+++ /dev/null
-{
- "name":"conservative",
- "version":3,
- "snapshot":{
- "waypoints":[
- {"x":4.420742511749268, "y":7.652679920196533, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.575807094573975, "y":6.538276672363281, "heading":-1.2256388132346097, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.706699371337891, "y":5.0463480949401855, "heading":2.63742627823249, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.0891547203063965, "y":5.935906410217285, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
- {"x":5.89302921295166, "y":7.210275173187256, "heading":0.4241938953287057, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":4.036591053009033, "y":7.649001598358154, "heading":0.0, "intervals":18, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.986230850219727, "y":6.575506210327148, "heading":-1.453686475392422, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.831844806671143, "y":4.693465709686279, "heading":-1.2575197731729428, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.272781848907471, "y":4.93607234954834, "heading":1.1659049132718895, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.655237197875977, "y":6.612264633178711, "heading":1.2811046784461615, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.787734508514404, "y":7.46506404876709, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":4.036591053009033, "y":7.649001598358154, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
- {"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":4.594947936013341, "y":6.01006807340309, "r":1.0}}, "enabled":true},
- {"from":5, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
- "targetDt":0.05
- },
- "params":{
- "waypoints":[
- {"x":{"exp":"4.420742511749268 m", "val":4.420742511749268}, "y":{"exp":"7.652679920196533 m", "val":7.652679920196533}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.575807094573975 m", "val":7.575807094573975}, "y":{"exp":"6.538276672363281 m", "val":6.538276672363281}, "heading":{"exp":"-1.2256388132346097 rad", "val":-1.2256388132346097}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.706699371337891 m", "val":6.706699371337891}, "y":{"exp":"5.0463480949401855 m", "val":5.0463480949401855}, "heading":{"exp":"2.63742627823249 rad", "val":2.63742627823249}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.0891547203063965 m", "val":6.0891547203063965}, "y":{"exp":"5.935906410217285 m", "val":5.935906410217285}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
- {"x":{"exp":"5.89302921295166 m", "val":5.89302921295166}, "y":{"exp":"7.210275173187256 m", "val":7.210275173187256}, "heading":{"exp":"0.4241938953287057 rad", "val":0.4241938953287057}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"shootPos.x", "val":4.036591053009033}, "y":{"exp":"shootPos.y", "val":7.649001598358154}, "heading":{"exp":"shootPos.heading", "val":0.0}, "intervals":18, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.986230850219727 m", "val":5.986230850219727}, "y":{"exp":"6.575506210327148 m", "val":6.575506210327148}, "heading":{"exp":"-1.4536864753924221 rad", "val":-1.453686475392422}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.831844806671143 m", "val":5.831844806671143}, "y":{"exp":"4.693465709686279 m", "val":4.693465709686279}, "heading":{"exp":"-1.2575197731729428 rad", "val":-1.2575197731729428}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.272781848907471 m", "val":7.272781848907471}, "y":{"exp":"4.93607234954834 m", "val":4.93607234954834}, "heading":{"exp":"1.1659049132718895 rad", "val":1.1659049132718895}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.655237197875977 m", "val":6.655237197875977}, "y":{"exp":"6.612264633178711 m", "val":6.612264633178711}, "heading":{"exp":"1.2811046784461615 rad", "val":1.2811046784461615}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.787734508514404 m", "val":5.787734508514404}, "y":{"exp":"7.46506404876709 m", "val":7.46506404876709}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"shootPos.x", "val":4.036591053009033}, "y":{"exp":"shootPos.y", "val":7.649001598358154}, "heading":{"exp":"shootPos.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},
- {"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":true},
- {"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.594947936013341 m", "val":4.594947936013341}, "y":{"exp":"6.01006807340309 m", "val":6.01006807340309}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
- {"from":5, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
- "targetDt":{
- "exp":"0.05 s",
- "val":0.05
- }
- },
- "trajectory":{
- "config":{
- "frontLeft":{
- "x":0.52705,
- "y":0.52705
- },
- "backLeft":{
- "x":-0.52705,
- "y":0.52705
- },
- "mass":56.69904625,
- "inertia":7.0,
- "gearing":7.03125,
- "radius":0.0508,
- "vmax":628.3185307179587,
- "tmax":7.0,
- "cof":1.0,
- "bumper":{
- "front":0.4064,
- "side":0.4064,
- "back":0.4064
- },
- "differentialTrackWidth":0.5588
- },
- "sampleType":"Swerve",
- "waypoints":[0.0,1.03442,1.8534,2.23085,2.71973,3.42961,4.32037,4.83861,5.63843,6.09785,6.57231,7.21461],
- "samples":[
- {"t":0.0, "x":4.42074, "y":7.65268, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.48053, "ay":-2.02916, "alpha":5.91517, "fx":[138.53336,138.2864,128.19559,132.52178], "fy":[-8.81991,-11.71133,-53.1868,-41.33342]},
- {"t":0.05444, "x":4.43479, "y":7.64967, "heading":-1.56203, "vx":0.51615, "vy":-0.11047, "omega":0.32204, "ax":9.51121, "ay":-1.88337, "alpha":5.85892, "fx":[138.62352,138.4277,129.10631,133.11884], "fy":[-6.96663,-9.61845,-50.8846,-39.31555]},
- {"t":0.10889, "x":4.47699, "y":7.64087, "heading":-1.53581, "vx":1.03397, "vy":-0.21301, "omega":0.64102, "ax":9.54914, "ay":-1.69384, "alpha":5.73346, "fx":[138.70524,138.53569,130.23845,133.94788], "fy":[-4.46638,-7.41986,-47.83949,-36.31327]},
- {"t":0.16333, "x":4.54744, "y":7.62676, "heading":-1.49242, "vx":1.55386, "vy":-0.30523, "omega":0.95317, "ax":9.59794, "ay":-1.43293, "alpha":5.45617, "fx":[138.74009,138.60924,131.79661,135.0483], "fy":[-1.25067,-4.89708,-43.24853,-31.8492]},
- {"t":0.21777, "x":4.64626, "y":7.60802, "heading":-1.43244, "vx":2.0764, "vy":-0.38324, "omega":1.25022, "ax":9.66195, "ay":-1.05334, "alpha":4.79811, "fx":[138.67331,138.62562,134.08215,136.44204], "fy":[2.4587,-1.90831,-35.32327,-24.95052]},
- {"t":0.27222, "x":4.77362, "y":7.58559, "heading":-1.35726, "vx":2.60243, "vy":-0.44059, "omega":1.51145, "ax":9.74416, "ay":-0.66362, "alpha":1.89176, "fx":[138.58005,138.47701,137.48095,137.94646], "fy":[-1.91493,-4.89923,-17.36318,-13.44922]},
- {"t":0.32666, "x":4.92975, "y":7.56062, "heading":-1.27217, "vx":3.13294, "vy":-0.47672, "omega":1.61444, "ax":9.57131, "ay":-0.39285, "alpha":-8.12014, "fx":[131.68292,137.21475,136.39732,137.38918], "fy":[-42.36284,-18.70673,23.7177,15.07758]},
- {"t":0.3811, "x":5.1145, "y":7.53408, "heading":-1.19631, "vx":3.65403, "vy":-0.49811, "omega":1.17235, "ax":9.26692, "ay":-0.25978, "alpha":-12.76773, "fx":[122.53051,136.6199,132.18695,134.08829], "fy":[-62.9145,-20.37529,39.67967,28.88089]},
- {"t":0.43555, "x":5.32717, "y":7.50658, "heading":-1.1514, "vx":4.15855, "vy":-0.51225, "omega":0.47723, "ax":6.66408, "ay":2.72427, "alpha":-8.73854, "fx":[98.28995,107.84362,93.05919,78.65407], "fy":[11.88119,24.27284,59.25367,59.05584]},
- {"t":0.48999, "x":5.56346, "y":7.48273, "heading":-1.13837, "vx":4.52137, "vy":-0.36393, "omega":0.00148, "ax":0.03162, "ay":0.38679, "alpha":-0.00125, "fx":[0.44724,0.45102,0.44927,0.4455], "fy":[5.47983,5.48157,5.48534,5.4836]},
- {"t":0.54443, "x":5.80966, "y":7.46349, "heading":-1.13829, "vx":4.52309, "vy":-0.34287, "omega":0.00141, "ax":-0.30361, "ay":-3.18756, "alpha":0.00013, "fx":[-4.30346,-4.3039,-4.30368,-4.30324], "fy":[-45.18262,-45.18278,-45.18314,-45.18298]},
- {"t":0.59888, "x":6.05546, "y":7.4401, "heading":-1.13822, "vx":4.50656, "vy":-0.51642, "omega":0.00142, "ax":-1.42597, "ay":-8.50782, "alpha":0.001, "fx":[-20.212,-20.21687,-20.2137,-20.20883], "fy":[-120.59593,-120.59554,-120.59669,-120.59708]},
- {"t":0.65332, "x":6.2987, "y":7.39937, "heading":-1.13814, "vx":4.42893, "vy":-0.97961, "omega":0.00147, "ax":-2.57925, "ay":-9.13807, "alpha":0.00287, "fx":[-36.55911,-36.57272,-36.56128,-36.54767], "fy":[-129.52985,-129.5264,-129.53009,-129.53354]},
- {"t":0.70776, "x":6.536, "y":7.3325, "heading":-1.13805, "vx":4.2885, "vy":-1.47712, "omega":0.00163, "ax":-3.70426, "ay":-8.92982, "alpha":0.03417, "fx":[-52.51215,-52.65314,-52.50194,-52.36086], "fy":[-126.57369,-126.51753,-126.58258,-126.63859]},
- {"t":0.76221, "x":6.764, "y":7.23884, "heading":-1.13791, "vx":4.08683, "vy":-1.96329, "omega":0.00349, "ax":-6.41126, "ay":-7.28892, "alpha":2.80284, "fx":[-94.82707,-99.58932,-87.84128,-81.25466], "fy":[-100.00414,-95.45399,-106.42287,-111.39378]},
- {"t":0.81665, "x":6.97699, "y":7.12115, "heading":-1.13357, "vx":3.73778, "vy":-2.36012, "omega":0.15609, "ax":-8.82853, "ay":-4.15748, "alpha":0.99594, "fx":[-126.56074,-126.52894,-123.79081,-123.68897], "fy":[-55.88487,-56.02127,-61.83698,-61.98227]},
- {"t":0.87109, "x":7.16741, "y":6.9865, "heading":-1.12359, "vx":3.25713, "vy":-2.58647, "omega":0.21031, "ax":-9.30993, "ay":-2.34292, "alpha":-7.98837, "fx":[-125.80281,-126.04857,-138.51964,-137.49312], "fy":[-58.20384,-57.33792,0.41557,-17.71536]},
- {"t":0.92554, "x":7.33094, "y":6.84221, "heading":-1.12398, "vx":2.75026, "vy":-2.71402, "omega":-0.2246, "ax":-9.24245, "ay":-1.52349, "alpha":-12.35983, "fx":[-125.41529,-125.52717,-134.3895,-138.70612], "fy":[-59.25922,-58.63036,34.02463,-2.51552]},
- {"t":0.97998, "x":7.46697, "y":6.69219, "heading":-1.15453, "vx":2.24707, "vy":-2.79697, "omega":-0.89752, "ax":-9.11247, "ay":-1.1067, "alpha":-15.00976, "fx":[-125.58396,-123.92891,-128.51602,-138.63947], "fy":[-59.02017,-62.05712,52.1494,6.17882]},
- {"t":1.03442, "x":7.57581, "y":6.53828, "heading":-1.22564, "vx":1.75096, "vy":-2.85722, "omega":-1.7147, "ax":-9.56052, "ay":-0.35558, "alpha":-8.8513, "fx":[-134.05895,-135.46823,-134.16182,-138.38352], "fy":[-35.61997,-29.29982,35.00307,9.7555]},
- {"t":1.07753, "x":7.6424, "y":6.41479, "heading":-1.30777, "vx":1.33886, "vy":-2.87255, "omega":-2.09622, "ax":-9.68094, "ay":0.1557, "alpha":-5.93522, "fx":[-137.30197,-137.89806,-135.69244,-138.00736], "fy":[-19.34183,-13.66028,28.267,13.5631]},
- {"t":1.12063, "x":7.69112, "y":6.29111, "heading":-1.40364, "vx":0.92157, "vy":-2.86584, "omega":-2.35206, "ax":-9.6916, "ay":0.58599, "alpha":-4.85567, "fx":[-138.291,-138.39896,-135.49001,-137.32435], "fy":[-9.05401,-5.33353,28.84925,18.76316]},
- {"t":1.16374, "x":7.72184, "y":6.16813, "heading":-1.50954, "vx":0.50383, "vy":-2.84058, "omega":-2.56135, "ax":-9.67252, "ay":1.04466, "alpha":-3.68386, "fx":[-138.45897,-138.33164,-135.20071,-136.43124], "fy":[1.92937,3.93874,29.61221,23.75069]},
- {"t":1.20684, "x":7.73457, "y":6.04666, "heading":-1.62336, "vx":0.0869, "vy":-2.79555, "omega":-2.72014, "ax":-9.61963, "ay":1.49921, "alpha":-2.38316, "fx":[-137.63123,-137.48307,-134.86025,-135.44937], "fy":[13.18138,13.88646,30.16167,27.77442]},
- {"t":1.24994, "x":7.72938, "y":5.92755, "heading":-1.74283, "vx":-0.32774, "vy":-2.73093, "omega":-2.82287, "ax":-9.54315, "ay":1.82541, "alpha":-0.8046, "fx":[-135.78994,-135.74806,-134.7332,-134.81628], "fy":[23.28352,23.26421,28.56473,28.38653]},
- {"t":1.29305, "x":7.70638, "y":5.81154, "heading":-1.86525, "vx":-0.73909, "vy":-2.65224, "omega":-2.85755, "ax":-9.50151, "ay":1.19294, "alpha":2.26583, "fx":[-133.75002,-133.76171,-135.64409,-135.57073], "fy":[23.22008,24.96511,11.33891,8.11443]},
- {"t":1.33615, "x":7.6657, "y":5.69832, "heading":-1.98632, "vx":-1.14864, "vy":-2.60082, "omega":-2.75988, "ax":-9.13213, "ay":-0.75175, "alpha":6.98869, "fx":[-129.83815,-131.32976,-131.86169,-124.75363], "fy":[0.51536,16.83365,-18.26723,-41.70509]},
- {"t":1.37926, "x":7.60771, "y":5.58552, "heading":-2.09879, "vx":-1.54228, "vy":-2.63323, "omega":-2.45864, "ax":-8.74632, "ay":-0.25527, "alpha":7.40997, "fx":[-122.23226,-124.63945,-128.27267,-120.7638], "fy":[5.62135,25.25423,-9.74959,-35.59976]},
- {"t":1.42236, "x":7.5331, "y":5.47178, "heading":-2.19788, "vx":-1.91928, "vy":-2.64423, "omega":-2.13924, "ax":-6.2456, "ay":3.28214, "alpha":2.02145, "fx":[-84.82726,-87.13325,-92.08618,-90.0726], "fy":[49.64812,52.1135,43.7057,40.62715]},
- {"t":1.46546, "x":7.44457, "y":5.36085, "heading":-2.28821, "vx":-2.18849, "vy":-2.50276, "omega":-2.05211, "ax":-1.55787, "ay":8.59081, "alpha":-7.67078, "fx":[-52.85099,-26.44442,10.91136,-19.94553], "fy":[115.29834,118.95069,125.71358,127.12794]},
- {"t":1.50857, "x":7.34879, "y":5.26095, "heading":-2.38379, "vx":-2.25564, "vy":-2.13246, "omega":-2.38275, "ax":-0.56136, "ay":9.2288, "alpha":-7.98251, "fx":[-42.6526,-12.33736,28.69712,-5.53586], "fy":[126.95295,131.0845,130.58404,134.64288]},
- {"t":1.55167, "x":7.25104, "y":5.17761, "heading":-2.49391, "vx":-2.27984, "vy":-1.73466, "omega":-2.72683, "ax":2.35019, "ay":8.98206, "alpha":-8.88638, "fx":[-7.48379,40.2167,69.9721,30.54856], "fy":[134.63957,126.78342,115.57303,132.27839]},
- {"t":1.59478, "x":7.15496, "y":5.11118, "heading":-2.61971, "vx":-2.17853, "vy":-1.3475, "omega":-3.10987, "ax":4.56585, "ay":8.12232, "alpha":-9.06929, "fx":[26.01512,77.61695,95.82549,59.42197], "fy":[132.74575,109.10122,96.13881,122.54228]},
- {"t":1.63788, "x":7.06529, "y":5.06064, "heading":-2.76218, "vx":-1.98173, "vy":-0.99739, "omega":-3.50079, "ax":5.07317, "ay":7.86311, "alpha":-8.8489, "fx":[35.10749,80.74735,102.48257,69.30666], "fy":[131.17337,107.53369,89.50326,117.6206]},
- {"t":1.68098, "x":6.98459, "y":5.02496, "heading":-2.9213, "vx":-1.76305, "vy":-0.65846, "omega":-3.88221, "ax":4.02334, "ay":8.52896, "alpha":-7.83653, "fx":[25.17923,52.07561,89.18914,61.67555], "fy":[133.97538,124.70233,102.87639,122.03009]},
- {"t":1.72409, "x":6.91233, "y":5.0045, "heading":-3.09592, "vx":-1.58963, "vy":-0.29083, "omega":-4.22, "ax":1.33921, "ay":9.50833, "alpha":-3.91086, "fx":[5.42662,7.81418,34.60299,28.08796], "fy":[136.76532,136.23253,132.09723,134.01812]},
- {"t":1.76719, "x":6.84505, "y":5.00079, "heading":3.00174, "vx":-1.5319, "vy":0.11902, "omega":-4.38857, "ax":-1.4472, "ay":9.5714, "alpha":2.5998, "fx":[-14.39176,-10.47035,-25.81476,-31.37825], "fy":[136.60903,137.14384,135.14169,133.79496]},
- {"t":1.8103, "x":6.77768, "y":5.01482, "heading":2.81499, "vx":-1.59428, "vy":0.53159, "omega":-4.27651, "ax":-2.43169, "ay":9.27717, "alpha":7.2936, "fx":[-26.11863,-3.75881,-40.52773,-67.46946], "fy":[135.30712,138.08447,132.16605,120.44932]},
- {"t":1.8534, "x":6.7067, "y":5.04635, "heading":2.63743, "vx":-1.6991, "vy":0.93147, "omega":-3.96213, "ax":-2.30096, "ay":9.19323, "alpha":9.38177, "fx":[-31.06929,9.98544,-34.80471,-74.57351], "fy":[133.86121,137.61438,133.70829,116.06326]},
