Merge pull request #49 from strykeforce/autonSpeedUp

Auton speed up

Author: mwitcpalek

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

@@ -10,17 +10,24 @@
      "exp":"9.408839",
      "val":9.408839
     }
+   },
+   "maxAccel":{
+    "dimension":"LinAcc",
+    "var":{
+     "exp":"3 m / s ^ 2",
+     "val":3.0
+    }
    }
   },
   "poses":{
    "A":{
     "x":{
-     "exp":"3.2654999999999994 m",
-     "val":3.2654999999999994
+     "exp":"3.1513229999999997 m",
+     "val":3.1513229999999997
     },
     "y":{
-     "exp":"4.3359 m",
-     "val":4.3359
+     "exp":"4.3309 m",
+     "val":4.3309
     },
     "heading":{
      "exp":"0 deg",
@@ -29,8 +36,8 @@
    },
    "B":{
     "x":{
-     "exp":"3.2654999999999994 m",
-     "val":3.2654999999999994
+     "exp":"3.1513229999999997 m",
+     "val":3.1513229999999997
     },
     "y":{
      "exp":"4.0009 m",
@@ -43,12 +50,12 @@
    },
    "C":{
     "x":{
-     "exp":"3.6132737518457456 m",
-     "val":3.6132737518457456
+     "exp":"3.5561852518457457 m",
+     "val":3.5561852518457457
     },
     "y":{
-     "exp":"3.1185381922643174 m",
-     "val":3.1185381922643174
+     "exp":"3.0196580097364216 m",
+     "val":3.0196580097364216
     },
     "heading":{
      "exp":"60 deg",
@@ -57,12 +64,12 @@
    },
    "D":{
     "x":{
-     "exp":"3.89906213509461 m",
-     "val":3.89906213509461
+     "exp":"3.84197363509461 m",
+     "val":3.84197363509461
     },
     "y":{
-     "exp":"2.953538192264317 m",
-     "val":2.953538192264317
+     "exp":"2.854658009736421 m",
+     "val":2.854658009736421
     },
     "heading":{
      "exp":"60 deg",
@@ -71,12 +78,12 @@
    },
    "E":{
     "x":{
-     "exp":"4.837096751845746 m",
-     "val":4.837096751845746
+     "exp":"4.894185251845 m",
+     "val":4.894185251845
     },
     "y":{
-     "exp":"2.813538192264317 m",
-     "val":2.813538192264317
+     "exp":"2.7146580097364 m",
+     "val":2.7146580097364
     },
     "heading":{
      "exp":"120 deg",
@@ -85,12 +92,12 @@
    },
    "F":{
     "x":{
-     "exp":"5.122885135094611 m",
-     "val":5.122885135094611
+     "exp":"5.179973635094 m",
+     "val":5.179973635094
     },
     "y":{
-     "exp":"2.978538192264317 m",
-     "val":2.978538192264317
+     "exp":"2.8796580097364215 m",
+     "val":2.8796580097364215
     },
     "heading":{
      "exp":"120 deg",
@@ -99,8 +106,8 @@
    },
    "G":{
     "x":{
-     "exp":"5.713146 m",
-     "val":5.713146
+     "exp":"5.827323 m",
+     "val":5.827323
     },
     "y":{
      "exp":"3.7209 m",
@@ -113,8 +120,8 @@
    },
    "H":{
     "x":{
-     "exp":"5.713146 m",
-     "val":5.713146
+     "exp":"5.827323 m",
+     "val":5.827323
     },
     "y":{
      "exp":"4.0509 m",
@@ -127,12 +134,12 @@
    },
    "I":{
     "x":{
-     "exp":"5.365372248154253 m",
-     "val":5.365372248154253
+     "exp":"5.422460748154253 m",
+     "val":5.422460748154253
     },
     "y":{
-     "exp":"4.933261807735684 m",
-     "val":4.933261807735684
+     "exp":"5.032141990263579 m",
+     "val":5.032141990263579
     },
     "heading":{
      "exp":"240 deg",
@@ -141,12 +148,12 @@
    },
    "J":{
     "x":{
-     "exp":"5.079583864905389 m",
-     "val":5.079583864905389
+     "exp":"5.1366723649053885 m",
+     "val":5.1366723649053885
     },
     "y":{
-     "exp":"5.098261807735684 m",
-     "val":5.098261807735684
+     "exp":"5.197141990263579 m",
+     "val":5.197141990263579
     },
     "heading":{
      "exp":"240 deg",
@@ -155,12 +162,12 @@
    },
    "K":{
     "x":{
-     "exp":"4.141549248154255 m",
-     "val":4.141549248154255
+     "exp":"4.084460748154255 m",
+     "val":4.084460748154255
     },
     "y":{
-     "exp":"5.238261807735684 m",
-     "val":5.238261807735684
+     "exp":"5.3371419902635795 m",
+     "val":5.3371419902635795
     },
     "heading":{
      "exp":"300 deg",
@@ -169,12 +176,12 @@
    },
    "L":{
     "x":{
-     "exp":"3.85576086490539 m",
-     "val":3.85576086490539
+     "exp":"3.798672364905389 m",
+     "val":3.798672364905389
     },
     "y":{
-     "exp":"5.073261807735684 m",
-     "val":5.073261807735684
+     "exp":"5.1721419902635795 m",
+     "val":5.1721419902635795
     },
     "heading":{
      "exp":"300 deg",
@@ -209,6 +216,20 @@
      "val":-0.942477796076938
     }
    },
+   "fetchD":{
+    "x":{
+     "exp":"0.8522834777832031 m",
+     "val":0.8522834777832031
+    },
+    "y":{
+     "exp":"6.600111961364 m",
+     "val":6.600111961364
+    },
+    "heading":{
+     "exp":"fetch.heading",
+     "val":-0.942477796076938
+    }
+   },
    "fetchP":{
     "x":{
      "exp":"1.69577419757843 m",
@@ -257,8 +278,8 @@
      "val":7.1008875
     },
     "y":{
-     "exp":"142.621161 in",
-     "val":3.6225774894
+     "exp":"G.y",
+     "val":3.7209
     },
     "heading":{
      "exp":"180 deg",
@@ -271,8 +292,8 @@
      "val":7.1008875
     },
     "y":{
-     "exp":"155.561161 in",
-     "val":3.9512534894
+     "exp":"H.y",
+     "val":4.0509
     },
     "heading":{
      "exp":"180 deg",