]> git.taranathan.com Git - FRC2026.git/commitdiff
i guess bro
authorTaran Nathan <moogoesmeow123@gmail.com>
Sun, 3 May 2026 20:31:52 +0000 (15:31 -0500)
committerTaran Nathan <moogoesmeow123@gmail.com>
Sun, 3 May 2026 22:40:56 +0000 (17:40 -0500)
src/main/deploy/choreo/depot.traj
src/main/deploy/choreo/superShuttling.traj [new file with mode: 0644]

index e0041a5528b38867311fea2aada8d947c10d6a14..a6af35a8ea93b8fdc777bb64e05e37112e57e0a6 100644 (file)
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
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+    {"x":3.5792136192321777, "y":4.4951395988464355, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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@@ -18,7 +18,7 @@
  },
  "params":{
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   "sampleType":"Swerve",
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+    {"t":3.74314, "x":6.24591, "y":7.44708, "heading":-0.00113, "vx":4.53516, "vy":-0.06853, "omega":-0.0017, "ax":-0.00505, "ay":-0.15864, "alpha":-0.00262, "fx":[-0.06725,-0.06724,-0.07595,-0.07596], "fy":[-2.25311,-2.24441,-2.2444,-2.2531]},
+    {"t":3.79247, "x":6.46959, "y":7.44351, "heading":-0.00122, "vx":4.53491, "vy":-0.07636, "omega":-0.00183, "ax":-6.96593, "ay":-0.61076, "alpha":-12.58152, "fx":[-85.61995,-90.8241,-110.53863,-107.97899], "fy":[-47.56144,27.26282,17.93736,-32.26823]},
+    {"t":3.84179, "x":6.6848, "y":7.439, "heading":-0.01662, "vx":4.19132, "vy":-0.10648, "omega":-0.6224, "ax":-9.11963, "ay":-0.05153, "alpha":-14.87678, "fx":[-123.85505,-125.12211,-134.04926,-134.04777], "fy":[-58.58523,55.70679,32.0658,-32.10905]},
+    {"t":3.89112, "x":6.88044, "y":7.43369, "heading":-0.06541, "vx":3.74151, "vy":-0.10902, "omega":-1.35618, "ax":-9.3212, "ay":0.23652, "alpha":-12.65755, "fx":[-129.85775,-128.2854,-134.17054,-136.18965], "fy":[-46.7045,50.77029,33.77161,-24.42675]},
+    {"t":3.94044, "x":7.05364, "y":7.4286, "heading":-0.1477, "vx":3.28175, "vy":-0.09736, "omega":-1.9805, "ax":-9.46126, "ay":0.3863, "alpha":-10.50303, "fx":[-133.12214,-131.62144,-134.22578,-137.47525], "fy":[-37.65759,42.4565,34.26312,-17.15909]},
+    {"t":3.98976, "x":7.204, "y":7.42426, "heading":-0.25816, "vx":2.81508, "vy":-0.0783, "omega":-2.49855, "ax":-9.77115, "ay":0.31832, "alpha":-0.40886, "fx":[-138.55158,-138.4692,-138.451,-138.54329], "fy":[2.87805,5.54045,6.12212,3.50759]},
+    {"t":4.03909, "x":7.33097, "y":7.42079, "heading":-0.3819, "vx":2.33313, "vy":-0.0626, "omega":-2.51872, "ax":-9.69621, "ay":0.27078, "alpha":5.43332, "fx":[-136.43445,-138.59971,-137.09218,-137.63935], "fy":[24.86972,-5.22578,-20.69751,16.40658]},
+    {"t":4.08841, "x":7.43425, "y":7.41803, "heading":-0.49952, "vx":1.85487, "vy":-0.04925, "omega":-2.25073, "ax":-9.55699, "ay":0.25699, "alpha":8.95749, "fx":[-133.1894,-138.59932,-133.10514,-136.97843], "fy":[38.82844,-6.59747,-38.9973,21.33722]},
+    {"t":4.13774, "x":7.51412, "y":7.41591, "heading":-0.59964, "vx":1.38348, "vy":-0.03657, "omega":-1.80891, "ax":-9.43626, "ay":0.25769, "alpha":11.04441, "fx":[-129.86385,-138.70058,-129.38645,-137.07578], "fy":[48.89763,-4.97969,-50.08558,20.77834]},
+    {"t":4.18706, "x":7.57088, "y":7.41442, "heading":-0.67543, "vx":0.91805, "vy":-0.02386, "omega":-1.26415, "ax":-9.34356, "ay":0.25006, "alpha":12.34729, "fx":[-126.79688,-138.78388,-126.62445,-137.56582], "fy":[56.42672,-2.78079,-56.78082,17.31303]},
+    {"t":4.23638, "x":7.60479, "y":7.41355, "heading":-0.72276, "vx":0.45719, "vy":-0.01153, "omega":-0.65514, "ax":-9.26902, "ay":0.23368, "alpha":13.28228, "fx":[-124.19876,-138.82236,-124.53948,-137.98399], "fy":[61.9718,-1.12968,-61.26731,13.67462]},
+    {"t":4.28571, "x":7.61607, "y":7.41327, "heading":-0.73892, "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":[]
diff --git a/src/main/deploy/choreo/superShuttling.traj b/src/main/deploy/choreo/superShuttling.traj
new file mode 100644 (file)
index 0000000..76bafc4
--- /dev/null
@@ -0,0 +1,28 @@
+{
+ "name":"superShuttling",
+ "version":3,
+ "snapshot":{
+  "waypoints":[],
+  "constraints":[],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[],
+  "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":null,
+  "sampleType":null,
+  "waypoints":[],
+  "samples":[],
+  "splits":[]
+ },
+ "events":[]
+}