- {"t":1.88485, "x":6.65212, "y":5.08019, "heading":2.51744, "vx":-1.77148, "vy":1.22064, "omega":-3.66703, "ax":-2.32838, "ay":9.08073, "alpha":10.75056, "fx":[-40.87491,17.88282,-30.69039,-78.33438], "fy":[130.56311,136.49771,134.51753,113.29024]},
- {"t":1.91631, "x":6.59524, "y":5.12308, "heading":2.40741, "vx":-1.84471, "vy":1.50627, "omega":-3.32888, "ax":-2.45106, "ay":8.94862, "alpha":11.79932, "fx":[-53.58098,21.52037,-27.26114,-79.65079], "fy":[125.01105,135.464,134.94219,111.96086]},
- {"t":1.94776, "x":6.53601, "y":5.17489, "heading":2.30854, "vx":-1.92181, "vy":1.78774, "omega":-2.95773, "ax":-2.50593, "ay":8.84881, "alpha":12.36934, "fx":[-62.32843,22.09362,-23.82452,-78.02453], "fy":[119.67348,134.53982,135.07095,112.43461]},
- {"t":1.97922, "x":6.47432, "y":5.2355, "heading":2.22163, "vx":-2.00063, "vy":2.06608, "omega":-2.56866, "ax":-2.19535, "ay":8.84919, "alpha":12.31477, "fx":[-60.33144,25.04261,-17.43728,-71.74837], "fy":[118.67028,132.60418,135.11638,115.34965]},
- {"t":2.01067, "x":6.4103, "y":5.30486, "heading":2.14692, "vx":-2.06969, "vy":2.34443, "omega":-2.18131, "ax":-0.64448, "ay":9.00125, "alpha":10.96842, "fx":[-28.94223,41.23245,1.14025,-49.97203], "fy":[126.19498,125.95103,134.35114,123.86522]},
- {"t":2.04213, "x":6.34488, "y":5.38306, "heading":2.08374, "vx":-2.08996, "vy":2.62755, "omega":-1.8363, "ax":4.57385, "ay":7.79999, "alpha":4.69691, "fx":[69.60419,81.1892,61.90432,46.63535], "fy":[106.62982,100.90942,114.68599,120.02676]},
- {"t":2.07358, "x":6.28141, "y":5.46957, "heading":2.0283, "vx":-1.94609, "vy":2.8729, "omega":-1.68856, "ax":8.78837, "ay":2.75083, "alpha":-4.19376, "fx":[121.03281,120.1999,128.49817,128.56143], "fy":[52.26586,50.32766,23.41412,29.96158]},
- {"t":2.10504, "x":6.22454, "y":5.56129, "heading":1.97311, "vx":-1.66966, "vy":2.95943, "omega":-1.82048, "ax":9.33371, "ay":0.49911, "alpha":-6.30836, "fx":[131.07043,131.21618,132.11701,134.80899], "fy":[30.26475,21.54966,-20.56519,-2.9503]},
- {"t":2.13649, "x":6.17664, "y":5.65463, "heading":1.91273, "vx":-1.37607, "vy":2.97512, "omega":-2.0189, "ax":9.46472, "ay":0.00581, "alpha":-5.96183, "fx":[134.02585,134.12567,132.76773,135.72118], "fy":[22.28404,14.04478,-26.16631,-9.83289]},
- {"t":2.16795, "x":6.13804, "y":5.74821, "heading":1.84628, "vx":-1.07836, "vy":2.97531, "omega":-2.20643, "ax":9.56326, "ay":0.15744, "alpha":-4.70199, "fx":[135.27455,135.28963,135.11069,136.55266], "fy":[19.30045,14.60147,-17.71176,-7.26332]},
- {"t":2.1994, "x":6.10885, "y":5.84187, "heading":1.77455, "vx":-0.77755, "vy":2.98026, "omega":-2.35433, "ax":9.62581, "ay":0.58516, "alpha":-2.93363, "fx":[135.89524,135.81708,136.88973,137.17243], "fy":[18.47072,17.02856,-3.14725,0.82584]},
- {"t":2.23085, "x":6.08915, "y":5.93591, "heading":1.69905, "vx":-0.47478, "vy":2.99867, "omega":-2.4466, "ax":9.61792, "ay":0.87577, "alpha":-0.89897, "fx":[136.10055,136.02686,136.56974,136.62992], "fy":[15.39221,15.28929,9.31138,9.66231]},
- {"t":2.27159, "x":6.07779, "y":6.0588, "heading":1.59863, "vx":-0.08295, "vy":3.03434, "omega":-2.48323, "ax":9.22522, "ay":1.84471, "alpha":3.8665, "fx":[132.52287,133.64397,129.72904,127.16523], "fy":[15.16016,13.31658,35.20601,40.91049]},
- {"t":2.31233, "x":6.08207, "y":6.18395, "heading":1.50067, "vx":0.29288, "vy":3.1095, "omega":-2.32571, "ax":8.77042, "ay":1.67492, "alpha":4.8868, "fx":[125.22822,128.20464,124.52751,119.31434], "fy":[11.67972,7.50174,33.25799,42.52683]},
- {"t":2.35307, "x":6.10128, "y":6.31202, "heading":1.40998, "vx":0.65019, "vy":3.17773, "omega":-2.12662, "ax":2.49882, "ay":-7.63101, "alpha":-11.29854, "fx":[77.42296,15.2057,0.21421,48.83758], "fy":[-89.09989,-108.02157,-121.61268,-113.93661]},
- {"t":2.39381, "x":6.12984, "y":6.43514, "heading":1.31396, "vx":0.75199, "vy":2.86685, "omega":-2.58692, "ax":-8.01224, "ay":-4.99016, "alpha":-3.47143, "fx":[-113.19265,-121.55376,-114.60192,-104.93831], "fy":[-71.09739,-57.09211,-70.89774,-83.85008]},
- {"t":2.43455, "x":6.15383, "y":6.5478, "heading":1.20569, "vx":0.42557, "vy":2.66355, "omega":-2.72834, "ax":-9.22372, "ay":-2.92033, "alpha":-0.67819, "fx":[-130.83244,-131.67306,-130.69274,-129.778], "fy":[-41.04019,-38.42045,-41.74474,-44.37468]},
- {"t":2.47529, "x":6.16351, "y":6.65389, "heading":1.09398, "vx":0.0498, "vy":2.54458, "omega":-2.75597, "ax":-9.4264, "ay":-2.392, "alpha":-0.53346, "fx":[-133.64666,-134.21732,-133.60972,-132.99428], "fy":[-33.75679,-31.50089,-34.05551,-36.31104]},
- {"t":2.51603, "x":6.15772, "y":6.75557, "heading":0.98126, "vx":-0.33423, "vy":2.44713, "omega":-2.77771, "ax":-9.50831, "ay":-2.13882, "alpha":-0.85927, "fx":[-134.76203,-135.63059,-134.84857,-133.8708], "fy":[-30.42135,-26.39364,-30.23158,-34.22264]},
- {"t":2.55677, "x":6.13621, "y":6.85349, "heading":0.86738, "vx":-0.72159, "vy":2.35999, "omega":-2.81271, "ax":-9.55455, "ay":-1.96634, "alpha":-1.40443, "fx":[-135.31275,-136.67706,-135.68575,-134.05851], "fy":[-28.69752,-21.4344,-27.15053,-34.20738]},
- {"t":2.59751, "x":6.09889, "y":6.948, "heading":0.75162, "vx":-1.11084, "vy":2.27988, "omega":-2.86993, "ax":-9.58493, "ay":-1.81536, "alpha":-2.14358, "fx":[-135.5493,-137.53568,-136.44055,-133.93105], "fy":[-28.08251,-15.93619,-23.74747,-35.16297]},
- {"t":2.63825, "x":6.04568, "y":7.03938, "heading":0.63293, "vx":-1.50133, "vy":2.20593, "omega":-2.95726, "ax":-9.15719, "ay":-2.58615, "alpha":9.65635, "fx":[-136.61506,-119.99903,-124.26946,-138.32035], "fy":[-23.51657,-69.34042,-60.90967,7.13458]},
- {"t":2.67899, "x":5.97691, "y":7.1271, "heading":0.52046, "vx":-1.87439, "vy":2.10057, "omega":-2.56386, "ax":-9.06459, "ay":-2.89102, "alpha":9.86048, "fx":[-136.64076,-119.63342,-119.10228,-138.57715], "fy":[-23.7252,-70.12415,-70.74135,0.6727]},
- {"t":2.71973, "x":5.89303, "y":7.21028, "heading":0.42419, "vx":-2.24368, "vy":1.98279, "omega":-2.16215, "ax":-9.05838, "ay":-3.10146, "alpha":8.78303, "fx":[-136.42386,-120.99081,-117.8738,-138.31333], "fy":[-25.22424,-67.87994,-72.98961,-9.75581]},
- {"t":2.77434, "x":5.75701, "y":7.31392, "heading":0.31922, "vx":-2.73832, "vy":1.81343, "omega":-1.68254, "ax":-8.94021, "ay":-3.49168, "alpha":8.16916, "fx":[-135.69553,-120.43706,-113.91104,-136.8577], "fy":[-28.5932,-68.75073,-78.9199,-21.71116]},
- {"t":2.82894, "x":5.59415, "y":7.40774, "heading":0.23952, "vx":-3.22651, "vy":1.62276, "omega":-1.23646, "ax":-8.59867, "ay":-4.26208, "alpha":7.96394, "fx":[-133.52721,-116.31554,-104.86709,-132.82647], "fy":[-37.02004,-75.33938,-90.40705,-38.88938]},
- {"t":2.88355, "x":5.40514, "y":7.49, "heading":0.18388, "vx":-3.69605, "vy":1.39003, "omega":-0.80158, "ax":-7.49513, "ay":-6.02274, "alpha":6.98158, "fx":[-123.41671,-102.79343,-84.03522,-114.72129], "fy":[-62.38852,-92.61055,-109.71899,-76.76579]},
- {"t":2.93815, "x":5.19214, "y":7.55692, "heading":0.15052, "vx":-4.10533, "vy":1.06115, "omega":-0.42034, "ax":-1.32339, "ay":-9.61296, "alpha":-1.02926, "fx":[-14.66394,-16.42124,-22.98468,-20.96532], "fy":[-136.82714,-136.56348,-135.63321,-136.02156]},
- {"t":2.99276, "x":4.96599, "y":7.60054, "heading":0.12603, "vx":-4.17759, "vy":0.53623, "omega":-0.47654, "ax":8.37744, "ay":-4.95932, "alpha":-1.34271, "fx":[118.45848,121.84475,119.19003,115.49963], "fy":[-70.99447,-64.94599,-69.6085,-75.63951]},
- {"t":3.04737, "x":4.75036, "y":7.62243, "heading":0.09801, "vx":-3.72013, "vy":0.26542, "omega":-0.54986, "ax":9.53894, "ay":-2.08066, "alpha":1.3835, "fx":[135.88911,133.90184,134.67292,136.38502], "fy":[-26.49581,-35.22678,-32.26984,-23.97881]},
- {"t":3.10197, "x":4.56144, "y":7.63382, "heading":0.07004, "vx":-3.19925, "vy":0.1518, "omega":-0.47432, "ax":9.70773, "ay":-1.10095, "alpha":1.8192, "fx":[138.19898,136.71931,137.1571,138.34342], "fy":[-10.56864,-22.80239,-20.17033,-8.88123]},
- {"t":3.15658, "x":4.40122, "y":7.64046, "heading":0.04686, "vx":-2.66915, "vy":0.09168, "omega":-0.37498, "ax":9.75382, "ay":-0.66602, "alpha":1.69181, "fx":[138.61633,137.77746,137.98061,138.6577], "fy":[-4.31035,-15.84525,-14.13696,-3.47035]},
- {"t":3.21118, "x":4.27001, "y":7.64448, "heading":0.0289, "vx":-2.13653, "vy":0.05531, "omega":-0.28259, "ax":9.77201, "ay":-0.42741, "alpha":1.50692, "fx":[138.72565,138.24935,138.34732,138.7411], "fy":[-1.26875,-11.56777,-10.49541,-0.90186]},
- {"t":3.26579, "x":4.16791, "y":7.64686, "heading":0.01572, "vx":-1.60292, "vy":0.03198, "omega":-0.20031, "ax":9.78072, "ay":-0.28068, "alpha":1.34351, "fx":[138.76245,138.48658,138.53697,138.77138], "fy":[0.41193,-8.76256,-8.08591,0.52198]},
- {"t":3.3204, "x":4.09496, "y":7.64819, "heading":0.00678, "vx":-1.06884, "vy":0.01665, "omega":-0.12694, "ax":9.78542, "ay":-0.18473, "alpha":1.21262, "fx":[138.77816,138.61616,138.64423,138.78559], "fy":[1.41202,-6.8546,-6.41732,1.3856]},
- {"t":3.375, "x":4.05118, "y":7.64882, "heading":0.00166, "vx":-0.53449, "vy":0.00656, "omega":-0.06073, "ax":9.78819, "ay":-0.12014, "alpha":1.1121, "fx":[138.78699,138.69139,138.70868,138.79406], "fy":[2.03004,-5.53835,-5.24057,1.93701]},
- {"t":3.42961, "x":4.03659, "y":7.649, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.27754, "ay":-2.63455, "alpha":-7.29221, "fx":[129.21267,138.22803,137.58552,121.0015], "fy":[-50.72763,-12.66093,-18.02862,-67.95953]},
- {"t":3.47909, "x":4.04795, "y":7.64578, "heading":-0.00893, "vx":0.45911, "vy":-0.13038, "omega":-0.36087, "ax":9.32371, "ay":-2.44309, "alpha":-7.4086, "fx":[129.90093,138.41891,138.03369,122.29212], "fy":[-48.88965,-10.13068,-13.94307,-65.55737]},
- {"t":3.52858, "x":4.08209, "y":7.63633, "heading":-0.03586, "vx":0.92051, "vy":-0.25128, "omega":-0.72749, "ax":9.38139, "ay":-2.17809, "alpha":-7.55521, "fx":[130.69461,138.58623,138.47416,124.16065], "fy":[-46.6537,-7.04249,-7.93325,-61.86596]},
- {"t":3.57807, "x":4.13913, "y":7.62123, "heading":-0.08111, "vx":1.38477, "vy":-0.35906, "omega":-1.10137, "ax":9.4558, "ay":-1.78183, "alpha":-7.70382, "fx":[131.79946,138.70068,138.64843,126.98652], "fy":[-43.3136,-2.82215,0.8047,-55.69711]},
- {"t":3.62755, "x":4.21923, "y":7.60128, "heading":-0.14505, "vx":1.8527, "vy":-0.44724, "omega":-1.48261, "ax":9.54969, "ay":-1.11888, "alpha":-7.75708, "fx":[133.61485,138.61559,137.87468,131.35317], "fy":[-37.09589,3.90266,13.87883,-44.12521]},
- {"t":3.67704, "x":4.32261, "y":7.57778, "heading":-0.22791, "vx":2.32528, "vy":-0.50261, "omega":-1.86648, "ax":9.61798, "ay":0.21075, "alpha":-7.34505, "fx":[136.75286,137.48223,133.92232,137.17286], "fy":[-22.12892,17.20238,35.03774,-18.16161]},
- {"t":3.72653, "x":4.44946, "y":7.55316, "heading":-0.32927, "vx":2.80124, "vy":-0.49218, "omega":-2.22996, "ax":9.48769, "ay":1.00986, "alpha":8.42555, "fx":[127.34713,137.72205,136.97538,135.89835], "fy":[53.18535,-3.23925,-18.03006,25.34232]},
- {"t":3.77601, "x":4.5997, "y":7.53004, "heading":-0.42931, "vx":3.27076, "vy":-0.4422, "omega":-1.81301, "ax":8.44647, "ay":-3.65089, "alpha":13.11081, "fx":[136.24934,96.95218,110.96605,134.73907], "fy":[-3.62159,-95.72003,-80.94357,-26.71656]},
- {"t":3.8255, "x":4.7719, "y":7.50369, "heading":-0.50298, "vx":3.68874, "vy":-0.62287, "omega":-1.1642, "ax":2.49076, "ay":-9.10098, "alpha":5.93611, "fx":[34.92522,8.94164,36.18785,61.16919], "fy":[-129.58927,-134.95014,-130.87892,-120.5983]},
- {"t":3.87499, "x":4.95749, "y":7.46172, "heading":-0.55332, "vx":3.812, "vy":-1.07325, "omega":-0.87044, "ax":-0.91398, "ay":-9.01253, "alpha":2.50481, "fx":[-16.72406,-22.95569,-9.741,-2.40132], "fy":[-126.70339,-126.88976,-129.02377,-128.3847]},
- {"t":3.92447, "x":5.14502, "y":7.39758, "heading":-0.59333, "vx":3.76677, "vy":-1.51925, "omega":-0.74649, "ax":-7.71036, "ay":-3.96814, "alpha":-8.63702, "fx":[-94.80994,-100.88555,-123.47238,-118.00219], "fy":[-84.79027,-67.17409,-21.75472,-51.27057]},
- {"t":3.97396, "x":5.32198, "y":7.31753, "heading":-0.64085, "vx":3.38521, "vy":-1.71562, "omega":-1.17391, "ax":-8.82163, "ay":-0.89781, "alpha":-10.87613, "fx":[-116.3312,-125.1628,-126.72932,-131.95441], "fy":[-60.17705,-9.51013,33.91767,-15.13544]},
- {"t":4.02345, "x":5.4787, "y":7.23154, "heading":-0.71226, "vx":2.94866, "vy":-1.76005, "omega":-1.71213, "ax":-9.0646, "ay":-0.33967, "alpha":-10.38745, "fx":[-122.94104,-129.62226,-126.9786,-134.41213], "fy":[-51.49358,-2.29206,40.9336,-6.40718]},
- {"t":4.07293, "x":5.61352, "y":7.14402, "heading":-0.8097, "vx":2.50009, "vy":-1.77686, "omega":-2.22617, "ax":-9.15824, "ay":-1.43328, "alpha":-8.68149, "fx":[-122.65251,-129.13288,-132.89148,-134.58669], "fy":[-55.94687,-30.14211,20.04099,-15.2175]},
- {"t":4.12242, "x":5.72603, "y":7.05433, "heading":-0.9305, "vx":2.04688, "vy":-1.84779, "omega":-2.65579, "ax":-8.5932, "ay":-4.08807, "alpha":-4.59749, "fx":[-115.14368,-115.93102,-129.19753,-126.954], "fy":[-72.35276,-69.71305,-40.71155,-49.01219]},
- {"t":4.17191, "x":5.8168, "y":6.95789, "heading":-1.06755, "vx":1.62163, "vy":-2.05009, "omega":-2.8833, "ax":-7.06698, "ay":-6.58514, "alpha":1.46394, "fx":[-102.60947,-104.04827,-97.9896,-96.04351], "fy":[-90.66,-89.20733,-95.8647,-97.63905]},
- {"t":4.22139, "x":5.88839, "y":6.84837, "heading":-1.20845, "vx":1.27191, "vy":-2.37597, "omega":-2.81085, "ax":-5.8591, "ay":-7.62982, "alpha":6.06794, "fx":[-90.06775,-103.10642,-79.61612,-59.41533], "fy":[-103.97257,-91.56711,-112.73113,-124.33261]},
- {"t":4.27088, "x":5.94416, "y":6.72145, "heading":-1.34011, "vx":0.98196, "vy":-2.75354, "omega":-2.51057, "ax":-5.32931, "ay":-7.90801, "alpha":8.71234, "fx":[-78.96483,-107.24934,-76.27557,-39.67732], "fy":[-113.12585,-87.29866,-115.49259,-132.45934]},
- {"t":4.32037, "x":5.98623, "y":6.57551, "heading":-1.45369, "vx":0.71823, "vy":-3.14488, "omega":-2.07943, "ax":-5.25603, "ay":-7.86488, "alpha":10.04854, "fx":[-71.72767,-111.91155,-79.41544,-34.9572], "fy":[-117.67956,-81.14032,-113.33912,-133.77215]},
- {"t":4.36355, "x":6.01235, "y":6.43235, "heading":-1.53412, "vx":0.49124, "vy":-3.48454, "omega":-1.64546, "ax":-5.28074, "ay":-7.76203, "alpha":10.89058, "fx":[-66.92258,-115.11962,-82.79256,-34.57826], "fy":[-119.87821,-75.96647,-110.63817,-133.61683]},
- {"t":4.40674, "x":6.02864, "y":6.27463, "heading":-1.59503, "vx":0.26318, "vy":-3.81976, "omega":-1.17512, "ax":-5.43969, "ay":-7.54548, "alpha":11.58402, "fx":[-66.27893,-118.55589,-86.89722,-36.69336], "fy":[-119.05627,-69.31681,-106.91496,-132.53329]},
- {"t":4.44993, "x":6.03493, "y":6.10262, "heading":-1.63497, "vx":0.02825, "vy":-4.14563, "omega":-0.67484, "ax":-6.20443, "ay":-6.76699, "alpha":11.68034, "fx":[-83.02135,-124.48952,-95.78431,-48.48993], "fy":[-104.5764,-54.45171,-97.49337,-127.16043]},
- {"t":4.49312, "x":6.03037, "y":5.91727, "heading":-1.65323, "vx":-0.2397, "vy":-4.43788, "omega":-0.1704, "ax":-9.06647, "ay":-1.10786, "alpha":3.64551, "fx":[-128.90123,-130.53302,-128.63712,-125.98898], "fy":[-6.02843,-3.38119,-23.75981,-29.64492]},
