Merge pull request #63 from strykeforce/auto-barge-align

Auto barge align and 4-piece Auto

Author: mwitcpalek

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

@@ -232,32 +232,60 @@
    },
    "fetchP":{
     "x":{
-     "exp":"1.69577419757843 m",
-     "val":1.69577419757843
+     "exp":"1.6421304941177368 m",
+     "val":1.6421304941177368
     },
     "y":{
-     "exp":"0.8236 m",
-     "val":0.8236
+     "exp":"0.8500130772590637 m",
+     "val":0.8500130772590637
     },
     "heading":{
      "exp":"54 deg",
      "val":0.942477796076938
     }
    },
-   "start":{
+   "midStart":{
     "x":{
-     "exp":"7.1008875 m",
-     "val":7.1008875
+     "exp":"7.1 m",
+     "val":7.1
+    },
+    "y":{
+     "exp":"6.1663548 m",
+     "val":6.1663548
+    },
+    "heading":{
+     "exp":"3.14159 rad",
+     "val":3.14159
+    }
+   },
+   "midStartP":{
+    "x":{
+     "exp":"7.1 m",
+     "val":7.1
     },
     "y":{
-     "exp":"5.0756788 m",
-     "val":5.0756788
+     "exp":"1.8818 m",
+     "val":1.8818
     },
     "heading":{
      "exp":"180 deg",
      "val":3.141592653589793
     }
    },
+   "start":{
+    "x":{
+     "exp":"7.1 m",
+     "val":7.1
+    },
+    "y":{
+     "exp":"5.07 m",
+     "val":5.07
+    },
+    "heading":{
+     "exp":"3.14159 rad",
+     "val":3.14159
+    }
+   },
    "startDeep":{
     "x":{
      "exp":"7.1008875 m",

src/main/deploy/choreo/CTofetchP.traj

@@ -21,7 +21,7 @@
     {"x":{"exp":"E.x", "val":4.894185251845}, "y":{"exp":"E.y", "val":2.7146580097364}, "heading":{"exp":"E.heading", "val":2.0943951023931953}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.480600357055664 m", "val":4.480600357055664}, "y":{"exp":"2.3546712398529053 m", "val":2.3546712398529053}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"2.1380813121795654 m", "val":2.1380813121795654}, "y":{"exp":"1.227155 m", "val":1.227155}, "heading":{"exp":"fetchP.heading", "val":0.942477796076938}, "intervals":14, "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":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"fetchP.x", "val":1.6421304941177368}, "y":{"exp":"fetchP.y", "val":0.8500130772590637}, "heading":{"exp":"fetchP.heading", "val":0.942477796076938}, "intervals":9, "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},