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PotatoBoyH4PotatoBoyH4
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fixed everything except pathHandler
1 parent a35af84 commit e5d4307

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11 files changed

+451
-340
lines changed

11 files changed

+451
-340
lines changed

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

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -289,20 +289,20 @@
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}
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},
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"mass":{
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"exp":"150 lbs",
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"val":68.0388555
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"exp":"147 lbs",
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"val":66.67807839000001
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},
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"inertia":{
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"exp":"6 kg m ^ 2",
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"val":6.0
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},
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"gearing":{
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"exp":"6.5",
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"val":6.5
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"exp":"7.09",
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"val":7.09
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},
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"radius":{
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"exp":"1.75 in",
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"val":0.04445
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"exp":"1.68 in",
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"val":0.042671999999999995
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},
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"vmax":{
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"exp":"6000 RPM",
@@ -318,16 +318,16 @@
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},
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"bumper":{
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"front":{
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"exp":"17.9375 in",
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"val":0.4556125
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"exp":"18.5 in",
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"val":0.4699
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},
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"side":{
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"exp":"17.9375 in",
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"val":0.4556125
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"exp":"18.5 in",
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"val":0.4699
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},
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"back":{
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"exp":"17.9375 in",
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"val":0.4556125
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"exp":"18.5 in",
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"val":0.4699
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}
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},
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"differentialTrackWidth":{

‎src/main/deploy/choreo/ATofetch.traj‎

Lines changed: 36 additions & 37 deletions
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‎src/main/deploy/choreo/BTofetch.traj‎

Lines changed: 36 additions & 36 deletions
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‎src/main/deploy/choreo/ConfusingTestPath.traj‎

Lines changed: 117 additions & 123 deletions
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‎src/main/deploy/choreo/FiveMeterTestPath.traj‎

Lines changed: 130 additions & 38 deletions
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‎src/main/deploy/choreo/constants.traj‎

Lines changed: 18 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -8,24 +8,24 @@
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},
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"params":{
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"waypoints":[
11-
{"x":{"exp":"305.5 in", "val":7.7597}, "y":{"exp":"4.359700000000012 m", "val":4.359700000000012}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
12-
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "y":{"exp":"7.2570308 m", "val":7.2570308}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
13-
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "y":{"exp":"5.0756788 m", "val":5.0756788}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":6506, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
14-
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "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},
15-
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "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},
16-
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "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},
17-
{"x":{"exp":"215.84522795660308 in", "val":5.482468790097718}, "y":{"exp":"194.45724315432372 in", "val":4.939213976119822}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":1315, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
18-
{"x":{"exp":"204.63885923163247 in", "val":5.197827024483464}, "y":{"exp":"200.92724315432375 in", "val":5.103551976119823}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":4133, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
19-
{"x":{"exp":"165.15772795660308 in", "val":4.1950062900977185}, "y":{"exp":"210.33608215432375 in", "val":5.342536486719823}, "heading":{"exp":"-60 deg", "val":-1.0471975511965976}, "intervals":1315, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
20-
{"x":{"exp":"153.95135923163247 in", "val":3.9103645244834646}, "y":{"exp":"203.86608215432372 in", "val":5.178198486719822}, "heading":{"exp":"-60 deg", "val":-1.0471975511965976}, "intervals":4133, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
21-
{"x":{"exp":"126.0625 in", "val":3.2019875}, "y":{"exp":"174.378839 in", "val":4.4292225106}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":1315, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
22-
{"x":{"exp":"126.0625 in", "val":3.2019875}, "y":{"exp":"161.438839 in", "val":4.1005465106}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":4133, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
23-
{"x":{"exp":"137.65477204339692 in", "val":3.4964312099022816}, "y":{"exp":"122.54275684567627 in", "val":3.1125860238801772}, "heading":{"exp":"60 deg", "val":1.0471975511965976}, "intervals":1315, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
24-
{"x":{"exp":"148.86114076836753 in", "val":3.781072975516535}, "y":{"exp":"116.07275684567627 in", "val":2.948248023880177}, "heading":{"exp":"60 deg", "val":1.0471975511965976}, "intervals":4133, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
25-
{"x":{"exp":"188.34227204339692 in", "val":4.783893709902282}, "y":{"exp":"106.66391784567627 in", "val":2.709263513280177}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":1315, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
26-
{"x":{"exp":"199.54864076836753 in", "val":5.068535475516535}, "y":{"exp":"113.13391784567627 in", "val":2.873601513280177}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":4133, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
27-
{"x":{"exp":"227.4375 in", "val":5.7769125}, "y":{"exp":"142.621161 in", "val":3.6225774894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":1315, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
28-
{"x":{"exp":"227.4375 in", "val":5.7769125}, "y":{"exp":"155.561161 in", "val":3.9512534894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":21807, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
11+
{"x":{"exp":"305.5 in", "val":7.7597}, "y":{"exp":"4.359700000000012 m", "val":4.359700000000012}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
12+
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "y":{"exp":"7.2570308 m", "val":7.2570308}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
13+
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "y":{"exp":"5.0756788 m", "val":5.0756788}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
14+
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "y":{"exp":"142.621161 in", "val":3.6225774894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
15+
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "y":{"exp":"155.561161 in", "val":3.9512534894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
16+
{"x":{"exp":"7.1008875 m", "val":7.1008875}, "y":{"exp":"142.621161 in", "val":3.6225774894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":93, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
17+
{"x":{"exp":"215.84522795660308 in", "val":5.482468790097718}, "y":{"exp":"194.45724315432372 in", "val":4.939213976119822}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
18+
{"x":{"exp":"204.63885923163247 in", "val":5.197827024483464}, "y":{"exp":"200.92724315432375 in", "val":5.103551976119823}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
19+
{"x":{"exp":"165.15772795660308 in", "val":4.1950062900977185}, "y":{"exp":"210.33608215432375 in", "val":5.342536486719823}, "heading":{"exp":"-60 deg", "val":-1.0471975511965976}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
20+
{"x":{"exp":"153.95135923163247 in", "val":3.9103645244834646}, "y":{"exp":"203.86608215432372 in", "val":5.178198486719822}, "heading":{"exp":"-60 deg", "val":-1.0471975511965976}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
21+
{"x":{"exp":"126.0625 in", "val":3.2019875}, "y":{"exp":"174.378839 in", "val":4.4292225106}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
22+
{"x":{"exp":"126.0625 in", "val":3.2019875}, "y":{"exp":"161.438839 in", "val":4.1005465106}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
23+
{"x":{"exp":"137.65477204339692 in", "val":3.4964312099022816}, "y":{"exp":"122.54275684567627 in", "val":3.1125860238801772}, "heading":{"exp":"60 deg", "val":1.0471975511965976}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
24+
{"x":{"exp":"148.86114076836753 in", "val":3.781072975516535}, "y":{"exp":"116.07275684567627 in", "val":2.948248023880177}, "heading":{"exp":"60 deg", "val":1.0471975511965976}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
25+
{"x":{"exp":"188.34227204339692 in", "val":4.783893709902282}, "y":{"exp":"106.66391784567627 in", "val":2.709263513280177}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
26+
{"x":{"exp":"199.54864076836753 in", "val":5.068535475516535}, "y":{"exp":"113.13391784567627 in", "val":2.873601513280177}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
27+
{"x":{"exp":"227.4375 in", "val":5.7769125}, "y":{"exp":"142.621161 in", "val":3.6225774894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
28+
{"x":{"exp":"227.4375 in", "val":5.7769125}, "y":{"exp":"155.561161 in", "val":3.9512534894}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":231, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
2929
{"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}],
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"constraints":[
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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},

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