- {"t":4.5363, "x":6.01156, "y":5.72458, "heading":-1.65719, "vx":-0.63126, "vy":-4.48573, "omega":-0.01296, "ax":-7.10043, "ay":5.36665, "alpha":-6.75621, "fx":[-116.63868,-104.44828,-81.26733,-100.23313], "fy":[54.42793,68.66943,98.51693,82.66992]},
- {"t":4.57949, "x":5.97767, "y":5.53586, "heading":-1.66405, "vx":-0.93791, "vy":-4.25395, "omega":-0.30474, "ax":-0.81279, "ay":9.56438, "alpha":2.51187, "fx":[-2.54132,-17.67797,-21.37908,-4.48578], "fy":[136.41161,135.33136,134.49921,136.0488]},
- {"t":4.62268, "x":5.93641, "y":5.36106, "heading":-1.67486, "vx":-0.97301, "vy":-3.84089, "omega":-0.19626, "ax":1.68658, "ay":7.03675, "alpha":32.50793, "fx":[75.69597,-19.91066,-91.01339,130.85551], "fy":[115.86345,136.91255,102.7209,43.47995]},
- {"t":4.66587, "x":5.89596, "y":5.20175, "heading":-1.65302, "vx":-0.90017, "vy":-3.537, "omega":1.20767, "ax":4.96797, "ay":7.55333, "alpha":15.93249, "fx":[89.28758,23.25209,41.89684,127.24249], "fy":[105.97536,136.53435,131.32034,54.43637]},
- {"t":4.70905, "x":5.86172, "y":5.05604, "heading":-1.58601, "vx":-0.68562, "vy":-3.21079, "omega":1.89575, "ax":6.67623, "ay":6.67372, "alpha":10.75513, "fx":[98.50689,56.03729,96.96121,127.03053], "fy":[97.58396,126.75082,98.66658,55.39217]},
- {"t":4.75224, "x":5.83833, "y":4.9236, "heading":-1.49411, "vx":-0.39729, "vy":-2.92257, "omega":2.36024, "ax":7.36507, "ay":6.07301, "alpha":9.0918, "fx":[103.12402,73.59449,113.29346,127.58056], "fy":[92.77021,117.50298,79.71765,54.34319]},
- {"t":4.79543, "x":5.82804, "y":4.80304, "heading":-1.3837, "vx":-0.07921, "vy":-2.66029, "omega":2.75289, "ax":7.74289, "ay":5.69914, "alpha":7.81466, "fx":[105.60685,85.91653,120.29156,127.19963], "fy":[89.98528,108.8736,68.91693,55.35976]},
- {"t":4.83861, "x":5.83184, "y":4.69347, "heading":-1.25752, "vx":0.25518, "vy":-2.41416, "omega":3.09038, "ax":7.78917, "ay":5.74664, "alpha":6.17846, "fx":[104.88193,92.91062,120.07724,123.76871], "fy":[90.82677,102.97614,69.35531,62.67064]},
- {"t":4.88305, "x":5.85087, "y":4.59187, "heading":-1.1141, "vx":0.60129, "vy":-2.15881, "omega":3.36491, "ax":7.59969, "ay":6.0624, "alpha":4.69349, "fx":[101.68542,94.92739,116.21745,118.06503], "fy":[94.32469,101.05613,75.58185,72.7694]},
- {"t":4.92748, "x":5.88509, "y":4.50193, "heading":-0.95995, "vx":0.93898, "vy":-1.88944, "omega":3.57347, "ax":7.38495, "ay":6.37212, "alpha":2.95266, "fx":[99.5178,97.17995,110.81182,111.21022], "fy":[96.50933,98.80455,83.21985,82.75962]},
- {"t":4.97192, "x":5.93411, "y":4.42426, "heading":-0.79825, "vx":1.26712, "vy":-1.6063, "omega":3.70467, "ax":7.15726, "ay":6.64932, "alpha":0.8769, "fx":[99.47776,99.47761,103.50729,103.34691], "fy":[96.38995,96.36578,92.02456,92.22998]},
- {"t":5.01635, "x":5.99748, "y":4.35945, "heading":-0.63277, "vx":1.58515, "vy":-1.31084, "omega":3.74363, "ax":6.96466, "ay":6.8277, "alpha":-1.53623, "fx":[102.88484,101.57418,94.76354,95.66682], "fy":[92.45804,93.9556,100.81251,99.89773]},
- {"t":5.06079, "x":6.07479, "y":4.30795, "heading":-0.46794, "vx":1.89462, "vy":-1.00745, "omega":3.67537, "ax":6.92557, "ay":6.76975, "alpha":-4.34393, "fx":[111.09863,104.11287,86.22556,91.23637], "fy":[81.81451,90.77436,107.85381,103.39571]},
- {"t":5.10522, "x":6.16581, "y":4.26986, "heading":-0.30892, "vx":2.20235, "vy":-0.70665, "omega":3.48235, "ax":6.80359, "ay":6.7346, "alpha":-6.73134, "fx":[117.19283,103.23462,76.55039,88.77941], "fy":[71.79266,91.20446,114.3583,104.49013]},
- {"t":5.14965, "x":6.27038, "y":4.24511, "heading":-0.16083, "vx":2.50466, "vy":-0.4074, "omega":3.18325, "ax":6.01673, "ay":7.33664, "alpha":-7.36426, "fx":[110.47613,92.39899,61.1468,77.12108], "fy":[80.30925,101.2844,122.4254,111.96135]},
- {"t":5.19409, "x":6.38762, "y":4.23425, "heading":-0.02665, "vx":2.77201, "vy":-0.0814, "omega":2.85602, "ax":5.02965, "ay":7.79365, "alpha":-7.5638, "fx":[99.14691,78.63221,44.90514,62.49187], "fy":[89.58019,109.47756,126.44899,116.38571]},
- {"t":5.23852, "x":6.51575, "y":4.23833, "heading":0.09278, "vx":2.9955, "vy":0.2649, "omega":2.51993, "ax":-2.49813, "ay":7.80985, "alpha":1.9646, "fx":[-39.61265,-41.64972,-30.84963,-29.52988], "fy":[110.61203,107.89089,110.96713,113.34076]},
- {"t":5.28296, "x":6.64639, "y":4.25781, "heading":0.2067, "vx":2.8845, "vy":0.61193, "omega":2.60723, "ax":-5.49483, "ay":7.79617, "alpha":3.9025, "fx":[-83.18319,-91.68509,-71.76053,-64.92284], "fy":[107.77251,100.00357,114.79581,119.46344]},
- {"t":5.32739, "x":6.76914, "y":4.2927, "heading":0.3264, "vx":2.64034, "vy":0.95835, "omega":2.78063, "ax":-5.85183, "ay":7.72849, "alpha":2.24455, "fx":[-86.55951,-90.51308,-78.97709,-75.74323], "fy":[107.08274,103.59638,112.57614,114.94275]},
- {"t":5.37183, "x":6.88068, "y":4.34291, "heading":0.45217, "vx":2.38032, "vy":1.30175, "omega":2.88037, "ax":-6.27867, "ay":7.45219, "alpha":0.73964, "fx":[-90.3395,-91.28252,-87.613,-86.75942], "fy":[104.53858,103.68183,106.79167,107.52027]},
- {"t":5.41626, "x":6.98025, "y":4.40811, "heading":0.58089, "vx":2.10133, "vy":1.63289, "omega":2.91323, "ax":-6.68041, "ay":7.11798, "alpha":-0.75488, "fx":[-93.17934,-92.61871,-96.15598,-96.81904], "fy":[102.31124,102.844,99.5489,98.87865]},
- {"t":5.46069, "x":7.06703, "y":4.48769, "heading":0.70959, "vx":1.80449, "vy":1.94917, "omega":2.87969, "ax":-7.03412, "ay":6.76496, "alpha":-2.21761, "fx":[-94.86772,-94.43836,-104.07466,-105.44694], "fy":[100.91775,101.3753,91.45999,89.8135]},
- {"t":5.50513, "x":7.14026, "y":4.58098, "heading":0.83536, "vx":1.49193, "vy":2.24977, "omega":2.78115, "ax":-7.33445, "ay":6.41294, "alpha":-3.60837, "fx":[-95.55143,-96.75468,-111.0821,-112.46829], "fy":[100.38098,99.29281,82.95469,80.97906]},
- {"t":5.54956, "x":7.19932, "y":4.68728, "heading":0.95537, "vx":1.16603, "vy":2.53472, "omega":2.62082, "ax":-7.58422, "ay":6.07312, "alpha":-4.90747, "fx":[-95.5001,-99.45214,-117.08192,-117.98392], "fy":[100.50744,96.67622,74.35178,72.80459]},
- {"t":5.594, "x":7.24364, "y":4.8059, "heading":1.06698, "vx":0.82903, "vy":2.80457, "omega":2.40276, "ax":-7.7965, "ay":5.62336, "alpha":-7.94248, "fx":[-90.28618,-100.89848,-124.78779,-126.08152], "fy":[105.26005,95.23391,60.63449,57.71043]},
- {"t":5.63843, "x":7.27278, "y":4.93607, "heading":1.1659, "vx":0.4826, "vy":3.05444, "omega":2.04984, "ax":-7.859, "ay":5.01428, "alpha":-13.17096, "fx":[-76.97386,-101.71435,-132.09614,-134.81367], "fy":[115.32026,94.37108,42.42345,32.18986]},
- {"t":5.6802, "x":7.28608, "y":5.06802, "heading":1.24003, "vx":0.15437, "vy":3.26387, "omega":1.49974, "ax":-8.01649, "ay":4.88287, "alpha":-12.10843, "fx":[-82.07464,-105.63684,-132.90269,-133.91319], "fy":[111.70163,89.91183,39.70172,35.53886]},
- {"t":5.72196, "x":7.28554, "y":5.20859, "heading":1.29211, "vx":-0.18045, "vy":3.4678, "omega":0.99403, "ax":-8.21467, "ay":4.68429, "alpha":-10.87315, "fx":[-89.27663,-109.5991,-133.47228,-133.41587], "fy":[105.95864,84.96267,37.559,37.11452]},
- {"t":5.76373, "x":7.27084, "y":5.35751, "heading":1.32414, "vx":-0.52354, "vy":3.66345, "omega":0.5399, "ax":-8.49013, "ay":4.35355, "alpha":-9.18263, "fx":[-99.69828,-114.35256,-133.89487,-133.43669], "fy":[96.08579,78.31575,35.72555,36.71504]},
- {"t":5.80549, "x":7.24157, "y":5.51432, "heading":1.33868, "vx":-0.87814, "vy":3.84528, "omega":0.15638, "ax":-8.90134, "ay":3.72443, "alpha":-6.40057, "fx":[-114.96504,-121.44756,-134.30211,-133.9828], "fy":[76.90128,66.49147,33.5991,34.17983]},
- {"t":5.84726, "x":7.19713, "y":5.67817, "heading":1.33963, "vx":-1.24991, "vy":4.00083, "omega":-0.11094, "ax":-9.47127, "ay":2.27173, "alpha":-0.99748, "fx":[-133.44327,-133.52787,-135.02586,-135.01519], "fy":[35.48561,35.31705,29.06823,28.93413]},
- {"t":5.88903, "x":7.13666, "y":5.84725, "heading":1.33413, "vx":-1.64548, "vy":4.09571, "omega":-0.1526, "ax":-9.58145, "ay":-1.26373, "alpha":3.53042, "fx":[-135.53071,-133.31778,-136.90617,-137.50456], "fy":[-23.92135,-33.33668,-10.57478,-3.81943]},
- {"t":5.93079, "x":7.05958, "y":6.0172, "heading":1.33083, "vx":-2.04566, "vy":4.04293, "omega":-0.00515, "ax":-8.42251, "ay":-4.64524, "alpha":0.08181, "fx":[-119.38597,-119.20467,-119.38873,-119.5691], "fy":[-65.86228,-66.17482,-65.82813,-65.51526]},
- {"t":5.97256, "x":6.9668, "y":6.18201, "heading":1.33069, "vx":-2.39743, "vy":3.84892, "omega":-0.00174, "ax":-7.11061, "ay":-6.13488, "alpha":-1.35813, "fx":[-99.94916,-104.6838,-101.66379,-96.86822], "fy":[-87.63574,-82.29152,-86.42786,-91.48663]},
- {"t":6.01432, "x":6.86046, "y":6.33741, "heading":1.32943, "vx":-2.69441, "vy":3.59269, "omega":-0.05846, "ax":5.3771, "ay":-7.47847, "alpha":-12.42216, "fx":[117.8447,85.34908,24.48211,77.20076], "fy":[-70.22366,-105.05943,-134.87678,-113.86197]},
- {"t":6.05609, "x":6.75262, "y":6.48094, "heading":1.31615, "vx":-2.46983, "vy":3.28035, "omega":-0.57728, "ax":6.61777, "ay":-6.51429, "alpha":-12.54227, "fx":[125.93589,113.3227,46.14248,89.82036], "fy":[-56.71221,-77.53625,-130.00886,-105.09665]},
- {"t":6.09785, "x":6.65524, "y":6.61226, "heading":1.2811, "vx":-2.19344, "vy":3.00827, "omega":-1.10112, "ax":6.59387, "ay":-6.54282, "alpha":-12.53667, "fx":[125.10576,114.26399,46.01592,88.48025], "fy":[-58.52782,-76.1873,-130.03627,-106.2203]},
- {"t":6.13435, "x":6.57958, "y":6.7177, "heading":1.23257, "vx":-1.95278, "vy":2.76948, "omega":-1.55867, "ax":6.03935, "ay":-7.00467, "alpha":-12.81112, "fx":[121.05661,106.83776,33.94809,80.58285], "fy":[-66.05991,-85.52484,-133.44941,-112.12403]},
- {"t":6.17085, "x":6.51233, "y":6.81411, "heading":1.16715, "vx":-1.73237, "vy":2.51383, "omega":-2.02623, "ax":5.32374, "ay":-7.48256, "alpha":-13.26846, "fx":[115.64081,97.25723,18.64755,70.30556], "fy":[-74.52938,-95.13376,-136.05414,-118.53697]},
- {"t":6.20734, "x":6.45265, "y":6.90087, "heading":1.08436, "vx":-1.53807, "vy":2.24074, "omega":-2.51049, "ax":4.40589, "ay":-7.93498, "alpha":-13.93573, "fx":[108.42293,84.59712,-0.34251,57.13215], "fy":[-83.73182,-104.5847,-136.66952,-124.91967]},
- {"t":6.24384, "x":6.39945, "y":6.97737, "heading":0.98346, "vx":-1.37727, "vy":1.95114, "omega":-3.0191, "ax":3.28144, "ay":-8.25448, "alpha":-14.83421, "fx":[98.91029,68.30016,-22.13894,40.98277], "fy":[-92.89583,-111.66424,-133.40039,-130.0606]},
- {"t":6.28034, "x":6.35137, "y":7.04308, "heading":0.86339, "vx":-1.2575, "vy":1.64988, "omega":-3.5605, "ax":2.35387, "ay":-8.02604, "alpha":-15.67825, "fx":[86.68004,55.98344,-35.51092,26.30954], "fy":[-97.58586,-103.80626,-124.1265,-129.55009]},
- {"t":6.31683, "x":6.30704, "y":7.09795, "heading":0.723, "vx":-1.17159, "vy":1.35696, "omega":-4.1327, "ax":-0.08032, "ay":8.05451, "alpha":8.97348, "fx":[-35.79144,-4.58976,34.88321,0.94384], "fy":[113.13682,108.77538,112.6108,122.16021]},
- {"t":6.35333, "x":6.26423, "y":7.15284, "heading":0.57815, "vx":-1.17453, "vy":1.65092, "omega":-3.8052, "ax":-8.94957, "ay":-1.90323, "alpha":12.81199, "fx":[-136.44667,-118.57725,-120.22181,-132.18615], "fy":[-11.05342,-67.85937,-60.36168,31.36319]},
- {"t":6.38983, "x":6.2154, "y":7.21183, "heading":0.4478, "vx":-1.50116, "vy":1.58146, "omega":-3.3376, "ax":-9.15007, "ay":-2.11319, "alpha":10.69508, "fx":[-137.36165,-123.19851,-121.86349,-136.37638], "fy":[-11.49289,-61.65896,-62.63181,15.968]},
- {"t":6.42633, "x":6.15452, "y":7.26814, "heading":0.33311, "vx":-1.83511, "vy":1.50433, "omega":-2.94727, "ax":-9.25451, "ay":-2.10448, "alpha":9.47742, "fx":[-137.82306,-126.22237,-123.11537,-137.56085], "fy":[-9.78509,-56.1461,-61.75251,8.36197]},
- {"t":6.46282, "x":6.08138, "y":7.32164, "heading":0.23186, "vx":-2.17286, "vy":1.42753, "omega":-2.60137, "ax":-9.30071, "ay":-2.11307, "alpha":8.85809, "fx":[-138.09612,-127.93823,-123.27306,-138.03414], "fy":[-8.24416,-52.63031,-62.18161,3.24685]},
- {"t":6.49932, "x":5.99588, "y":7.37233, "heading":0.14282, "vx":-2.51231, "vy":1.35041, "omega":-2.27808, "ax":-9.30479, "ay":-2.1672, "alpha":8.72057, "fx":[-138.2789,-128.7563,-122.3126,-138.22503], "fy":[-6.89991,-50.92557,-64.4623,-0.59041]},
- {"t":6.53582, "x":5.89799, "y":7.42018, "heading":0.06548, "vx":-2.85191, "vy":1.27131, "omega":-1.95981, "ax":-9.26968, "ay":-2.26682, "alpha":9.07744, "fx":[-138.42434,-128.89319,-119.98123,-138.28304], "fy":[-5.36631,-50.81017,-68.95441,-3.39544]},
- {"t":6.57231, "x":5.78773, "y":7.46506, "heading":0.0, "vx":-3.19022, "vy":1.18858, "omega":-1.62851, "ax":-8.93253, "ay":-2.58945, "alpha":13.29548, "fx":[-138.66661,-125.7231,-103.64241,-138.4341], "fy":[1.2838,-58.56619,-91.97865,2.44167]},
- {"t":6.63654, "x":5.5644, "y":7.53607, "heading":-0.07717, "vx":-3.76396, "vy":1.02226, "omega":-0.77454, "ax":-8.63308, "ay":-3.61166, "alpha":11.94547, "fx":[-138.08464,-122.08942,-94.27074,-135.0427], "fy":[-9.77392,-65.39763,-101.21462,-28.39151]},
- {"t":6.70077, "x":5.30483, "y":7.59427, "heading":-0.10228, "vx":-4.31846, "vy":0.79028, "omega":-0.00728, "ax":-1.07656, "ay":-9.52918, "alpha":4.00574, "fx":[-29.42027,-26.8679,-3.47046,-1.28107], "fy":[-133.12745,-134.11136,-136.72881,-136.32757]},
- {"t":6.765, "x":5.02524, "y":7.62538, "heading":-0.09449, "vx":-4.38761, "vy":0.17822, "omega":0.25001, "ax":9.62395, "ay":-1.40971, "alpha":2.75436, "fx":[137.69005,134.84108,135.37189,137.76585], "fy":[-10.89481,-29.94633,-27.92252,-11.1655]},
- {"t":6.82923, "x":4.76327, "y":7.63392, "heading":-0.07275, "vx":-3.76946, "vy":0.08768, "omega":0.42692, "ax":9.76379, "ay":-0.34962, "alpha":-1.43674, "fx":[138.24009,138.58083,138.5585,138.2184], "fy":[-9.71623,-0.54639,0.12868,-9.68927]},
- {"t":6.89346, "x":4.5413, "y":7.63883, "heading":-0.04829, "vx":-3.14233, "vy":0.06522, "omega":0.33464, "ax":9.77658, "ay":-0.23424, "alpha":-1.32813, "fx":[138.48416,138.69502,138.67717,138.46648], "fy":[-7.68423,0.82967,1.32145,-7.7482]},
- {"t":6.95769, "x":4.35964, "y":7.64253, "heading":-0.02954, "vx":-2.51438, "vy":0.05017, "omega":0.24933, "ax":9.78259, "ay":-0.19873, "alpha":-1.16412, "fx":[138.59555,138.7499,138.73864,138.57954], "fy":[-6.60238,0.89722,1.1825,-6.74506]},
- {"t":7.02192, "x":4.21832, "y":7.64535, "heading":-0.01592, "vx":-1.88605, "vy":0.03741, "omega":0.17456, "ax":9.78607, "ay":-0.18919, "alpha":-1.01839, "fx":[138.65716,138.78395,138.7769,138.64266], "fy":[-5.96394,0.62338,0.76456,-6.15063]},
- {"t":7.08615, "x":4.11736, "y":7.64736, "heading":-0.00681, "vx":-1.25749, "vy":0.02526, "omega":0.10915, "ax":9.78824, "ay":-0.19176, "alpha":-0.89786, "fx":[138.69414,138.80663,138.8019,138.68116], "fy":[-5.59327,0.23274,0.28438,-5.79655]},
- {"t":7.15038, "x":4.05678, "y":7.64859, "heading":-0.00165, "vx":-0.62879, "vy":0.01294, "omega":0.05148, "ax":9.78962, "ay":-0.20149, "alpha":-0.80147, "fx":[138.71659,138.82194,138.81841,138.70504], "fy":[-5.41257,-0.19931,-0.19813,-5.61451]},
- {"t":7.21461, "x":4.03659, "y":7.649, "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":[0,75]
- },
- "events":[]
-}
+++ /dev/null
-{
- "name":"depot",
- "version":3,
- "snapshot":{
- "waypoints":[
