Merge pull request #71 from strykeforce/barge-auton-2

Barge Autos - Normal

Author: mwitcpalek

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

@@ -190,16 +190,16 @@
    },
    "barge":{
     "x":{
-     "exp":"305.5 in",
-     "val":7.7597
+     "exp":"7.7 m",
+     "val":7.7
     },
     "y":{
-     "exp":"4.3597 m",
-     "val":4.3597
+     "exp":"5.08871412277 m",
+     "val":5.08871412277
     },
     "heading":{
-     "exp":"180 deg",
-     "val":3.141592653589793
+     "exp":"0 deg",
+     "val":0.0
     }
    },
    "fetch":{

src/main/deploy/choreo/EToBarge.traj

@@ -0,0 +1,87 @@
+{
+ "name":"IToNearBarge",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":5.422460748154253, "y":5.032141990263579, "heading":4.1887902047863905, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.914801597595215, "y":5.08453893661499, "heading":-1.865941683513847, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.5, "y":5.08871412, "heading":0.0, "intervals":16, "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":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":4.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":4.0}}, "enabled":false},
+    {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"I.x", "val":5.422460748154253}, "y":{"exp":"I.y", "val":5.032141990263579}, "heading":{"exp":"I.heading", "val":4.1887902047863905}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.914801597595215 m", "val":5.914801597595215}, "y":{"exp":"5.08453893661499 m", "val":5.08453893661499}, "heading":{"exp":"-1.865941683513847 rad", "val":-1.865941683513847}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.5 m", "val":6.5}, "y":{"exp":"5.08871412 m", "val":5.08871412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":16, "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":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"4 m / s", "val":4.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"4 rad / s", "val":4.0}}}, "enabled":false},
+    {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.5 rad / s", "val":0.5}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.44528,0.93052],
+  "samples":[
+    {"t":0.0, "x":5.42246, "y":5.03214, "heading":-2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.95819, "ay":0.61409, "alpha":-1.69628, "fx":[77.69536,84.22165,87.51986,81.16558], "fy":[8.72759,3.88297,11.70094,16.63508]},
+    {"t":0.02619, "x":5.42416, "y":5.03235, "heading":-2.0944, "vx":0.12987, "vy":0.01608, "omega":-0.04443, "ax":4.96089, "ay":0.60723, "alpha":-0.96313, "fx":[79.90307,83.57127,85.46162,81.8466], "fy":[9.28386,6.48558,10.97082,13.74894]},
+    {"t":0.05239, "x":5.42926, "y":5.03298, "heading":-2.09556, "vx":0.25981, "vy":0.03199, "omega":-0.06966, "ax":4.96173, "ay":0.59921, "alpha":-0.25334, "fx":[81.85296,82.95904,83.46575,82.56065], "fy":[9.75184,9.11217,10.20666,10.88379]},
+    {"t":0.07858, "x":5.43777, "y":5.03403, "heading":-2.09738, "vx":0.38977, "vy":0.04768, "omega":-0.07629, "ax":4.96266, "ay":0.59009, "alpha":0.45736, "fx":[83.9396,82.33098,81.50568,83.12464], "fy":[10.26681,11.65269,9.42403,8.00227]},
+    {"t":0.10477, "x":5.44968, "y":5.03548, "heading":-2.09938, "vx":0.51975, "vy":0.06314, "omega":-0.06431, "ax":4.96372, "ay":0.57956, "alpha":1.20429, "fx":[86.09065,81.69311,79.30647,83.88137], "fy":[10.67421,14.30541,8.61077,5.05339]},
+    {"t":0.13096, "x":5.465, "y":5.03733, "heading":-2.10107, "vx":0.64977, "vy":0.07832, "omega":-0.03277, "ax":4.96493, "ay":0.56733, "alpha":1.92437, "fx":[88.06219,81.16117,77.36883,84.45962], "fy":[11.13214,16.96263,7.72588,2.00782]},
+    {"t":0.15716, "x":5.48372, "y":5.03958, "heading":-2.10192, "vx":0.77981, "vy":0.09318, "omega":0.01763, "ax":4.96631, "ay":0.55291, "alpha":2.73415, "fx":[90.34905,80.59143,74.91319,85.29014], "fy":[11.57276,19.7706,6.76293,-1.23911]},
+    {"t":0.18335, "x":5.50585, "y":5.04221, "heading":-2.10146, "vx":0.90989, "vy":0.10766, "omega":0.08925, "ax":4.96789, "ay":0.53574, "alpha":3.55691, "fx":[92.60967,79.96718,72.68485,85.98795], "fy":[11.98464,22.78756,5.65565,-4.70555]},
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+    {"t":0.23573, "x":5.56033, "y":5.04857, "heading":-2.09435, "vx":1.17019, "vy":0.13518, "omega":0.30175, "ax":4.97192, "ay":0.48888, "alpha":5.52742, "fx":[98.01403,78.58336,66.93912,87.98184], "fy":[13.01027,29.67326,2.72254,-12.80843]},
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+  "splits":[0]
+ },
+ "events":[]
+}