0.47648, "vy":-0.67001, "omega":0.01239, "ax":2.9618, "ay":4.02601, "alpha":0.02552, "fx":[49.24671,49.37672,49.52504,49.33837], "fy":[67.06817,67.12376,67.05777,67.19694]},
+    {"t":1.39776, "x":1.76478, "y":0.91728, "heading":0.94127, "vx":-0.37904, "vy":-0.53755, "omega":0.01323, "ax":2.92602, "ay":4.05221, "alpha":-0.01393, "fx":[48.72905,48.74418,48.71192,48.91595], "fy":[67.70968,67.54835,67.50542,67.4303]},
+    {"t":1.43066, "x":1.75389, "y":0.90179, "heading":0.9417, "vx":-0.28277, "vy":-0.40424, "omega":0.01278, "ax":2.89362, "ay":4.07552, "alpha":-0.07735, "fx":[48.47861,48.12973,48.01559,48.31702], "fy":[67.90053,68.26827,67.89631,67.68276]},
+    {"t":1.46356, "x":1.74616, "y":0.8907, "heading":0.94212, "vx":-0.18757, "vy":-0.27015, "omega":0.01023, "ax":2.86415, "ay":4.09638, "alpha":-0.13221, "fx":[48.18433,47.58032,47.32448,47.88719], "fy":[68.25172,68.78606,68.25021,67.85078]},
+    {"t":1.49646, "x":1.74154, "y":0.88403, "heading":0.94246, "vx":-0.09334, "vy":-0.13539, "omega":0.00588, "ax":2.83725, "ay":4.11515, "alpha":-0.17876, "fx":[47.89779,47.203,46.62389,47.45747], "fy":[68.60294,69.18093,68.60514,68.00151]},
+    {"t":1.52936, "x":1.74, "y":0.8818, "heading":0.94265, "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":[]
+}