- {"x":3.5792136192321777, "y":4.4951395988464355, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":0.4407301247119904, "y":5.105472087860107, "heading":1.5741615318803677, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":0.43530577421188354, "y":7.034785270690918, "heading":1.5707963267948966, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":3.5617806911468506, "y":7.495027542114258, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.616069793701172, "y":7.413266181945801, "heading":-0.7389209115342424, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
- {"from":0, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":0.48153873719275, "y":3.177359360270202, "r":1.4154387569402775}}, "enabled":true},
- {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}],
- "targetDt":0.05
- },
- "params":{
- "waypoints":[
- {"x":{"exp":"3.5792136192321777 m", "val":3.5792136192321777}, "y":{"exp":"4.4951395988464355 m", "val":4.4951395988464355}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"0.44073012471199036 m", "val":0.4407301247119904}, "y":{"exp":"5.105472087860107 m", "val":5.105472087860107}, "heading":{"exp":"1.5741615318803677 rad", "val":1.5741615318803677}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"0.43530577421188354 m", "val":0.43530577421188354}, "y":{"exp":"7.034785270690918 m", "val":7.034785270690918}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"3.5617806911468506 m", "val":3.5617806911468506}, "y":{"exp":"7.495027542114258 m", "val":7.495027542114258}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.616069793701172 m", "val":7.616069793701172}, "y":{"exp":"7.413266181945801 m", "val":7.413266181945801}, "heading":{"exp":"-0.7389209115342424 rad", "val":-0.7389209115342424}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":true},
- {"from":0, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"0.48153873719275 m", "val":0.48153873719275}, "y":{"exp":"3.177359360270202 m", "val":3.177359360270202}, "r":{"exp":"1.4154387569402775 m", "val":1.4154387569402775}}}, "enabled":true},
- {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}],
- "targetDt":{
- "exp":"0.05 s",
- "val":0.05
- }
- },
- "trajectory":{
- "config":{
- "frontLeft":{
- "x":0.52705,
- "y":0.52705
- },
- "backLeft":{
- "x":-0.52705,
- "y":0.52705
- },
- "mass":56.69904625,
- "inertia":7.0,
- "gearing":7.03125,
- "radius":0.0508,
- "vmax":628.3185307179587,
- "tmax":7.0,
- "cof":1.0,
- "bumper":{
- "front":0.4064,
- "side":0.4064,
- "back":0.4064
- },
- "differentialTrackWidth":0.5588
- },
- "sampleType":"Swerve",
- "waypoints":[0.0,1.17237,2.18058,3.15126,4.28571],
- "samples":[
- {"t":0.0, "x":3.57921, "y":4.49514, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.26547, "ay":0.64148, "alpha":-44.35812, "fx":[-117.72002,-132.86448,-32.07928,-15.88327], "fy":[73.59562,-40.23018,-134.84389,137.84947]},
- {"t":0.05329, "x":3.57174, "y":4.49605, "heading":3.07861, "vx":-0.2806, "vy":0.03418, "omega":-2.36383, "ax":-7.1629, "ay":1.55108, "alpha":-32.1252, "fx":[-118.18105,-136.83767,-103.5752,-47.53593], "fy":[72.7829,-23.1563,-91.96441,130.28243]},
- {"t":0.10658, "x":3.54661, "y":4.50007, "heading":2.90703, "vx":-0.6623, "vy":0.11684, "omega":-4.07578, "ax":-8.98692, "ay":2.88118, "alpha":-11.31773, "fx":[-122.3314,-138.04186,-138.5517,-110.62487], "fy":[65.36641,13.44514,1.08759,83.46119]},
- {"t":0.15987, "x":3.49856, "y":4.51039, "heading":2.67376, "vx":-1.14122, "vy":0.27038, "omega":-4.6789, "ax":-8.78321, "ay":2.94752, "alpha":13.85815, "fx":[-137.6292,-107.33459,-115.62638,-137.40926], "fy":[-15.03588,87.32658,76.45574,18.37512]},
- {"t":0.21316, "x":3.42527, "y":4.52899, "heading":2.4441, "vx":-1.60927, "vy":0.42745, "omega":-3.9404, "ax":-8.89897, "ay":2.51969, "alpha":13.64814, "fx":[-135.47674,-119.16581,-112.96669,-136.95415], "fy":[-28.39227,69.84839,80.18957,21.21805]},
- {"t":0.26645, "x":3.32688, "y":4.55534, "heading":2.25349, "vx":-2.08349, "vy":0.56172, "omega":-3.21309, "ax":-9.01649, "ay":2.19741, "alpha":12.81573, "fx":[-134.79137,-129.78165,-110.64414,-136.00933], "fy":[-31.20469,46.41588,83.15536,26.22434]},
- {"t":0.31974, "x":3.20305, "y":4.5884, "heading":2.10047, "vx":-2.56398, "vy":0.67882, "omega":-2.53015, "ax":-9.07875, "ay":2.02841, "alpha":12.2963, "fx":[-135.48438,-134.94301,-109.66398,-134.66485], "fy":[-27.35975,26.4066,84.10358,31.85851]},
- {"t":0.37303, "x":3.05352, "y":4.62745, "heading":1.9831, "vx":-3.04779, "vy":0.78692, "omega":-1.87488, "ax":-9.05891, "ay":2.03999, "alpha":12.23633, "fx":[-136.12168,-135.998,-108.48574,-133.02601], "fy":[-22.19209,15.72273,84.97965,37.15499]},
- {"t":0.42632, "x":2.87824, "y":4.67228, "heading":1.90056, "vx":-3.53053, "vy":0.89563, "omega":-1.22281, "ax":-8.94167, "ay":2.17055, "alpha":12.42568, "fx":[-135.90245,-134.58462,-105.68286,-130.81425], "fy":[-17.49512,11.92617,86.72568,41.91133]},
- {"t":0.47961, "x":2.67741, "y":4.72309, "heading":1.85304, "vx":-4.00703, "vy":1.0113, "omega":-0.56065, "ax":-7.10114, "ay":2.53261, "alpha":10.37874, "fx":[-113.68644,-95.34298,-84.48417,-109.1143], "fy":[1.86792,24.81186,72.48396,44.4329]},
- {"t":0.5329, "x":2.45379, "y":4.78058, "heading":1.8379, "vx":-4.38545, "vy":1.14626, "omega":-0.00757, "ax":0.02077, "ay":0.11585, "alpha":0.01278, "fx":[0.27959,0.32052,0.30931,0.26838], "fy":[1.61607,1.62726,1.66818,1.65699]},
- {"t":0.58619, "x":2.22012, "y":4.84183, "heading":1.83751, "vx":-4.38434, "vy":1.15243, "omega":-0.00689, "ax":-0.0797, "ay":-0.30573, "alpha":-0.00022, "fx":[-1.12946,-1.13017,-1.12997,-1.12926], "fy":[-4.33319,-4.33338,-4.33409,-4.3339]},
- {"t":0.63948, "x":1.98637, "y":4.90281, "heading":1.83715, "vx":-4.38859, "vy":1.13614, "omega":-0.0069, "ax":-0.66601, "ay":-2.79515, "alpha":-0.01138, "fx":[-9.42721,-9.46606,-9.45394,-9.41509], "fy":[-39.59973,-39.6075,-39.64153,-39.63376]},
- {"t":0.69277, "x":1.75155, "y":4.95938, "heading":1.83676, "vx":-4.42408, "vy":0.98719, "omega":-0.0075, "ax":1.67235, "ay":-8.26921, "alpha":-4.4637, "fx":[36.21259,8.7945,13.48177,36.33168], "fy":[-112.63299,-118.31169,-121.44016,-116.47159]},
- {"t":0.74606, "x":1.51817, "y":5.00025, "heading":1.83002, "vx":-4.33496, "vy":0.54652, "omega":-0.24537, "ax":7.75121, "ay":-4.93754, "alpha":-12.33287, "fx":[135.55463,111.35244,75.73755,116.84185], "fy":[-18.11554,-75.77196,-113.94716,-72.11907]},
- {"t":0.79935, "x":1.29817, "y":5.02236, "heading":1.79944, "vx":-3.9219, "vy":0.2834, "omega":-0.90259, "ax":8.0018, "ay":-4.49749, "alpha":-13.45546, "fx":[137.63371,121.47116,75.38525,119.20445], "fy":[-7.68581,-62.21156,-115.36591,-69.74021]},
- {"t":0.85264, "x":1.10053, "y":5.03108, "heading":1.73223, "vx":-3.49549, "vy":0.04373, "omega":-1.61963, "ax":9.22568, "ay":-2.97043, "alpha":4.60465, "fx":[123.44802,129.76894,136.24598,133.62438], "fy":[-62.12592,-47.86313,-23.53068,-34.90103]},
- {"t":0.90593, "x":0.92736, "y":5.02919, "heading":1.65246, "vx":-3.00385, "vy":-0.11456, "omega":-1.37425, "ax":9.11768, "ay":0.71457, "alpha":15.53723, "fx":[128.91765,136.81985,131.59705,119.62928], "fy":[-50.33507,-22.31913,43.5882,69.58167]},
- {"t":0.95922, "x":0.78023, "y":5.0241, "heading":1.60129, "vx":-2.51798, "vy":-0.07648, "omega":-0.54627, "ax":9.02776, "ay":3.45009, "alpha":6.51404, "fx":[134.34727,136.22849,125.2177,116.07205], "fy":[34.10272,26.01781,59.66695,75.82929]},
- {"t":1.01251, "x":0.65887, "y":5.02492, "heading":1.58143, "vx":-2.03689, "vy":0.10737, "omega":-0.19914, "ax":8.58806, "ay":4.64456, "alpha":2.93081, "fx":[124.08856,127.57215,120.23366,115.04023], "fy":[62.00694,54.54211,69.25323,77.53977]},
- {"t":1.0658, "x":0.56251, "y":5.03724, "heading":1.57498, "vx":-1.57923, "vy":0.35488, "omega":-0.04296, "ax":8.25301, "ay":5.26202, "alpha":0.97075, "fx":[117.56583,119.32824,116.49414,114.54933], "fy":[73.73005,70.85299,75.4279,78.34081]},
- {"t":1.11908, "x":0.49008, "y":5.06362, "heading":1.57407, "vx":-1.13943, "vy":0.63529, "omega":0.00877, "ax":8.01085, "ay":5.63121, "alpha":-0.26264, "fx":[113.4318,112.85085,113.67836,114.24659], "fy":[79.99801,80.81354,79.6439,78.82865]},
- {"t":1.17237, "x":0.44073, "y":5.10547, "heading":1.57416, "vx":-0.71254, "vy":0.93538, "omega":-0.00522, "ax":7.72895, "ay":6.0065, "alpha":-0.68154, "fx":[109.32759,107.59018,109.82398,111.48242], "fy":[85.46903,87.64032,84.81942,82.634]},
- {"t":1.22038, "x":0.41543, "y":5.1573, "heading":1.57313, "vx":-0.34147, "vy":1.22375, "omega":-0.03794, "ax":6.41128, "ay":7.37863, "alpha":-0.43956, "fx":[90.99024,89.3246,90.77312,92.42524], "fy":[104.50983,105.93084,104.68482,103.23569]},
- {"t":1.26839, "x":0.40642, "y":5.22456, "heading":1.5708, "vx":-0.03366, "vy":1.578, "omega":-0.05904, "ax":2.38591, "ay":8.74697, "alpha":2.21408, "fx":[28.76222,42.04765,38.36086,26.10819], "fy":[124.76578,121.27258,123.49452,126.41202]},
- {"t":1.3164, "x":0.40756, "y":5.3104, "heading":1.57051, "vx":0.08088, "vy":1.99794, "omega":0.04725, "ax":-0.45288, "ay":0.01625, "alpha":-1.40195, "fx":[-4.09611,-8.74092,-8.7432,-4.09788], "fy":[2.56612,2.5595,-2.09821,-2.10604]},
- {"t":1.36441, "x":0.41092, "y":5.40634, "heading":1.57117, "vx":0.05914, "vy":1.99872, "omega":-0.02005, "ax":-0.30191, "ay":0.00783, "alpha":0.45448, "fx":[-5.03313,-3.52551,-3.526,-5.0336], "fy":[-0.64425,-0.64412,0.86685,0.86571]},
- {"t":1.41242, "x":0.41341, "y":5.5023, "heading":1.57073, "vx":0.04465, "vy":1.99909, "omega":0.00176, "ax":-0.21274, "ay":0.0042, "alpha":-0.001, "fx":[-3.01383,-3.01714,-3.01714,-3.01383], "fy":[0.06126,0.06126,0.05794,0.05794]},
- {"t":1.46043, "x":0.41531, "y":5.59829, "heading":1.57081, "vx":0.03443, "vy":1.9993, "omega":0.00172, "ax":-0.1743, "ay":0.00263, "alpha":-0.03067, "fx":[-2.41969,-2.5215,-2.5215,-2.41969], "fy":[0.08829,0.08828,-0.01359,-0.01359]},
- {"t":1.50844, "x":0.41676, "y":5.69427, "heading":1.57086, "vx":0.02606, "vy":1.99942, "omega":0.00024, "ax":-0.15389, "ay":0.00172, "alpha":-0.00686, "fx":[-2.17,-2.19276,-2.19276,-2.16999], "fy":[0.03577,0.03576,0.01299,0.01299]},
- {"t":1.55645, "x":0.41783, "y":5.79027, "heading":1.57086, "vx":0.01868, "vy":1.9995, "omega":-0.00008, "ax":-0.14217, "ay":0.00108, "alpha":0.00038, "fx":[-2.01588,-2.01462,-2.01462,-2.01588], "fy":[0.01473,0.01473,0.01599,0.01599]},
- {"t":1.60446, "x":0.41857, "y":5.88627, "heading":1.57086, "vx":0.01185, "vy":1.99956, "omega":-0.00007, "ax":-0.13569, "ay":0.00058, "alpha":0.00017, "fx":[-1.92368,-1.9231,-1.9231,-1.92368], "fy":[0.00796,0.00796,0.00854,0.00854]},
- {"t":1.65247, "x":0.41898, "y":5.98227, "heading":1.57086, "vx":0.00534, "vy":1.99958, "omega":-0.00006, "ax":-0.133, "ay":0.00014, "alpha":-0.0005, "fx":[-1.88441,-1.88606,-1.88606,-1.88441], "fy":[0.00283,0.00283,0.00118,0.00118]},
- {"t":1.70048, "x":0.41908, "y":6.07827, "heading":1.57085, "vx":-0.00105, "vy":1.99959, "omega":-0.00008, "ax":-0.13357, "ay":-0.00029, "alpha":-0.00063, "fx":[-1.8923,-1.8944,-1.8944,-1.8923], "fy":[-0.00299,-0.00299,-0.00509,-0.00509]},
- {"t":1.74849, "x":0.41888, "y":6.17427, "heading":1.57085, "vx":-0.00746, "vy":1.99958, "omega":-0.00011, "ax":-0.13751, "ay":-0.00074, "alpha":-0.00111, "fx":[-1.94736,-1.95104,-1.95104,-1.94736], "fy":[-0.00866,-0.00866,-0.01234,-0.01234]},
- {"t":1.7965, "x":0.41836, "y":6.27026, "heading":1.57084, "vx":-0.01406, "vy":1.99954, "omega":-0.00017, "ax":-0.1456, "ay":-0.00128, "alpha":-0.00266, "fx":[-2.05948,-2.0683,-2.0683,-2.05948], "fy":[-0.01372,-0.01372,-0.02254,-0.02254]},
- {"t":1.84451, "x":0.41752, "y":6.36626, "heading":1.57083, "vx":-0.02105, "vy":1.99948, "omega":-0.00029, "ax":-0.15979, "ay":-0.00199, "alpha":-0.0015, "fx":[-2.26246,-2.26744,-2.26744,-2.26246], "fy":[-0.02571,-0.02571,-0.03069,-0.03069]},
- {"t":1.89252, "x":0.41632, "y":6.46225, "heading":1.57081, "vx":-0.02873, "vy":1.99938, "omega":-0.00037, "ax":-0.18478, "ay":-0.00306, "alpha":0.02009, "fx":[-2.6525,-2.58582,-2.58583,-2.6525], "fy":[-0.0768,-0.0768,-0.01008,-0.01008]},
- {"t":1.94053, "x":0.41473, "y":6.55824, "heading":1.57082, "vx":-0.0376, "vy":1.99924, "omega":0.0006, "ax":-0.23421, "ay":-0.00506, "alpha":0.05549, "fx":[-3.41201,-3.22786,-3.22787,-3.41202], "fy":[-0.16395,-0.16395,0.02042,0.02041]},
- {"t":1.98854, "x":0.41266, "y":6.65422, "heading":1.57091, "vx":-0.04884, "vy":1.99899, "omega":0.00326, "ax":-0.34874, "ay":-0.00998, "alpha":-0.34226, "fx":[-4.37584,-5.51085,-5.51063,-4.37564], "fy":[0.42766,0.42727,-0.71027,-0.71055]},
- {"t":2.03655, "x":0.40991, "y":6.75018, "heading":1.57067, "vx":-0.06558, "vy":1.99852, "omega":-0.01317, "ax":0.15005, "ay":0.00462, "alpha":0.37403, "fx":[1.5061,2.74775,2.74787,1.50624], "fy":[-0.55563,-0.55563,0.68642,0.68676]},
- {"t":2.08456, "x":0.40693, "y":6.84613, "heading":1.57047, "vx":-0.05838, "vy":1.99874, "omega":0.00479, "ax":8.43792, "ay":-0.61905, "alpha":16.10155, "fx":[106.63293,126.02782,129.3841,116.37743], "fy":[-68.69353,-39.58078,25.70073,47.47385]},
- {"t":2.13257, "x":0.41386, "y":6.94138, "heading":1.58926, "vx":0.34672, "vy":1.96902, "omega":0.77782, "ax":4.16862, "ay":-0.97577, "alpha":-48.42373, "fx":[135.11369,-9.31051,0.77288,109.78046], "fy":[30.84409,137.02597,-138.49879,-84.69633]},
- {"t":2.18058, "x":0.43531, "y":7.03479, "heading":1.5708, "vx":0.54686, "vy":1.92217, "omega":-1.547, "ax":4.57013, "ay":-1.21174, "alpha":-46.21507, "fx":[136.953,12.81098,2.48027,106.87757], "fy":[21.63048,136.64979,-138.56993,-88.41469]},
- {"t":2.2247, "x":0.46388, "y":7.11841, "heading":1.45756, "vx":0.7485, "vy":1.86871, "omega":-3.58607, "ax":5.37025, "ay":-8.0256, "alpha":-5.72786, "fx":[97.86105,74.44586,53.69694,78.48393], "fy":[-97.57697,-116.21919,-127.36075,-113.88711]},
- {"t":2.26883, "x":0.50213, "y":7.19305, "heading":1.29376, "vx":0.98544, "vy":1.5146, "omega":-3.8388, "ax":3.93337, "ay":-8.80135, "alpha":-4.89841, "fx":[76.35835,53.82369,35.02055,57.81545], "fy":[-114.47638,-126.3614,-133.11317,-125.07728]},
- {"t":2.31295, "x":0.54944, "y":7.25131, "heading":1.11962, "vx":1.15899, "vy":1.12628, "omega":-4.05492, "ax":5.21096, "ay":-8.08882, "alpha":0.24472, "fx":[72.93671,73.65404,74.78579,74.07978], "fy":[-115.24635,-114.81861,-114.06677,-114.49655]},
- {"t":2.35707, "x":0.60565, "y":7.29313, "heading":0.94095, "vx":1.3889, "vy":0.76939, "omega":-4.04412, "ax":7.84963, "ay":-5.02885, "alpha":7.26037, "fx":[96.77428,101.25143,122.25338,124.78751], "fy":[-91.66274,-89.09379,-57.08906,-47.28535]},
- {"t":2.40119, "x":0.67457, "y":7.32218, "heading":0.76958, "vx":1.73524, "vy":0.54751, "omega":-3.72379, "ax":9.00997, "ay":-0.96708, "alpha":10.20289, "fx":[127.77235,120.49067,133.86299,128.73094], "fy":[-20.04109,-56.80348,-10.93893,32.95111]},
- {"t":2.44531, "x":0.7599, "y":7.3454, "heading":0.61521, "vx":2.13277, "vy":0.50484, "omega":-3.27362, "ax":8.97017, "ay":0.77181, "alpha":10.15722, "fx":[125.41974,126.71129,133.51679,122.95201], "fy":[27.18811,-35.39682,2.30473,49.66495]},
