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+ "splits":[0]
+ },
+ "events":[]
+}
+++ /dev/null
-{
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- {"t":3.21136, "x":4.25664, "y":7.60412, "heading":0.13351, "vx":-3.1661, "vy":0.24227, "omega":-0.76431, "ax":9.76943, "ay":-0.10219, "alpha":1.66238, "fx":[138.53962,138.36133,138.48462,138.53155], "fy":[3.41679,-7.88436,-5.89782,4.57133]},
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- {"t":3.31975, "x":3.97082, "y":7.62919, "heading":0.0612, "vx":-2.1078, "vy":0.20916, "omega":-0.55569, "ax":9.74158, "ay":-0.75204, "alpha":2.43812, "fx":[138.67781,137.24958,137.68621,138.72458], "fy":[-3.35183,-20.15642,-17.08466,-2.04712]},
- {"t":3.37395, "x":3.87089, "y":7.63942, "heading":0.03466, "vx":-1.57983, "vy":0.1684, "omega":-0.42355, "ax":9.72785, "ay":-0.91851, "alpha":2.56037, "fx":[138.65299,136.84682,137.34961,138.71045], "fy":[-5.24216,-22.9316,-19.82149,-4.08351]},
- {"t":3.42815, "x":3.79955, "y":7.6472, "heading":0.01547, "vx":-1.0526, "vy":0.11862, "omega":-0.28478, "ax":9.71602, "ay":-1.04359, "alpha":2.61551, "fx":[138.60999,136.53191,137.07386,138.67346], "fy":[-6.78507,-24.86869,-21.78138,-5.73553]},
- {"t":3.48235, "x":3.75677, "y":7.65209, "heading":0.00388, "vx":-0.52601, "vy":0.06206, "omega":-0.14303, "ax":9.70542, "ay":-1.14511, "alpha":2.63897, "fx":[138.55449,136.26544,136.84272,138.62524], "fy":[-8.14559,-26.38165,-23.28237,-7.11706]},
- {"t":3.53655, "x":3.74252, "y":7.65378, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
- "splits":[0]
- },
- "events":[
- {"name":"Marker", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"runSpindexer"}}}]
-}
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
+import choreo.auto.AutoChooser;
import choreo.auto.AutoFactory;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.wpilibj.DriverStation;
// auto Command selection
private final SendableChooser<Command> autoChooser = new SendableChooser<>();
-
+ private final AutoChooser choreoAutoChooser = new AutoChooser();
+
// choreo auto factory
AutoFactory autoFactory ;
/**