Merge branch 'main' into barge-auton

Author: mwitcpalek

src/main/deploy/choreo/EToBarge.traj

@@ -15,7 +15,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"H.x", "val":5.827323}, "y":{"exp":"H.y", "val":4.0509}, "heading":{"exp":"H.heading", "val":3.141592653589793}, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"H.x", "val":5.827323}, "y":{"exp":"H.y", "val":4.0509}, "heading":{"exp":"H.heading", "val":3.141592653589793}, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},

src/main/deploy/choreo/EToNearBarge.traj

@@ -3,7 +3,7 @@
  "version":1,
  "snapshot":{
   "waypoints":[
-    {"x":7.05, "y":5.08871412277, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.4, "y":5.08871412277, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"7.05 m", "val":7.05}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.4 m", "val":6.4}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -28,26 +28,32 @@
  },
  "trajectory":{
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.80779],
+  "waypoints":[0.0,1.14148],
   "samples":[
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-    {"t":0.04752, "x":7.04549, "y":5.08871, "heading":0.0, "vx":-0.18998, "vy":0.0, "omega":0.00001, "ax":-3.99898, "ay":0.0, "alpha":0.00055, "fx":[-66.64218,-66.69714,-66.65255,-66.65255], "fy":[-0.00589,0.00587,0.00586,-0.00589]},
-    {"t":0.09503, "x":7.03194, "y":5.08871, "heading":0.0, "vx":-0.38001, "vy":0.0, "omega":0.00003, "ax":-3.99881, "ay":0.0, "alpha":-0.00212, "fx":[-66.65519,-66.65519,-66.66136,-66.66136], "fy":[-0.00721,0.00689,0.00762,-0.00721]},
-    {"t":0.14255, "x":7.00937, "y":5.08871, "heading":0.0, "vx":-0.57002, "vy":0.0, "omega":-0.00007, "ax":-3.99857, "ay":0.0, "alpha":0.00473, "fx":[-66.63508,-66.71654,-66.63282,-66.63282], "fy":[0.00151,-0.00153,-0.00155,0.00151]},
-    {"t":0.19007, "x":6.97777, "y":5.08871, "heading":0.0, "vx":-0.76002, "vy":0.0, "omega":0.00016, "ax":-3.99822, "ay":0.0, "alpha":0.00167, "fx":[-66.65291,-66.65291,-66.64383,-66.64383], "fy":[0.00361,-0.00388,-0.00322,0.0036]},
-    {"t":0.23759, "x":6.93714, "y":5.08871, "heading":0.00001, "vx":-0.95, "vy":0.0, "omega":0.00024, "ax":-3.99762, "ay":0.0, "alpha":0.00936, "fx":[-66.63002,-66.71036,-66.60675,-66.60674], "fy":[0.01384,-0.01387,-0.01389,0.01384]},
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   "splits":[0]
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  "events":[]