- {"t":2.48943, "x":0.86274, "y":7.36843, "heading":0.48066, "vx":2.52855, "vy":0.53889, "omega":-2.82547, "ax":8.85447, "ay":0.75213, "alpha":10.2088, "fx":[121.91137,124.81699,132.14499,123.16669], "fy":[33.31112,-34.09372,-2.12448,45.55192]},
- {"t":2.53356, "x":0.98292, "y":7.39293, "heading":0.36594, "vx":2.91922, "vy":0.57207, "omega":-2.37504, "ax":8.63704, "ay":-0.21723, "alpha":10.6668, "fx":[120.00504,116.3833,128.72862,124.59472], "fy":[20.6495,-48.29119,-16.92729,32.25223]},
- {"t":2.57768, "x":1.12012, "y":7.41796, "heading":0.27153, "vx":3.3003, "vy":0.56249, "omega":-1.90441, "ax":8.07267, "ay":-1.64812, "alpha":10.98499, "fx":[113.27117,100.51258,120.69455,123.2344], "fy":[-3.47663,-67.00275,-35.88657,12.91922]},
- {"t":2.6218, "x":1.2736, "y":7.44118, "heading":0.19819, "vx":3.65648, "vy":0.48977, "omega":-1.41973, "ax":7.04173, "ay":-2.90209, "alpha":10.54334, "fx":[96.17977,81.03171,107.22531,114.82248], "fy":[-27.90215,-77.6916,-51.17719,-7.77498]},
- {"t":2.66592, "x":1.44178, "y":7.45996, "heading":0.14582, "vx":3.96717, "vy":0.36173, "omega":-0.95454, "ax":5.53978, "ay":-3.36245, "alpha":8.93329, "fx":[70.27125,61.69088,87.4854,94.65286], "fy":[-38.45904,-73.02967,-55.94861,-23.21063]},
- {"t":2.71004, "x":1.62221, "y":7.47265, "heading":0.1124, "vx":4.2116, "vy":0.21337, "omega":-0.56039, "ax":3.27843, "ay":-2.56796, "alpha":5.51474, "fx":[37.96449,37.20267,54.57024,56.1462], "fy":[-29.55687,-48.51839,-42.89835,-24.62707]},
- {"t":2.75416, "x":1.81122, "y":7.47956, "heading":0.09304, "vx":4.35624, "vy":0.10007, "omega":-0.31707, "ax":1.0119, "ay":-0.98089, "alpha":1.71224, "fx":[11.29093,11.728,17.37002,16.98486], "fy":[-11.39093,-17.0621,-16.39902,-10.7635]},
- {"t":2.79828, "x":2.00441, "y":7.48302, "heading":0.08071, "vx":4.40089, "vy":0.05679, "omega":-0.24153, "ax":0.15897, "ay":-0.17724, "alpha":0.23596, "fx":[1.83152,1.89433,2.67524,2.61262], "fy":[-2.15363,-2.93452,-2.87084,-2.09007]},
- {"t":2.84241, "x":2.19874, "y":7.48536, "heading":0.07029, "vx":4.40791, "vy":0.04897, "omega":-0.23112, "ax":-0.05196, "ay":0.04786, "alpha":-0.139, "fx":[-0.49012,-0.52252,-0.98292,-0.95054], "fy":[0.46436,0.92477,0.89233,0.43193]},
- {"t":2.88653, "x":2.39317, "y":7.48756, "heading":0.05996, "vx":4.40561, "vy":0.05108, "omega":-0.23725, "ax":-0.09371, "ay":0.06376, "alpha":-0.21836, "fx":[-0.94471,-0.98809,-1.71176,-1.66843], "fy":[0.56361,1.2874,1.24383,0.52011]},
- {"t":2.93065, "x":2.58746, "y":7.48988, "heading":0.04927, "vx":4.40148, "vy":0.0539, "omega":-0.24688, "ax":-0.07456, "ay":-0.02358, "alpha":-0.18728, "fx":[-0.731,-0.76165,-1.38271,-1.35206], "fy":[-0.62946,-0.00831,-0.03894,-0.66005]},
- {"t":2.97477, "x":2.78159, "y":7.49224, "heading":0.0382, "vx":4.39819, "vy":0.05286, "omega":-0.25515, "ax":-0.01707, "ay":-0.19586, "alpha":-0.08098, "fx":[-0.10239,-0.11267,-0.38146,-0.37116], "fy":[-2.90549,-2.63692,-2.64717,-2.91574]},
- {"t":3.01889, "x":2.97563, "y":7.49438, "heading":0.02686, "vx":4.39744, "vy":0.04421, "omega":-0.25872, "ax":0.07947, "ay":-0.42261, "alpha":0.10662, "fx":[0.94452,0.95383,1.30833,1.29909], "fy":[-5.81858,-6.17184,-6.16209,-5.80885]},
- {"t":3.06301, "x":3.16973, "y":7.49592, "heading":0.01555, "vx":4.40094, "vy":0.02557, "omega":-0.25402, "ax":0.40411, "ay":-0.65402, "alpha":0.72595, "fx":[4.50616,4.53332,6.94745,6.92595], "fy":[-8.09352,-10.49838,-10.44615,-8.04447]},
- {"t":3.10713, "x":3.3643, "y":7.49641, "heading":0.00505, "vx":4.41877, "vy":-0.00329, "omega":-0.22199, "ax":2.58996, "ay":-1.26886, "alpha":4.87325, "fx":[29.4881,28.61353,43.79626,44.95064], "fy":[-9.81463,-27.32775,-25.68282,-9.11807]},
- {"t":3.15126, "x":3.56178, "y":7.49503, "heading":0.0, "vx":4.53305, "vy":-0.05927, "omega":-0.00697, "ax":0.03427, "ay":-0.67277, "alpha":0.10695, "fx":[0.3074,0.3073,0.66403,0.66427], "fy":[-9.35972,-9.71319,-9.71301,-9.35955]},
- {"t":3.20058, "x":3.78541, "y":7.49129, "heading":-0.00021, "vx":4.53474, "vy":-0.09246, "omega":-0.0017, "ax":-0.00045, "ay":-0.02205, "alpha":0.0, "fx":[-0.00638,-0.00638,-0.00638,-0.00638], "fy":[-0.31254,-0.31255,-0.31255,-0.31254]},
- {"t":3.2499, "x":4.00908, "y":7.4867, "heading":-0.0003, "vx":4.53471, "vy":-0.09354, "omega":-0.0017, "ax":0.00101, "ay":0.04975, "alpha":0.0, "fx":[0.0143,0.0143,0.01429,0.01429], "fy":[0.70519,0.7052,0.7052,0.70519]},
- {"t":3.29923, "x":4.23275, "y":7.48215, "heading":-0.00038, "vx":4.53476, "vy":-0.09109, "omega":-0.0017, "ax":0.00112, "ay":0.0567, "alpha":0.0, "fx":[0.01584,0.01584,0.01583,0.01583], "fy":[0.80368,0.8037,0.8037,0.80368]},
- {"t":3.34855, "x":4.45643, "y":7.47772, "heading":-0.00046, "vx":4.53482, "vy":-0.08829, "omega":-0.0017, "ax":0.00108, "ay":0.05648, "alpha":0.0, "fx":[0.01529,0.01529,0.01528,0.01528], "fy":[0.80058,0.80059,0.80059,0.80058]},
- {"t":3.39788, "x":4.6801, "y":7.47343, "heading":-0.00055, "vx":4.53487, "vy":-0.08551, "omega":-0.0017, "ax":0.00103, "ay":0.05553, "alpha":0.0, "fx":[0.01456,0.01456,0.01455,0.01455], "fy":[0.78713,0.78714,0.78714,0.78713]},
- {"t":3.4472, "x":4.90378, "y":7.46928, "heading":-0.00063, "vx":4.53492, "vy":-0.08277, "omega":-0.0017, "ax":0.00098, "ay":0.05457, "alpha":0.0, "fx":[0.01385,0.01385,0.01384,0.01384], "fy":[0.77345,0.77346,0.77346,0.77345]},
- {"t":3.49652, "x":5.12746, "y":7.46527, "heading":-0.00072, "vx":4.53497, "vy":-0.08008, "omega":-0.0017, "ax":0.00093, "ay":0.05365, "alpha":0.0, "fx":[0.01317,0.01317,0.01316,0.01316], "fy":[0.76053,0.76054,0.76054,0.76053]},
- {"t":3.54585, "x":5.35115, "y":7.46138, "heading":-0.0008, "vx":4.53502, "vy":-0.07743, "omega":-0.0017, "ax":0.00088, "ay":0.05278, "alpha":0.0, "fx":[0.01252,0.01252,0.01252,0.01252], "fy":[0.74811,0.74812,0.74812,0.74811]},
- {"t":3.59517, "x":5.57483, "y":7.45763, "heading":-0.00088, "vx":4.53506, "vy":-0.07483, "omega":-0.0017, "ax":0.00084, "ay":0.05173, "alpha":0.0, "fx":[0.01186,0.01186,0.01185,0.01185], "fy":[0.73322,0.73323,0.73323,0.73322]},
- {"t":3.6445, "x":5.79852, "y":7.454, "heading":-0.00097, "vx":4.5351, "vy":-0.07228, "omega":-0.0017, "ax":0.00076, "ay":0.04867, "alpha":0.0, "fx":[0.01078,0.01078,0.01078,0.01078], "fy":[0.68991,0.68991,0.68991,0.68991]},
- {"t":3.69382, "x":6.02221, "y":7.4505, "heading":-0.00105, "vx":4.53514, "vy":-0.06988, "omega":-0.0017, "ax":0.00041, "ay":0.02726, "alpha":0.0, "fx":[0.00587,0.00587,0.00586,0.00586], "fy":[0.38644,0.38644,0.38644,0.38644]},
- {"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":[]
-}
+++ /dev/null
-{
- "name":"depotBump",
- "version":3,
- "snapshot":{
- "waypoints":[
- {"x":3.5792136192321777, "y":4.4951395988464355, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":0.4469754695892334, "y":5.089114189147949, "heading":1.5741615318803677, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":0.4469754695892334, "y":7.081206798553467, "heading":1.5707963267948966, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":2.852884292602539, "y":5.705027103424072, "heading":-2.3447879882246334, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.201909065246582, "y":5.416318416595459, "heading":-2.4093358095692223, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.980565547943115, "y":5.156479835510254, "heading":0.0, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
- {"x":5.739974498748779, "y":4.63680362701416, "heading":-1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.909343242645264, "y":3.5838329792022705, "heading":-1.0754850095735469, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.597336292266846, "y":3.549332857131958, "heading":1.0628225299704972, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":8.011152267456055, "y":5.7627692222595215, "heading":1.611868659838111, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.567607402801514, "y":7.552765369415283, "heading":0.0, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":4.036591053009033, "y":7.649001598358154, "heading":0.0, "intervals":17, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.054632186889648, "y":7.439671993255615, "heading":-1.4002829791692777, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.930652618408203, "y":4.921932220458984, "heading":-1.1479422447393446, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":8.257654190063477, "y":4.6548991203308105, "heading":1.489584669362912, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.714051723480225, "y":6.714868068695068, "heading":1.3765551236309548, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.054457664489746, "y":7.6343512535095215, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":4.036591053009033, "y":7.649001598358154, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
- {"from":0, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":0.48153873719275, "y":3.177359360270202, "r":1.4154387569402775}}, "enabled":true},
- {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
- {"from":11, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
- {"from":15, "to":17, "data":{"type":"KeepOutCircle", "props":{"x":4.86896484461613, "y":5.965750575065613, "r":1.0}}, "enabled":true}],
- "targetDt":0.05
- },
- "params":{
- "waypoints":[
- {"x":{"exp":"3.5792136192321777 m", "val":3.5792136192321777}, "y":{"exp":"4.4951395988464355 m", "val":4.4951395988464355}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"0.4469754695892334 m", "val":0.4469754695892334}, "y":{"exp":"5.089114189147949 m", "val":5.089114189147949}, "heading":{"exp":"1.5741615318803677 rad", "val":1.5741615318803677}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"0.4469754695892334 m", "val":0.4469754695892334}, "y":{"exp":"7.081206798553467 m", "val":7.081206798553467}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"2.852884292602539 m", "val":2.852884292602539}, "y":{"exp":"5.705027103424072 m", "val":5.705027103424072}, "heading":{"exp":"-2.3447879882246334 rad", "val":-2.3447879882246334}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.201909065246582 m", "val":6.201909065246582}, "y":{"exp":"5.416318416595459 m", "val":5.416318416595459}, "heading":{"exp":"-2.4093358095692223 rad", "val":-2.4093358095692223}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.980565547943115 m", "val":5.980565547943115}, "y":{"exp":"5.156479835510254 m", "val":5.156479835510254}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
- {"x":{"exp":"5.739974498748779 m", "val":5.739974498748779}, "y":{"exp":"4.63680362701416 m", "val":4.63680362701416}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.909343242645264 m", "val":5.909343242645264}, "y":{"exp":"3.5838329792022705 m", "val":3.5838329792022705}, "heading":{"exp":"-1.0754850095735469 rad", "val":-1.0754850095735469}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.597336292266846 m", "val":7.597336292266846}, "y":{"exp":"3.549332857131958 m", "val":3.549332857131958}, "heading":{"exp":"1.0628225299704972 rad", "val":1.0628225299704972}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"8.011152267456055 m", "val":8.011152267456055}, "y":{"exp":"5.7627692222595215 m", "val":5.7627692222595215}, "heading":{"exp":"1.611868659838111 rad", "val":1.611868659838111}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.567607402801514 m", "val":6.567607402801514}, "y":{"exp":"7.552765369415283 m", "val":7.552765369415283}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"shootPos.x", "val":4.036591053009033}, "y":{"exp":"shootPos.y", "val":7.649001598358154}, "heading":{"exp":"shootPos.heading", "val":0.0}, "intervals":17, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.054632186889648 m", "val":6.054632186889648}, "y":{"exp":"7.439671993255615 m", "val":7.439671993255615}, "heading":{"exp":"-1.4002829791692777 rad", "val":-1.4002829791692777}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.930652618408203 m", "val":5.930652618408203}, "y":{"exp":"4.921932220458984 m", "val":4.921932220458984}, "heading":{"exp":"-1.1479422447393446 rad", "val":-1.1479422447393446}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"8.257654190063477 m", "val":8.257654190063477}, "y":{"exp":"4.6548991203308105 m", "val":4.6548991203308105}, "heading":{"exp":"1.489584669362912 rad", "val":1.489584669362912}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.714051723480225 m", "val":7.714051723480225}, "y":{"exp":"6.714868068695068 m", "val":6.714868068695068}, "heading":{"exp":"1.3765551236309548 rad", "val":1.3765551236309548}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.054457664489746 m", "val":6.054457664489746}, "y":{"exp":"7.6343512535095215 m", "val":7.6343512535095215}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"shootPos.x", "val":4.036591053009033}, "y":{"exp":"shootPos.y", "val":7.649001598358154}, "heading":{"exp":"shootPos.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},
- {"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":true},
- {"from":0, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"0.48153873719275 m", "val":0.48153873719275}, "y":{"exp":"3.177359360270202 m", "val":3.177359360270202}, "r":{"exp":"1.4154387569402775 m", "val":1.4154387569402775}}}, "enabled":true},
- {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true},
- {"from":11, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
- {"from":15, "to":17, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.86896484461613 m", "val":4.86896484461613}, "y":{"exp":"5.965750575065613 m", "val":5.965750575065613}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true}],
- "targetDt":{
- "exp":"0.05 s",
- "val":0.05
- }
- },
- "trajectory":{
- "config":{
- "frontLeft":{
- "x":0.52705,
- "y":0.52705
- },
- "backLeft":{
- "x":-0.52705,
- "y":0.52705
- },
- "mass":56.69904625,
- "inertia":7.0,
- "gearing":7.03125,
- "radius":0.0508,
- "vmax":628.3185307179587,
- "tmax":7.0,
- "cof":1.0,
- "bumper":{
- "front":0.4064,
- "side":0.4064,
- "back":0.4064
- },
- "differentialTrackWidth":0.5588
- },
- "sampleType":"Swerve",
- "waypoints":[0.0,1.17306,2.24645,3.73187,4.79122,5.0063,5.19372,5.50015,6.22959,6.80755,7.5838,8.37977,9.22201,10.00039,11.02982,11.56569,12.19975,12.88018],
- "samples":[
- {"t":0.0, "x":3.57921, "y":4.49514, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.73364, "ay":0.57802, "alpha":-46.96681, "fx":[-116.73614,-131.99911,-13.03555,-6.62202], "fy":[75.14131,-42.97379,-137.995,138.60055]},
- {"t":0.05332, "x":3.57248, "y":4.49596, "heading":3.07483, "vx":-0.2524, "vy":0.03082, "omega":-2.50431, "ax":-6.94327, "ay":1.50029, "alpha":-33.68753, "fx":[-117.19602,-136.73674,-97.99248,-41.75142], "fy":[74.34043,-23.67945,-97.82605,132.2301]},
- {"t":0.10664, "x":3.54916, "y":4.49974, "heading":2.89341, "vx":-0.62262, "vy":0.11082, "omega":-4.30055, "ax":-9.09215, "ay":3.10308, "alpha":-7.90333, "fx":[-123.81061,-136.79377,-137.42318,-117.48866], "fy":[62.41564,22.59982,17.49637,73.4299]},
- {"t":0.15996, "x":3.50303, "y":4.51006, "heading":2.65286, "vx":-1.10742, "vy":0.27628, "omega":-4.72196, "ax":-8.79101, "ay":2.86996, "alpha":14.02736, "fx":[-137.24128,-108.29127,-115.47657,-137.4325], "fy":[-17.84872,86.00778,76.61364,17.95131]},
- {"t":0.21328, "x":3.43149, "y":4.52887, "heading":2.42103, "vx":-1.57617, "vy":0.4293, "omega":-3.97401, "ax":-8.94081, "ay":2.35038, "alpha":13.58269, "fx":[-134.74486,-121.79792,-113.32964,-137.06269], "fy":[-31.46838,64.89336,79.58819,20.25111]},
- {"t":0.2666, "x":3.33473, "y":4.5551, "heading":2.22844, "vx":-2.0529, "vy":0.55463, "omega":-3.24977, "ax":-9.06935, "ay":1.97617, "alpha":12.69307, "fx":[-134.24169,-132.27402,-111.56351,-136.14408], "fy":[-33.26897,38.25115,81.80165,25.26308]},
- {"t":0.31992, "x":3.21238, "y":4.58748, "heading":2.0732, "vx":-2.53648, "vy":0.66, "omega":-2.57297, "ax":-9.1249, "ay":1.83185, "alpha":12.17578, "fx":[-135.29944,-136.08548,-111.2188,-134.76919], "fy":[-27.93152,18.78454,81.8748,31.13659]},
- {"t":0.37325, "x":3.06416, "y":4.62528, "heading":1.95332, "vx":-3.02303, "vy":0.75767, "omega":-1.92375, "ax":-9.08705, "ay":1.90677, "alpha":12.17457, "fx":[-136.05952,-136.37548,-109.80488,-132.98706], "fy":[-22.00436,10.11358,83.03842,36.9644]},
- {"t":0.42657, "x":2.89005, "y":4.66839, "heading":1.86805, "vx":-3.50756, "vy":0.85935, "omega":-1.27459, "ax":-8.94123, "ay":2.12504, "alpha":12.45124, "fx":[-135.88862,-134.62682,-106.01903,-130.4245], "fy":[-16.54228,8.36905,85.97439,42.68678]},
- {"t":0.47989, "x":2.69032, "y":4.71723, "heading":1.81778, "vx":-3.98431, "vy":0.97265, "omega":-0.61068, "ax":-7.61508, "ay":2.79582, "alpha":11.27057, "fx":[-122.21292,-106.74501,-87.96912,-114.84061], "fy":[1.13569,26.03241,81.87118,49.4808]},
- {"t":0.53321, "x":2.46705, "y":4.77307, "heading":1.80124, "vx":-4.39035, "vy":1.12173, "omega":-0.00972, "ax":0.04668, "ay":0.26171, "alpha":0.02808, "fx":[0.62685,0.7177,0.69638,0.60554], "fy":[3.65374,3.67498,3.76571,3.74447]},
- {"t":0.58653, "x":2.23302, "y":4.83325, "heading":1.80077, "vx":-4.38786, "vy":1.13568, "omega":-0.00823, "ax":-0.07447, "ay":-0.29026, "alpha":-0.00035, "fx":[-1.0551,-1.05625,-1.05598,-1.05483], "fy":[-4.11369,-4.11396,-4.11511,-4.11484]},
- {"t":0.63985, "x":1.99895, "y":4.89339, "heading":1.80033, "vx":-4.39183, "vy":1.12021, "omega":-0.00825, "ax":-0.64839, "ay":-2.78267, "alpha":-0.01803, "fx":[-9.16811,-9.23037,-9.21352,-9.15127], "fy":[-39.41127,-39.42165,-39.47602,-39.46564]},
- {"t":0.69317, "x":1.76385, "y":4.94917, "heading":1.79986, "vx":-4.4264, "vy":0.97183, "omega":-0.00921, "ax":2.17094, "ay":-8.16239, "alpha":-5.20957, "fx":[46.66434,14.57806,17.91033,43.93746], "fy":[-109.15052,-117.62558,-121.37494,-114.64896]},
- {"t":0.74649, "x":1.53092, "y":4.98938, "heading":1.79196, "vx":-4.31065, "vy":0.53661, "omega":-0.28699, "ax":7.52545, "ay":-5.24131, "alpha":-12.31865, "fx":[134.41337,107.55003,71.03805,113.68419], "fy":[-23.6919,-80.22011,-116.62872,-76.63652]},
- {"t":0.79981, "x":1.31177, "y":5.01055, "heading":1.75915, "vx":-3.90939, "vy":0.25714, "omega":-0.94383, "ax":7.80159, "ay":-4.78732, "alpha":-13.61802, "fx":[137.15109,118.83528,70.07969,116.27686], "fy":[-12.30446,-66.33096,-118.48584,-74.31512]},
- {"t":0.85313, "x":1.1144, "y":5.01745, "heading":1.68947, "vx":-3.4934, "vy":0.00187, "omega":-1.66995, "ax":9.14213, "ay":-2.96776, "alpha":6.92808, "fx":[117.80113,128.38134,137.31481,134.85293], "fy":[-72.07972,-51.3943,-15.78205,-29.01283]},
- {"t":0.90645, "x":0.94113, "y":5.01333, "heading":1.61027, "vx":-3.00593, "vy":-0.15637, "omega":-1.30054, "ax":8.88349, "ay":0.93766, "alpha":18.1156, "fx":[127.14434,136.49105,130.13467,109.91507], "fy":[-54.47899,-24.20343,47.77744,84.06938]},
- {"t":0.95977, "x":0.79348, "y":5.00633, "heading":1.56668, "vx":-2.53226, "vy":-0.10637, "omega":-0.3346, "ax":8.87917, "ay":3.81571, "alpha":6.49651, "fx":[132.1426,135.3316,123.47527,112.49076], "fy":[41.80691,30.30687,63.18737,81.04574]},
- {"t":1.01309, "x":0.67108, "y":5.00608, "heading":1.55807, "vx":-2.05882, "vy":0.09708, "omega":0.0118, "ax":8.40894, "ay":4.97989, "alpha":2.28518, "fx":[120.73067,124.25699,118.167,113.62443], "fy":[68.32124,61.71602,72.71624,79.6014]},
- {"t":1.06642, "x":0.57326, "y":5.01834, "heading":1.56195, "vx":-1.61044, "vy":0.36262, "omega":0.13365, "ax":8.05738, "ay":5.56164, "alpha":-0.00406, "fx":[114.20957,114.20076,114.21325,114.22207], "fy":[78.83764,78.85038,78.83225,78.81952]},
- {"t":1.11974, "x":0.49884, "y":5.04558, "heading":1.56907, "vx":-1.18082, "vy":0.65917, "omega":0.13343, "ax":7.80671, "ay":5.90197, "alpha":-1.42327, "fx":[110.20127,106.5791,111.29071,114.56219], "fy":[84.40074,88.92219,82.94147,78.37194]},
- {"t":1.17306, "x":0.44698, "y":5.08911, "heading":1.57416, "vx":-0.76456, "vy":0.97386, "omega":0.05754, "ax":7.52246, "ay":6.25086, "alpha":-1.87787, "fx":[106.23561,100.88279,107.30112,112.09679], "fy":[89.30617,95.29892,87.99616,81.81676]},
- {"t":1.22417, "x":0.41772, "y":5.14706, "heading":1.57465, "vx":-0.38005, "vy":1.29337, "omega":-0.03845, "ax":6.22315, "ay":7.53338, "alpha":-1.44343, "fx":[88.72607,82.9939,87.75398,93.37298], "fy":[106.48413,110.99345,107.24597,102.41205]},
- {"t":1.27528, "x":0.40643, "y":5.22301, "heading":1.5708, "vx":-0.06196, "vy":1.67843, "omega":-0.11223, "ax":3.11314, "ay":6.23746, "alpha":4.28408, "fx":[37.28789,56.63264,50.19229,32.39912], "fy":[86.63982,80.30868,90.73866,95.97078]},
- {"t":1.3264, "x":0.40733, "y":5.31695, "heading":1.57066, "vx":0.09716, "vy":1.99725, "omega":0.10675, "ax":-0.81186, "ay":0.0311, "alpha":-3.29299, "fx":[-6.07626,-16.93227,-16.94207,-6.08087], "fy":[5.98364,5.90732,-5.02985,-5.09778]},
- {"t":1.37751, "x":0.41123, "y":5.41908, "heading":1.57181, "vx":0.05566, "vy":1.99884, "omega":-0.06157, "ax":-0.27712, "ay":0.00673, "alpha":1.36883, "fx":[-6.19659,-1.65512,-1.65968,-6.20093], "fy":[-2.17919,-2.17862,2.37426,2.36522]},
- {"t":1.42863, "x":0.41371, "y":5.52125, "heading":1.57045, "vx":0.0415, "vy":1.99919, "omega":0.0084, "ax":-0.19159, "ay":0.00351, "alpha":-0.08255, "fx":[-2.5787,-2.8527,-2.8528,-2.5788], "fy":[0.18675,0.18683,-0.08737,-0.08747]},
- {"t":1.47974, "x":0.41559, "y":5.62345, "heading":1.57078, "vx":0.03171, "vy":1.99937, "omega":0.00418, "ax":-0.1585, "ay":0.00219, "alpha":-0.0832, "fx":[-2.10859,-2.38478,-2.38478,-2.1086], "fy":[0.16922,0.16921,-0.10711,-0.10712]},
- {"t":1.53086, "x":0.417, "y":5.72564, "heading":1.57088, "vx":0.0236, "vy":1.99948, "omega":-0.00007, "ax":-0.141, "ay":0.00141, "alpha":-0.00608, "fx":[-1.9886,-2.00877,-2.00877,-1.9886], "fy":[0.03006,0.03006,0.00988,0.00988]},
- {"t":1.58197, "x":0.41802, "y":5.82785, "heading":1.57087, "vx":0.0164, "vy":1.99955, "omega":-0.00038, "ax":-0.13111, "ay":0.00085, "alpha":0.00537, "fx":[-1.86741,-1.84958,-1.84958,-1.86741], "fy":[0.00319,0.00319,0.02103,0.02102]},
- {"t":1.63308, "x":0.41869, "y":5.93005, "heading":1.57086, "vx":0.0097, "vy":1.99959, "omega":-0.00011, "ax":-0.12595, "ay":0.00041, "alpha":0.0013, "fx":[-1.78745,-1.78314,-1.78314,-1.78745], "fy":[0.00361,0.00361,0.00792,0.00792]},
- {"t":1.6842, "x":0.41902, "y":6.03226, "heading":1.57085, "vx":0.00326, "vy":1.99962, "omega":-0.00004, "ax":-0.12434, "ay":0.0, "alpha":-0.00077, "fx":[-1.76117,-1.76373,-1.76373,-1.76117], "fy":[0.00134,0.00134,-0.00122,-0.00122]},
- {"t":1.73531, "x":0.41902, "y":6.13447, "heading":1.57085, "vx":-0.0031, "vy":1.99962, "omega":-0.00008, "ax":-0.12595, "ay":-0.0004, "alpha":-0.001, "fx":[-1.78361,-1.78695,-1.78695,-1.78361], "fy":[-0.00398,-0.00398,-0.00732,-0.00732]},
- {"t":1.78643, "x":0.4187, "y":6.23668, "heading":1.57084, "vx":-0.00954, "vy":1.9996, "omega":-0.00013, "ax":-0.1311, "ay":-0.00085, "alpha":-0.00104, "fx":[-1.8566,-1.86007,-1.86007,-1.8566], "fy":[-0.01025,-0.01025,-0.01372,-0.01372]},
- {"t":1.83754, "x":0.41804, "y":6.33888, "heading":1.57084, "vx":-0.01624, "vy":1.99955, "omega":-0.00019, "ax":-0.14096, "ay":-0.0014, "alpha":0.0002, "fx":[-1.99837,-1.99772,-1.99772,-1.99837], "fy":[-0.02015,-0.02015,-0.0195,-0.0195]},
- {"t":1.88865, "x":0.41703, "y":6.44109, "heading":1.57083, "vx":-0.02344, "vy":1.99948, "omega":-0.00018, "ax":-0.15836, "ay":-0.00218, "alpha":0.00682, "fx":[-2.256,-2.23335,-2.23336,-2.256], "fy":[-0.04219,-0.04219,-0.01953,-0.01954]},
- {"t":1.93977, "x":0.41562, "y":6.54329, "heading":1.57083, "vx":-0.03154, "vy":1.99937, "omega":0.00017, "ax":-0.19118, "ay":-0.00348, "alpha":0.00595, "fx":[-2.71983,-2.70009,-2.70009,-2.71983], "fy":[-0.05924,-0.05924,-0.03949,-0.03949]},
- {"t":1.99088, "x":0.41376, "y":6.64548, "heading":1.57084, "vx":-0.04131, "vy":1.99919, "omega":0.00048, "ax":-0.27885, "ay":-0.00676, "alpha":-0.11544, "fx":[-3.76116,-4.14416,-4.14413,-3.76113], "fy":[0.09607,0.09604,-0.28756,-0.28758]},
- {"t":2.042, "x":0.41128, "y":6.74766, "heading":1.57072, "vx":-0.05556, "vy":1.99885, "omega":-0.00543, "ax":-0.99706, "ay":-0.04048, "alpha":0.27888, "fx":[-14.59095,-13.67457,-13.67525,-14.59168], "fy":[-1.04089,-1.04238,-0.1062,-0.10598]},
- {"t":2.09311, "x":0.40714, "y":6.84977, "heading":1.5708, "vx":-0.10653, "vy":1.99678, "omega":0.00883, "ax":3.62199, "ay":-5.4403, "alpha":-0.35116, "fx":[52.2645,50.8956,50.42002,51.78326], "fy":[-76.39159,-76.8724,-77.83598,-77.35981]},
- {"t":2.14422, "x":0.40643, "y":6.94473, "heading":1.5708, "vx":0.07861, "vy":1.7187, "omega":-0.00912, "ax":5.89065, "ay":-7.80221, "alpha":0.16562, "fx":[82.88539,83.58551,84.11155,83.41204], "fy":[-111.05651,-110.53252,-110.1301,-110.65882]},
- {"t":2.19534, "x":0.41814, "y":7.02239, "heading":1.57055, "vx":0.3797, "vy":1.3199, "omega":-0.00065, "ax":7.21489, "ay":-6.61706, "alpha":0.21709, "fx":[101.58004,102.24177,102.95541,102.30002], "fy":[-94.54396,-93.82954,-93.04446,-93.76293]},
- {"t":2.24645, "x":0.44698, "y":7.08121, "heading":1.5708, "vx":0.74849, "vy":0.98167, "omega":0.01044, "ax":7.34977, "ay":-6.46503, "alpha":0.23492, "fx":[103.45297,104.13769,104.90556,104.22881], "fy":[-92.46478,-91.69495,-90.81366,-91.58752]},
- {"t":2.28554, "x":0.48185, "y":7.11464, "heading":1.57138, "vx":1.03579, "vy":0.72896, "omega":0.01962, "ax":7.17727, "ay":-6.6514, "alpha":0.26285, "fx":[100.89665,101.70837,102.57105,101.76841], "fy":[-95.18374,-94.31861,-93.37717,-94.2485]},
- {"t":2.32463, "x":0.52782, "y":7.13805, "heading":1.57235, "vx":1.31635, "vy":0.46895, "omega":0.0299, "ax":6.86447, "ay":-6.96608, "alpha":0.31138, "fx":[96.26039,97.31617,98.33897,97.29352], "fy":[-99.76383,-98.73827,-97.71549,-98.7523]},
- {"t":2.36372, "x":0.58452, "y":7.15106, "heading":1.57376, "vx":1.58468, "vy":0.19665, "omega":0.04207, "ax":6.13493, "ay":-7.6012, "alpha":0.41522, "fx":[85.45644,87.13195,88.46222,86.79409], "fy":[-108.9521,-107.62379,-106.52427,-107.88051]},
- {"t":2.40281, "x":0.65115, "y":7.15294, "heading":1.57572, "vx":1.8245, "vy":-0.10048, "omega":0.0583, "ax":3.0847, "ay":-9.22639, "alpha":0.75029, "fx":[40.79794,45.19861,46.711,42.19226], "fy":[-131.75972,-130.32684,-129.75725,-131.28389]},
- {"t":2.4419, "x":0.72483, "y":7.14197, "heading":1.57857, "vx":1.94508, "vy":-0.46114, "omega":0.08763, "ax":-3.06363, "ay":-9.08112, "alpha":1.71796, "fx":[-46.60549,-36.87804,-39.95566,-50.26565], "fy":[-127.88541,-130.94961,-129.79773,-126.25811]},
- {"t":2.48099, "x":0.79852, "y":7.117, "heading":1.58331, "vx":1.82532, "vy":-0.81612, "omega":0.15479, "ax":-4.11511, "ay":-7.46508, "alpha":6.88484, "fx":[-66.18996,-35.90089,-48.69288,-82.53915], "fy":[-106.69293,-118.59899,-107.92968,-90.0415]},
- {"t":2.52008, "x":0.86673, "y":7.0794, "heading":1.59462, "vx":1.66446, "vy":-1.10793, "omega":0.42391, "ax":-1.06814, "ay":-1.54267, "alpha":25.01737, "fx":[-51.86935,25.06536,28.81985,-62.57857], "fy":[-60.41863,-65.23792,21.87559,16.31307]},
- {"t":2.55917, "x":0.93098, "y":7.03491, "heading":1.63031, "vx":1.62271, "vy":-1.16824, "omega":1.40184, "ax":-0.08257, "ay":-0.11435, "alpha":16.07957, "fx":[-26.11903,26.96236,23.99525,-29.52023], "fy":[-29.75101,-26.78354,26.70905,23.34177]},
- {"t":2.59826, "x":0.99435, "y":6.98915, "heading":1.69739, "vx":1.61948, "vy":-1.17271, "omega":2.0304, "ax":-0.00465, "ay":-0.00641, "alpha":7.75871, "fx":[-11.21598,14.33716,11.08674,-14.47131], "fy":[-14.49356,-11.24369,14.31487,11.05906]},
- {"t":2.63735, "x":1.05765, "y":6.94331, "heading":1.78269, "vx":1.6193, "vy":-1.17296, "omega":2.33368, "ax":-0.00017, "ay":-0.00023, "alpha":3.32661, "fx":[-4.24009,6.5584,4.23531,-6.5632], "fy":[-6.56403,-4.24095,6.55757,4.23445]},
- {"t":2.67644, "x":1.12095, "y":6.89746, "heading":1.87645, "vx":1.61929, "vy":-1.17297, "omega":2.46372, "ax":0.00007, "ay":0.0001, "alpha":1.48453, "fx":[-1.60764,3.09305,1.60971,-3.09098], "fy":[-3.09053,-1.6072,3.09349,1.61016]},
- {"t":2.71553, "x":1.18425, "y":6.85161, "heading":1.97389, "vx":1.61929, "vy":-1.17296, "omega":2.52175, "ax":0.00016, "ay":0.00023, "alpha":0.8057, "fx":[-0.70335,1.75745,0.70801,-1.75278], "fy":[-1.75185,-0.70242,1.75838,0.70894]},
- {"t":2.75462, "x":1.24754, "y":6.80575, "heading":2.07308, "vx":1.6193, "vy":-1.17295, "omega":2.55325, "ax":0.00028, "ay":0.00039, "alpha":0.5548, "fx":[-0.35991,1.2547,0.36781,-1.2468], "fy":[-1.24526,-0.35837,1.25624,0.36935]},
- {"t":2.79371, "x":1.31084, "y":6.7599, "heading":2.17331, "vx":1.61931, "vy":-1.17294, "omega":2.57493, "ax":0.0004, "ay":0.00056, "alpha":0.42481, "fx":[-0.17567,0.98647,0.18709,-0.97505], "fy":[-0.97285,-0.17347,0.98867,0.18929]},
- {"t":2.8328, "x":1.37414, "y":6.71405, "heading":2.27429, "vx":1.61933, "vy":-1.17292, "omega":2.59154, "ax":0.00052, "ay":0.00071, "alpha":0.29911, "fx":[-0.05015,0.70722,0.06475,-0.69262], "fy":[-0.68981,-0.04734,0.71002,0.06755]},
- {"t":2.87189, "x":1.43744, "y":6.66821, "heading":2.37582, "vx":1.61935, "vy":-1.17289, "omega":2.60323, "ax":0.00059, "ay":0.00082, "alpha":0.14531, "fx":[0.01507,0.34947,0.00167,-0.33274], "fy":[-0.32953,0.01828,0.35268,0.00488]},
- {"t":2.91098, "x":1.50074, "y":6.62236, "heading":2.47769, "vx":1.61937, "vy":-1.17286, "omega":2.60891, "ax":0.00061, "ay":0.00084, "alpha":-0.02659, "fx":[0.00102,-0.05338,0.01615,0.07056], "fy":[0.07385,0.00432,-0.05009,0.01945]},
- {"t":2.95007, "x":1.56405, "y":6.57651, "heading":2.57966, "vx":1.61939, "vy":-1.17282, "omega":2.60787, "ax":0.00056, "ay":0.00077, "alpha":-0.18696, "fx":[-0.0894,-0.42016,0.10516,0.43592], "fy":[0.43895,-0.08637,-0.41714,0.10818]},
- {"t":2.98916, "x":1.62735, "y":6.53067, "heading":2.68146, "vx":1.61942, "vy":-1.17279, "omega":2.60056, "ax":0.00045, "ay":0.00063, "alpha":-0.30518, "fx":[-0.22253,-0.6725,0.23542,0.68539], "fy":[0.68787,-0.22005,-0.67002,0.2379]},
- {"t":3.02825, "x":1.69065, "y":6.48482, "heading":2.78288, "vx":1.61943, "vy":-1.17277, "omega":2.58863, "ax":0.00033, "ay":0.00046, "alpha":-0.36298, "fx":[-0.34804,-0.77116,0.35736,0.78048], "fy":[0.78228,-0.34624,-0.76935,0.35916]},
- {"t":3.06734, "x":1.75395, "y":6.43898, "heading":2.88379, "vx":1.61945, "vy":-1.17275, "omega":2.57445, "ax":0.0002, "ay":0.00028, "alpha":-0.3582, "fx":[-0.42051,-0.72374,0.42631,0.72953], "fy":[0.73066,-0.41939,-0.72261,0.42744]},
- {"t":3.10643, "x":1.81726, "y":6.39314, "heading":2.98415, "vx":1.61945, "vy":-1.17274, "omega":2.56044, "ax":0.0001, "ay":0.00014, "alpha":-0.30058, "fx":[-0.41321,-0.56968,0.41602,0.5725], "fy":[0.57306,-0.41265,-0.56912,0.41658]},
- {"t":3.14552, "x":1.88056, "y":6.34729, "heading":3.08401, "vx":1.61946, "vy":-1.17274, "omega":2.54869, "ax":0.00002, "ay":0.00003, "alpha":-0.20573, "fx":[-0.32102,-0.36033,0.32165,0.36095], "fy":[0.3611,-0.32088,-0.36019,0.32179]},
- {"t":3.18461, "x":1.94387, "y":6.30145, "heading":-3.0997, "vx":1.61946, "vy":-1.17273, "omega":2.54065, "ax":-0.00002, "ay":-0.00003, "alpha":-0.09088, "fx":[-0.1574,-0.14477,0.15671,0.14407], "fy":[0.14396,-0.15752,-0.14488,0.1566]},
- {"t":3.2237, "x":2.00717, "y":6.25561, "heading":-3.00046, "vx":1.61946, "vy":-1.17274, "omega":2.5371, "ax":-0.00004, "ay":-0.00005, "alpha":0.02467, "fx":[0.04576,0.03424,-0.04687,-0.03535], "fy":[-0.03554,0.04557,0.03404,-0.04706]},
- {"t":3.26279, "x":2.07048, "y":6.20977, "heading":-2.90126, "vx":1.61946, "vy":-1.17274, "omega":2.53806, "ax":-0.00002, "ay":-0.00003, "alpha":0.11414, "fx":[0.22887,0.13866,-0.22945,-0.13924], "fy":[-0.13933,0.22878,0.13857,-0.22954]},
- {"t":3.30188, "x":2.13378, "y":6.16393, "heading":-2.80196, "vx":1.61946, "vy":-1.17274, "omega":2.54253, "ax":0.00004, "ay":0.00005, "alpha":0.12859, "fx":[0.27292,0.13067,-0.27192,-0.12967], "fy":[-0.12947,0.27312,0.13088,-0.27171]},
- {"t":3.34097, "x":2.19709, "y":6.11808, "heading":-2.70248, "vx":1.61946, "vy":-1.17274, "omega":2.54755, "ax":0.00013, "ay":0.00018, "alpha":-0.03626, "fx":[-0.07821,-0.02703,0.08194,0.03076], "fy":[0.03148,-0.07749,-0.0263,0.08266]},
- {"t":3.38006, "x":2.26039, "y":6.07224, "heading":-2.60292, "vx":1.61946, "vy":-1.17273, "omega":2.54614, "ax":0.00026, "ay":0.00036, "alpha":-0.61523, "fx":[-1.397,-0.34905,1.40445,0.35651], "fy":[0.35793,-1.39557,-0.34763,1.40587]},
- {"t":3.41915, "x":2.3237, "y":6.0264, "heading":-2.50386, "vx":1.61947, "vy":-1.17272, "omega":2.52209, "ax":0.00039, "ay":0.00054, "alpha":-2.12619, "fx":[-4.93216,-0.72897,4.94316,0.73999], "fy":[0.74209,-4.93007,-0.72687,4.94525]},
- {"t":3.45824, "x":2.387, "y":5.98056, "heading":-2.4069, "vx":1.61949, "vy":-1.17269, "omega":2.43897, "ax":0.0005, "ay":0.00069, "alpha":-5.59204, "fx":[-13.10537,-0.65825,13.11949,0.67258], "fy":[0.67531,-13.10273,-0.65553,13.12214]},
- {"t":3.49733, "x":2.45031, "y":5.93472, "heading":-2.31583, "vx":1.61951, "vy":-1.17267, "omega":2.22038, "ax":0.00231, "ay":0.00318, "alpha":-12.3891, "fx":[-29.03302,1.20803,29.09523,-1.13947], "fy":[-1.12676,-29.02086,1.22072,29.10739]},
- {"t":3.53642, "x":2.51362, "y":5.88888, "heading":-2.2385, "vx":1.6196, "vy":-1.17254, "omega":1.73609, "ax":0.03095, "ay":0.04279, "alpha":-22.3561, "fx":[-51.76851,6.6847,52.48362,-5.6452], "fy":[-5.48539,-51.58858,6.83766,52.66243]},
- {"t":3.57551, "x":2.57695, "y":5.84308, "heading":-2.18772, "vx":1.62081, "vy":-1.17087, "omega":0.86219, "ax":0.33921, "ay":0.47527, "alpha":-32.12387, "fx":[-71.60017,19.7921,77.22358,-6.18273], "fy":[-4.16178,-68.9673,20.45007,79.62625]},
- {"t":3.6146, "x":2.64057, "y":5.79767, "heading":-2.17856, "vx":1.63407, "vy":-1.15229, "omega":-0.39353, "ax":2.63941, "ay":4.15424, "alpha":-28.20381, "fx":[-45.8068,81.19469,92.26408,22.00024], "fy":[73.63821,-11.91383,63.5001,110.3167]},
- {"t":3.65369, "x":2.70646, "y":5.7558, "heading":-2.21549, "vx":1.73724, "vy":-0.9899, "omega":-1.49602, "ax":3.85612, "ay":8.48446, "alpha":-4.75658, "fx":[36.72466,66.2059,69.70759,46.0003], "fy":[127.33177,114.35048,113.84565,125.53274]},
- {"t":3.69278, "x":2.77731, "y":5.72359, "heading":-2.2776, "vx":1.88798, "vy":-0.65824, "omega":-1.68196, "ax":2.31523, "ay":9.38207, "alpha":-1.87871, "fx":[24.60854,35.64834,40.65952,30.35502], "fy":[134.85832,132.28515,130.99092,133.82026]},
- {"t":3.73187, "x":2.85288, "y":5.70503, "heading":-2.34479, "vx":1.97848, "vy":-0.2915, "omega":-1.7554, "ax":9.75226, "ay":0.8071, "alpha":0.43718, "fx":[138.25818,138.06033,138.22835,138.39715], "fy":[11.29809,13.4755,11.58824,9.39981]},
- {"t":3.79073, "x":2.98621, "y":5.68927, "heading":-2.44734, "vx":2.55243, "vy":-0.244, "omega":-1.72967, "ax":9.72458, "ay":0.84202, "alpha":2.68797, "fx":[138.31319,136.5485,137.87092,138.64182], "fy":[9.91914,24.05837,14.39469,-0.63075]},
- {"t":3.84958, "x":3.15327, "y":5.67637, "heading":-2.54448, "vx":3.12474, "vy":-0.19444, "omega":-1.57147, "ax":9.58092, "ay":0.91373, "alpha":7.22059, "fx":[138.47622,131.86317,136.05142,136.83844], "fy":[5.35916,42.4781,25.25595,-21.28555]},
- {"t":3.90843, "x":3.35376, "y":5.66651, "heading":-2.62446, "vx":3.68861, "vy":-0.14067, "omega":-1.14652, "ax":9.2545, "ay":1.06875, "alpha":12.3649, "fx":[138.30305,125.79163,129.47296,131.15369], "fy":[-0.26938,57.2674,46.53983,-42.94058]},
- {"t":3.96728, "x":3.58687, "y":5.66008, "heading":-2.67052, "vx":4.23326, "vy":-0.07777, "omega":-0.41881, "ax":5.02531, "ay":5.70642, "alpha":7.10972, "fx":[89.76376,68.64258,49.50248,77.02146], "fy":[67.79404,91.75219,95.81383,68.18847]},
- {"t":4.02614, "x":3.84472, "y":5.66538, "heading":-2.68286, "vx":4.52901, "vy":0.25807, "omega":-0.00039, "ax":-0.06737, "ay":1.06743, "alpha":0.00038, "fx":[-0.95416,-0.95473,-0.95588,-0.95532], "fy":[15.13028,15.1314,15.13085,15.12972]},
- {"t":4.08499, "x":4.11114, "y":5.68242, "heading":-2.68288, "vx":4.52505, "vy":0.32089, "omega":-0.00036, "ax":-0.00445, "ay":0.06239, "alpha":0.0, "fx":[-0.06309,-0.06309,-0.06309,-0.06309], "fy":[0.88432,0.88432,0.88432,0.88432]},
- {"t":4.14384, "x":4.37745, "y":5.70141, "heading":-2.6829, "vx":4.52478, "vy":0.32456, "omega":-0.00036, "ax":0.01918, "ay":-0.27428, "alpha":0.0, "fx":[0.2718,0.27181,0.27181,0.27181], "fy":[-3.88787,-3.88788,-3.88788,-3.88787]},
- {"t":4.20269, "x":4.64378, "y":5.72004, "heading":-2.68292, "vx":4.52591, "vy":0.30842, "omega":-0.00036, "ax":0.15648, "ay":-3.42755, "alpha":-0.00019, "fx":[2.21753,2.21783,2.21847,2.21816], "fy":[-48.58453,-48.58502,-48.58477,-48.58428]},
- {"t":4.26155, "x":4.91041, "y":5.73226, "heading":-2.68295, "vx":4.53512, "vy":0.1067, "omega":-0.00038, "ax":-1.27205, "ay":-8.76855, "alpha":-1.0877, "fx":[-22.55904,-18.90937,-13.54942,-17.10622], "fy":[-123.52019,-124.65597,-124.99969,-123.99236]},
- {"t":4.3204, "x":5.17511, "y":5.72335, "heading":-2.68485, "vx":4.46026, "vy":-0.40935, "omega":-0.06439, "ax":-9.63935, "ay":-1.40457, "alpha":-0.82554, "fx":[-136.91822,-136.14324,-136.37074,-137.10969], "fy":[-18.21841,-23.259,-21.69064,-16.46955]},
- {"t":4.37925, "x":5.42091, "y":5.69683, "heading":-2.69007, "vx":3.89296, "vy":-0.49202, "omega":-0.11298, "ax":-9.69706, "ay":-1.04786, "alpha":2.60596, "fx":[-136.96717,-138.46505,-138.18444,-136.19726], "fy":[-20.47861,-3.49212,-10.0825,-25.35957]},
- {"t":4.43811, "x":5.63323, "y":5.66605, "heading":-2.69221, "vx":3.32226, "vy":-0.55369, "omega":0.04039, "ax":-9.69859, "ay":-0.93193, "alpha":3.71829, "fx":[-136.96622,-138.60465,-138.5181,-135.81165], "fy":[-21.37214,3.29426,-6.75056,-28.01119]},
- {"t":4.49696, "x":5.81196, "y":5.63185, "heading":-2.68339, "vx":2.75147, "vy":-0.60853, "omega":0.25922, "ax":-9.69628, "ay":-0.87494, "alpha":4.26535, "fx":[-136.99295,-138.54725,-138.64115,-135.58847], "fy":[-21.64928,6.74985,-5.33716,-29.37179]},
- {"t":4.55581, "x":5.9571, "y":5.59453, "heading":-2.66075, "vx":2.18082, "vy":-0.66003, "omega":0.51025, "ax":-9.69405, "ay":-0.84118, "alpha":4.58519, "fx":[-137.0726,-138.46589,-138.69501,-135.40999], "fy":[-21.41473,8.91519,-4.842,-30.35228]},
- {"t":4.61466, "x":6.06866, "y":5.55422, "heading":-2.62278, "vx":1.6103, "vy":-0.70953, "omega":0.7801, "ax":-9.69237, "ay":-0.81887, "alpha":4.78816, "fx":[-137.21582,-138.38589,-138.71353,-135.23296], "fy":[-20.66821,10.45521,-4.97858,-31.23774]},
- {"t":4.67352, "x":6.14664, "y":5.51105, "heading":-2.56857, "vx":1.03988, "vy":-0.75772, "omega":1.0619, "ax":-9.69124, "ay":-0.80299, "alpha":4.92151, "fx":[-137.42456,-138.31323,-138.70459,-135.04145], "fy":[-19.37731,11.61879,-5.6427,-32.12734]},
- {"t":4.73237, "x":6.19106, "y":5.46506, "heading":-2.49756, "vx":0.46952, "vy":-0.80498, "omega":1.35154, "ax":-9.69054, "ay":-0.79092, "alpha":5.01069, "fx":[-137.69187,-138.25331,-138.66531,-134.83401], "fy":[-17.4979,12.48333,-6.79216,-33.03789]},
- {"t":4.79122, "x":6.20191, "y":5.41632, "heading":-2.40934, "vx":-0.10079, "vy":-0.85153, "omega":1.64643, "ax":-9.64948, "ay":-1.15067, "alpha":5.0191, "fx":[-137.08472,-138.55027,-138.17032,-133.31123], "fy":[-21.2419,7.45403,-12.95278,-38.50122]},
- {"t":4.82707, "x":6.1921, "y":5.38506, "heading":-2.34709, "vx":-0.44669, "vy":-0.89278, "omega":1.82635, "ax":-9.48493, "ay":-2.11518, "alpha":4.93184, "fx":[-133.97795,-138.53701,-136.27154,-128.99978], "fy":[-35.80647,-7.00499,-26.08525,-51.03202]},
- {"t":4.86291, "x":6.16999, "y":5.35169, "heading":-2.27846, "vx":-0.78668, "vy":-0.9686, "omega":2.00314, "ax":-9.04986, "ay":-3.54815, "alpha":4.71165, "fx":[-126.1014,-135.47986,-131.07687,-120.4603], "fy":[-57.57972,-29.52705,-45.35309,-68.71713]},
- {"t":4.89876, "x":6.13598, "y":5.31469, "heading":-2.20363, "vx":-1.11109, "vy":-1.09578, "omega":2.17203, "ax":-7.91057, "ay":-5.66635, "alpha":4.12491, "fx":[-106.61328,-122.25653,-117.03262,-102.61907], "fy":[-88.50007,-65.26038,-74.32016,-93.19589]},
- {"t":4.9346, "x":6.09107, "y":5.27177, "heading":-2.12312, "vx":-1.39465, "vy":-1.2989, "omega":2.31989, "ax":-5.19093, "ay":-8.25757, "alpha":2.668, "fx":[-65.69803,-81.53019,-80.52939,-66.56302], "fy":[-121.94016,-111.9759,-112.75604,-121.52437]},
- {"t":4.97045, "x":6.03774, "y":5.21991, "heading":-2.03824, "vx":-1.58072, "vy":-1.5949, "omega":2.41553, "ax":-0.79612, "ay":-9.74042, "alpha":0.3709, "fx":[-9.68182,-11.96587,-12.87157,-10.61977], "fy":[-138.19343,-138.01183,-137.93661,-138.13069]},
- {"t":5.0063, "x":5.98057, "y":5.15648, "heading":-1.95142, "vx":-1.60926, "vy":-1.94406, "omega":2.42882, "ax":1.68444, "ay":-9.61193, "alpha":-1.54364, "fx":[17.02494,25.4489,30.8646,22.16784], "fy":[-137.37324,-136.08249,-134.92727,-136.60433]},
- {"t":5.03307, "x":5.93808, "y":5.10098, "heading":-1.88694, "vx":-1.56416, "vy":-2.20141, "omega":2.38749, "ax":2.51672, "ay":-9.39719, "alpha":-3.41943, "fx":[20.85285,38.67616,50.99974,32.16681], "fy":[-136.79796,-132.90509,-128.60953,-134.49891]},
- {"t":5.05985, "x":5.8971, "y":5.03867, "heading":-1.82424, "vx":-1.49677, "vy":-2.45302, "omega":2.29594, "ax":3.49203, "ay":-9.02176, "alpha":-5.41989, "fx":[26.62097,53.23955,72.99319,45.14083], "fy":[-135.7409,-127.74426,-117.45891,-130.58097]},
- {"t":5.08662, "x":5.85828, "y":4.96976, "heading":-1.76471, "vx":-1.40328, "vy":-2.69457, "omega":2.15082, "ax":4.57643, "ay":-8.46258, "alpha":-6.80989, "fx":[36.93782,68.06233,92.36745,62.1116], "fy":[-133.24115,-120.46568,-102.84993,-123.26339]},
- {"t":5.1134, "x":5.82235, "y":4.89458, "heading":-1.70957, "vx":-1.28074, "vy":-2.92115, "omega":1.96849, "ax":5.71568, "ay":-7.74232, "alpha":-6.62484, "fx":[55.18626,82.37302,104.92718,81.5869], "fy":[-126.6985,-111.10847,-89.92997,-111.24532]},
- {"t":5.14017, "x":5.79011, "y":4.81359, "heading":-1.65924, "vx":-1.12771, "vy":-3.12845, "omega":1.79111, "ax":6.88141, "ay":-6.77393, "alpha":-5.60011, "fx":[78.04291,96.99571,114.65678,100.47398], "fy":[-113.96709,-98.5182,-77.07523,-94.51495]},
- {"t":5.16694, "x":5.76238, "y":4.7274, "heading":-1.61329, "vx":-0.94346, "vy":-3.30982, "omega":1.64117, "ax":7.9692, "ay":-5.52421, "alpha":-4.04831, "fx":[101.62487,111.43113,122.72797,116.06229], "fy":[-93.48328,-81.73868,-63.38591,-74.60955]},
- {"t":5.19372, "x":5.73997, "y":4.6368, "heading":-1.5708, "vx":-0.73009, "vy":-3.45773, "omega":1.53278, "ax":8.64876, "ay":-4.42611, "alpha":-3.49166, "fx":[114.87831,120.96551,129.12213,125.4107], "fy":[-76.78554,-66.98059,-49.34116,-57.84918]},
- {"t":5.22777, "x":5.72013, "y":4.51651, "heading":-1.52063, "vx":-0.43562, "vy":-3.60843, "omega":1.4139, "ax":9.08196, "ay":-3.4289, "alpha":-3.24569, "fx":[123.21865,127.34305,133.30361,131.07343], "fy":[-62.11669,-53.44815,-35.9281,-42.92225]},
- {"t":5.26181, "x":5.71056, "y":4.39167, "heading":-1.47437, "vx":-0.12641, "vy":-3.72517, "omega":1.30339, "ax":9.52307, "ay":-1.88562, "alpha":-2.09469, "fx":[133.1228,134.31229,136.56038,135.95358], "fy":[-35.38503,-31.02274,-18.59373,-21.91147]},
- {"t":5.29586, "x":5.71178, "y":4.26374, "heading":-1.43121, "vx":0.19783, "vy":-3.78937, "omega":1.23207, "ax":9.68515, "ay":0.51862, "alpha":0.42996, "fx":[137.21594,137.20057,137.35269,137.36985], "fy":[8.86476,8.64904,5.80938,6.0819]},
- {"t":5.32991, "x":5.72413, "y":4.13502, "heading":-1.38901, "vx":0.52758, "vy":-3.77171, "omega":1.24671, "ax":8.86581, "ay":3.75486, "alpha":4.42277, "fx":[122.46084,117.93101,130.47671,131.81425], "fy":[62.38569,69.96312,41.83922,38.7091]},
- {"t":5.36396, "x":5.74723, "y":4.00878, "heading":-1.344, "vx":0.82944, "vy":-3.64387, "omega":1.3973, "ax":6.79416, "ay":6.70846, "alpha":7.00123, "fx":[93.41456,71.60962,103.93603,116.26218], "fy":[101.03739,117.09346,88.97283,73.25967]},
- {"t":5.398, "x":5.77941, "y":3.88861, "heading":-1.29237, "vx":1.06076, "vy":-3.41546, "omega":1.63567, "ax":4.85198, "ay":8.13535, "alpha":9.05427, "fx":[69.72198,30.62924,71.80247,102.9491], "fy":[118.99661,134.20086,116.66047,91.40877]},
- {"t":5.43205, "x":5.81834, "y":3.77704, "heading":-1.23143, "vx":1.22596, "vy":-3.13848, "omega":1.94394, "ax":3.46975, "ay":8.77312, "alpha":10.07553, "fx":[53.29099,5.60724,45.76365,92.06976], "fy":[127.45648,137.84273,129.44636,102.6819]},
- {"t":5.4661, "x":5.86209, "y":3.67526, "heading":-1.15941, "vx":1.3441, "vy":-2.83978, "omega":2.28699, "ax":2.57627, "ay":9.06803, "alpha":10.44716, "fx":[41.51859,-9.12797,30.38021,83.30139], "fy":[131.92957,137.85731,134.2008,110.16122]},
- {"t":5.50015, "x":5.90934, "y":3.58383, "heading":-1.07549, "vx":1.43181, "vy":-2.53103, "omega":2.64269, "ax":2.34495, "ay":9.18614, "alpha":9.61894, "fx":[35.65932,-10.41761,31.40995,76.30488], "fy":[133.67655,137.81498,134.13962,115.21414]},
- {"t":5.54067, "x":5.96929, "y":3.48881, "heading":-0.96049, "vx":1.52684, "vy":-2.15877, "omega":3.03249, "ax":2.68928, "ay":9.17202, "alpha":7.51942, "fx":[35.73431,3.20354,43.62363,69.91834], "fy":[133.29082,137.72986,130.2486,118.77539]},
- {"t":5.58119, "x":6.03337, "y":3.40886, "heading":-0.83143, "vx":1.63582, "vy":-1.78708, "omega":3.33721, "ax":3.12952, "ay":9.05818, "alpha":4.79963, "fx":[39.54511,23.15773,51.45457,63.28329], "fy":[131.22112,134.71066,126.28951,121.36885]},
- {"t":5.62172, "x":6.10224, "y":3.34387, "heading":-0.69225, "vx":1.76264, "vy":-1.42, "omega":3.53171, "ax":5.41749, "ay":7.84455, "alpha":-1.04525, "fx":[79.32859,79.78123,74.39522,73.66154], "fy":[109.32745,109.22603,112.98132,113.24394]},
- {"t":5.66224, "x":6.17811, "y":3.29277, "heading":-0.54999, "vx":1.98218, "vy":-1.1021, "omega":3.48936, "ax":7.59728, "ay":5.41911, "alpha":-6.21483, "fx":[122.35067,114.5266,93.8094,100.07201], "fy":[53.4037,70.77733,96.02785,87.04966]},
- {"t":5.70277, "x":6.26468, "y":3.25256, "heading":-0.41369, "vx":2.29006, "vy":-0.8825, "omega":3.2375, "ax":8.19446, "ay":4.17602, "alpha":-8.17121, "fx":[130.8071,121.03361,98.58371,114.19339], "fy":[24.76556,58.27346,89.89768,63.83982]},
- {"t":5.74329, "x":6.36421, "y":3.22022, "heading":-0.2892, "vx":2.62214, "vy":-0.71327, "omega":2.90637, "ax":7.70833, "ay":4.88626, "alpha":-8.54612, "fx":[127.70821,114.16395,87.71718,107.46577], "fy":[35.20157,69.7894,99.57638,72.47901]},
- {"t":5.78382, "x":6.4768, "y":3.19533, "heading":-0.17843, "vx":2.93451, "vy":-0.51525, "omega":2.56004, "ax":6.42582, "ay":6.34591, "alpha":-8.08936, "fx":[114.79326,97.69087,66.99709,84.85656], "fy":[62.21936,89.34552,112.87045,95.37157]},
- {"t":5.82434, "x":6.601, "y":3.17966, "heading":-0.08133, "vx":3.19492, "vy":-0.25809, "omega":2.23223, "ax":5.26262, "ay":6.61405, "alpha":-7.59903, "fx":[98.183,81.99505,51.73057,66.47674], "fy":[72.15175,94.82791,111.91006,96.12055]},
- {"t":5.86487, "x":6.73479, "y":3.17463, "heading":0.00289, "vx":3.40818, "vy":0.00994, "omega":1.92428, "ax":-0.44877, "ay":6.56414, "alpha":0.26565, "fx":[-6.97129,-7.0271,-5.74563,-5.7006], "fy":[93.26152,92.7731,92.82903,93.31663]},
- {"t":5.90539, "x":6.87254, "y":3.18043, "heading":0.08109, "vx":3.38999, "vy":0.27595, "omega":1.93504, "ax":-5.86909, "ay":6.16479, "alpha":7.69025, "fx":[-89.04431,-105.39069,-77.96259,-60.37437], "fy":[89.39846,63.66066,88.30521,108.17318]},
- {"t":5.94591, "x":7.0051, "y":3.19667, "heading":0.16582, "vx":3.15215, "vy":0.52578, "omega":2.24669, "ax":-6.95216, "ay":5.82535, "alpha":8.09155, "fx":[-103.31286,-120.06213,-95.86702,-74.93875], "fy":[83.53307,53.24029,85.30444,108.21375]},
- {"t":5.98644, "x":7.12713, "y":3.22276, "heading":0.26351, "vx":2.87042, "vy":0.76184, "omega":2.57459, "ax":-8.13279, "ay":4.21817, "alpha":8.5743, "fx":[-118.50006,-130.73926,-116.75271,-95.12928], "fy":[63.02328,25.25974,57.90296,92.98003]},
- {"t":6.02696, "x":7.23677, "y":3.2571, "heading":0.37488, "vx":2.54084, "vy":0.93278, "omega":2.92206, "ax":-8.63495, "ay":3.23997, "alpha":8.33221, "fx":[-125.56883,-133.38735,-123.94564,-106.69159], "fy":[48.8356,10.71125,43.6171,80.53946]},
- {"t":6.06749, "x":7.33265, "y":3.29756, "heading":0.50014, "vx":2.19092, "vy":1.06408, "omega":3.25972, "ax":-8.34995, "ay":4.17406, "alpha":6.79776, "fx":[-122.7852,-130.64432,-115.47147,-104.53317], "fy":[56.22901,30.27247,65.58855,84.57536]},
- {"t":6.10801, "x":7.41458, "y":3.34411, "heading":0.63782, "vx":1.85254, "vy":1.23323, "omega":3.5352, "ax":-6.81358, "ay":6.65541, "alpha":2.42119, "fx":[-101.05252,-102.92702,-91.62145,-90.72226], "fy":[90.22478,87.46304,99.13668,100.53077]},
- {"t":6.14854, "x":7.48405, "y":3.39955, "heading":0.78307, "vx":1.57642, "vy":1.50294, "omega":3.63331, "ax":-4.59282, "ay":8.43499, "alpha":-3.63541, "fx":[-51.29566,-58.99409,-77.18133,-72.93739], "fy":[126.53606,123.51564,112.94381,115.26035]},
- {"t":6.18906, "x":7.54417, "y":3.46738, "heading":0.92732, "vx":1.3903, "vy":1.84476, "omega":3.48599, "ax":-3.86338, "ay":8.76162, "alpha":-7.02353, "fx":[-23.66504,-48.85862,-80.92866,-65.59754], "fy":[135.60252,128.98214,111.52802,120.66309]},
- {"t":6.22959, "x":7.59734, "y":3.54933, "heading":1.06282, "vx":1.23374, "vy":2.19982, "omega":3.20137, "ax":-3.75806, "ay":8.71642, "alpha":-8.88724, "fx":[-12.94432,-50.57892,-88.23044,-61.32468], "fy":[137.14292,128.4166,105.89375,122.75946]},
- {"t":6.26812, "x":7.64208, "y":3.64056, "heading":1.17958, "vx":1.08894, "vy":2.53567, "omega":2.85893, "ax":-3.45155, "ay":8.70261, "alpha":-10.45446, "fx":[-2.78436,-51.36663,-92.53961,-49.00908], "fy":[137.27613,127.71281,101.41103,127.0297]},
- {"t":6.30665, "x":7.68148, "y":3.74473, "heading":1.28197, "vx":0.95595, "vy":2.87099, "omega":2.45612, "ax":-2.69194, "ay":8.78932, "alpha":-12.01732, "fx":[8.74545,-48.4235,-90.84028,-22.11211], "fy":[136.26771,128.13417,101.48131,132.46304]},
- {"t":6.34518, "x":7.71631, "y":3.86187, "heading":1.36769, "vx":0.85223, "vy":3.20965, "omega":1.99308, "ax":-1.38365, "ay":8.8729, "alpha":-13.38098, "fx":[21.7999,-38.85619,-77.34248,15.94694], "fy":[133.3813,129.90536,109.21473,130.58342]},
- {"t":6.38371, "x":7.74812, "y":3.99213, "heading":1.43455, "vx":0.79891, "vy":3.55153, "omega":1.4775, "ax":0.43397, "ay":8.66538, "alpha":-14.05898, "fx":[39.25871,-20.89896,-47.97593,54.22205], "fy":[126.41345,130.90248,118.91768,115.0849]},
- {"t":6.42224, "x":7.77923, "y":4.1354, "heading":1.48104, "vx":0.81563, "vy":3.88542, "omega":0.9358, "ax":2.44023, "ay":7.70088, "alpha":-13.2837, "fx":[57.88132,3.27309,-3.44581,80.64994], "fy":[111.67927,124.77436,113.57409,86.60467]},
- {"t":6.46077, "x":7.81247, "y":4.29083, "heading":1.50724, "vx":0.90966, "vy":4.18214, "omega":0.42397, "ax":3.48381, "ay":4.57721, "alpha":-8.6221, "fx":[60.91009,30.7866,36.10345,69.7287], "fy":[72.30799,82.69705,58.14478,46.37387]},
- {"t":6.4993, "x":7.8501, "y":4.45537, "heading":1.51718, "vx":1.04389, "vy":4.3585, "omega":0.09175, "ax":0.88033, "ay":0.23109, "alpha":-0.71324, "fx":[13.70967,11.36335,11.24612,13.59498], "fy":[4.39596,4.53737,2.1518,2.01742]},
- {"t":6.53783, "x":7.89098, "y":4.62347, "heading":1.52018, "vx":1.07781, "vy":4.3674, "omega":0.06427, "ax":-0.38965, "ay":0.06284, "alpha":0.05221, "fx":[-5.61401,-5.44114,-5.4323,-5.60517], "fy":[0.80839,0.79968,0.9731,0.98179]},
- {"t":6.57636, "x":7.93222, "y":4.7918, "heading":1.5227, "vx":1.0628, "vy":4.36982, "omega":0.06628, "ax":-2.72104, "ay":-0.06012, "alpha":1.12009, "fx":[-40.35972,-36.93298,-36.7782,-40.20967], "fy":[-2.73508,-2.96984,1.06026,1.23592]},
- {"t":6.61489, "x":7.97115, "y":4.96013, "heading":1.52608, "vx":0.95795, "vy":4.36751, "omega":0.10944, "ax":-6.58367, "ay":-2.47734, "alpha":6.21466, "fx":[-97.05542,-83.05789,-90.67892,-102.49577], "fy":[-44.26832,-54.30177,-23.9194,-17.97317]},
- {"t":6.65342, "x":8.00317, "y":5.12657, "heading":1.53491, "vx":0.70428, "vy":4.27205, "omega":0.34889, "ax":-8.00017, "ay":-2.9647, "alpha":7.05963, "fx":[-114.19771,-100.99566,-115.49395,-122.91462], "fy":[-52.45281,-68.17297,-28.09499,-19.37482]},
- {"t":6.69196, "x":8.02437, "y":5.28898, "heading":1.55359, "vx":0.39603, "vy":4.15782, "omega":0.62091, "ax":-8.9724, "ay":-1.68382, "alpha":4.44163, "fx":[-126.78363,-122.92588,-128.47751,-130.53924], "fy":[-33.50279,-40.76821,-11.89328,-9.30643]},
- {"t":6.73049, "x":8.03297, "y":5.44793, "heading":1.58082, "vx":0.05031, "vy":4.09294, "omega":0.79205, "ax":-9.45045, "ay":0.03335, "alpha":-0.81326, "fx":[-133.85406,-134.04584,-134.06013,-133.87148], "fy":[3.16147,2.99405,-2.11853,-2.14626]},
- {"t":6.76902, "x":8.02789, "y":5.60566, "heading":1.61073, "vx":-0.31382, "vy":4.09423, "omega":0.76071, "ax":-6.26217, "ay":-0.87009, "alpha":-37.95212, "fx":[-68.01864,-133.02027,-119.02832,-34.99198], "fy":[116.57598,35.15499,-69.20889,-131.85559]},
- {"t":6.80755, "x":8.01115, "y":5.76277, "heading":1.61187, "vx":-0.55511, "vy":4.0607, "omega":-0.70161, "ax":-4.61902, "ay":-8.13912, "alpha":-10.97963, "fx":[-51.57044,-108.47477,-75.90977,-25.93929], "fy":[-126.61736,-84.50326,-115.1265,-135.23349]},
- {"t":6.8484, "x":7.98462, "y":5.92188, "heading":1.57404, "vx":-0.74382, "vy":3.72818, "omega":-1.15019, "ax":-4.00121, "ay":-8.54696, "alpha":-9.09611, "fx":[-39.85986,-93.57702,-68.3157,-25.11222], "fy":[-130.37008,-99.97754,-119.29487,-134.96216]},
- {"t":6.88926, "x":7.95089, "y":6.06706, "heading":1.51946, "vx":-0.90729, "vy":3.37899, "omega":-1.52181, "ax":-3.37909, "ay":-8.79295, "alpha":-8.59623, "fx":[-26.80188,-82.5653,-62.07946,-20.1446], "fy":[-132.95747,-108.28309,-122.04938,-135.26206]},
- {"t":6.93011, "x":7.911, "y":6.19777, "heading":1.45011, "vx":-1.04534, "vy":3.01975, "omega":-1.87302, "ax":-2.88411, "ay":-8.91276, "alpha":-8.47516, "fx":[-15.76566,-73.83123,-57.85109,-16.07847], "fy":[-133.75722,-113.15545,-123.31546,-135.11671]},
- {"t":6.97097, "x":7.86589, "y":6.31371, "heading":1.36651, "vx":-1.16317, "vy":2.65562, "omega":-2.21927, "ax":-2.68017, "ay":-8.88121, "alpha":-8.61289, "fx":[-9.45993,-69.53094,-57.51745,-15.4547], "fy":[-132.95685,-114.043,-122.34295,-134.21331]},
- {"t":7.01182, "x":7.81613, "y":6.41479, "heading":1.26866, "vx":-1.27267, "vy":2.29277, "omega":-2.57115, "ax":-2.90557, "ay":-8.64272, "alpha":-8.89737, "fx":[-10.44927,-71.43893,-62.46341,-20.39169], "fy":[-130.44035,-109.76106,-117.95715,-131.8752]},
- {"t":7.05268, "x":7.76171, "y":6.50125, "heading":1.15619, "vx":-1.39138, "vy":1.93967, "omega":-2.93466, "ax":-3.67428, "ay":-7.95115, "alpha":-9.04073, "fx":[-22.48388,-79.68292,-72.9628,-33.1986], "fy":[-122.75977,-96.24776,-106.82862,-124.98668]},
- {"t":7.09353, "x":7.7018, "y":6.57386, "heading":1.02874, "vx":-1.54149, "vy":1.61483, "omega":-3.30402, "ax":-5.43063, "ay":-3.38271, "alpha":-4.32389, "fx":[-69.67296,-82.91526,-83.86731,-71.45626], "fy":[-49.1968,-34.9767,-47.39879,-60.22402]},
- {"t":7.13439, "x":7.63429, "y":6.63701, "heading":0.89015, "vx":-1.76336, "vy":1.47662, "omega":-3.48067, "ax":1.75517, "ay":8.24231, "alpha":5.39004, "fx":[3.12751,32.18677,44.43505,19.76699], "fy":[119.83576,112.5987,113.32788,121.56868]},
- {"t":7.17524, "x":7.56371, "y":6.70422, "heading":0.75244, "vx":-1.69166, "vy":1.81337, "omega":-3.26046, "ax":3.94241, "ay":7.76585, "alpha":4.74674, "fx":[38.22956,63.69571,71.29188,50.31387], "fy":[117.45146,104.1378,103.08152,115.64572]},
- {"t":7.2161, "x":7.49789, "y":6.78478, "heading":0.6232, "vx":-1.53059, "vy":2.13064, "omega":-3.06653, "ax":4.98234, "ay":6.86254, "alpha":4.38996, "fx":[56.03853,76.78255,83.43502,66.23766], "fy":[106.05992,90.25164,89.19148,103.59666]},
- {"t":7.25696, "x":7.43951, "y":6.87756, "heading":0.50158, "vx":-1.32703, "vy":2.41101, "omega":-2.88718, "ax":-6.7022, "ay":2.92822, "alpha":13.14868, "fx":[-110.76898,-111.59741,-79.9178,-77.7244], "fy":[42.80162,-5.31729,45.24764,83.29537]},
- {"t":7.29781, "x":7.3797, "y":6.9785, "heading":0.39459, "vx":-1.60085, "vy":2.53065, "omega":-2.34999, "ax":-8.8831, "ay":-2.35333, "alpha":8.38764, "fx":[-133.03862,-121.00231,-117.55658,-132.06579], "fy":[-16.54922,-57.3138,-59.02594,-0.54263]},
- {"t":7.33867, "x":7.30688, "y":7.07993, "heading":0.30559, "vx":-1.96377, "vy":2.4345, "omega":-2.00731, "ax":-8.87044, "ay":-3.2713, "alpha":6.78097, "fx":[-133.1957,-120.80655,-115.79136,-133.15199], "fy":[-28.60271,-63.03103,-70.05401,-23.792]},
- {"t":7.37952, "x":7.21925, "y":7.17666, "heading":0.22924, "vx":-2.32618, "vy":2.30085, "omega":-1.73027, "ax":-8.72069, "ay":-3.91588, "alpha":5.98324, "fx":[-131.95578,-119.26366,-112.43119,-130.80442], "fy":[-37.29981,-67.81824,-77.75476,-39.15374]},
- {"t":7.42038, "x":7.11694, "y":7.2674, "heading":0.16354, "vx":-2.68247, "vy":2.14087, "omega":-1.48582, "ax":-8.51384, "ay":-4.45766, "alpha":5.69135, "fx":[-130.31855,-116.98675,-107.98761,-127.43384], "fy":[-44.25253,-72.64742,-84.94775,-50.89736]},
- {"t":7.46123, "x":7.00024, "y":7.35114, "heading":0.10759, "vx":-3.0303, "vy":1.95875, "omega":-1.2533, "ax":-8.28334, "ay":-4.91499, "alpha":5.81142, "fx":[-128.82805,-114.40179,-102.6243,-123.80361], "fy":[-49.32545,-77.23093,-91.97988,-60.13891]},
- {"t":7.50209, "x":6.86952, "y":7.42707, "heading":0.06123, "vx":-3.36872, "vy":1.75794, "omega":-1.01587, "ax":-8.04531, "ay":-5.29599, "alpha":6.30101, "fx":[-127.84803,-111.78473,-96.3215,-120.20693], "fy":[-52.39779,-81.34672,-98.94228,-67.59074]},
- {"t":7.54294, "x":6.72518, "y":7.49447, "heading":0.02499, "vx":-3.69741, "vy":1.54157, "omega":-0.75844, "ax":-7.80107, "ay":-5.61136, "alpha":7.1896, "fx":[-127.64353,-109.24042,-88.71968,-116.70987], "fy":[-53.30855,-84.99019,-106.06086,-73.79932]},
- {"t":7.5838, "x":6.56761, "y":7.55277, "heading":0.0, "vx":-4.01613, "vy":1.31232, "omega":-0.46471, "ax":-6.63765, "ay":-6.89783, "alpha":8.1628, "fx":[-119.85479,-96.47654,-64.95629,-95.06094], "fy":[-69.21758,-99.37768,-122.22247,-100.28266]},
- {"t":7.64503, "x":6.30926, "y":7.62019, "heading":-0.01315, "vx":-4.42254, "vy":0.88998, "omega":0.03509, "ax":-1.68634, "ay":-9.56147, "alpha":-0.54314, "fx":[-21.90748,-22.42537,-25.94122,-25.34], "fy":[-135.89411,-135.77638,-135.15433,-135.30128]},
- {"t":7.70626, "x":6.03532, "y":7.65676, "heading":-0.01202, "vx":-4.52579, "vy":0.30454, "omega":0.00183, "ax":-0.04471, "ay":-9.37617, "alpha":-0.01882, "fx":[-0.57436,-0.57342,-0.69313,-0.69397], "fy":[-132.90786,-132.90257,-132.90197,-132.90725]},
- {"t":7.76748, "x":5.75812, "y":7.65783, "heading":-0.01195, "vx":-4.52853, "vy":-0.26955, "omega":0.00068, "ax":-0.12016, "ay":3.10392, "alpha":-0.0107, "fx":[-1.68413,-1.68339,-1.72247,-1.72322], "fy":[43.9813,44.01328,44.01338,43.98141]},
- {"t":7.82871, "x":5.48062, "y":7.64714, "heading":-0.01192, "vx":-4.53589, "vy":-0.0795, "omega":0.00002, "ax":-0.00839, "ay":0.68017, "alpha":-0.0001, "fx":[-0.11875,-0.11874,-0.11906,-0.11906], "fy":[9.64106,9.64137,9.64138,9.64106]},
- {"t":7.88994, "x":5.20288, "y":7.64355, "heading":-0.01192, "vx":-4.5364, "vy":-0.03786, "omega":0.00002, "ax":5.61608, "ay":0.86237, "alpha":0.86652, "fx":[78.49185,78.76359,80.71655,80.45452], "fy":[14.31125,10.47171,10.17999,13.93262]},
- {"t":7.95117, "x":4.93565, "y":7.64285, "heading":-0.0103, "vx":-4.19254, "vy":0.01495, "omega":0.05307, "ax":9.75183, "ay":0.0505, "alpha":-0.14628, "fx":[138.23465,138.22979,138.22488,138.22988], "fy":[0.22686,1.18999,1.20829,0.23843]},
- {"t":8.0124, "x":4.69723, "y":7.64386, "heading":-0.00732, "vx":-3.59545, "vy":0.01804, "omega":0.04412, "ax":9.77586, "ay":0.01986, "alpha":-0.15098, "fx":[138.57269,138.57072,138.56819,138.57024], "fy":[-0.22146,0.77504,0.78799,-0.21571]},
- {"t":8.07363, "x":4.49541, "y":7.645, "heading":-0.0049, "vx":-2.99688, "vy":0.01925, "omega":0.03487, "ax":9.7839, "ay":-0.00738, "alpha":-0.13894, "fx":[138.68481,138.68552,138.68399,138.6833], "fy":[-0.56552,0.35256,0.35944,-0.56475]},
- {"t":8.13486, "x":4.33025, "y":7.64616, "heading":-0.00303, "vx":-2.39783, "vy":0.0188, "omega":0.02637, "ax":9.78786, "ay":-0.03443, "alpha":-0.12481, "fx":[138.73964,138.74255,138.74153,138.73861], "fy":[-0.90048,-0.07518,-0.07311,-0.90335]},
- {"t":8.19608, "x":4.20178, "y":7.64725, "heading":-0.00165, "vx":-1.79853, "vy":0.01669, "omega":0.01873, "ax":9.79014, "ay":-0.06207, "alpha":-0.11189, "fx":[138.77094,138.77562,138.77488,138.77016], "fy":[-1.24823,-0.50793,-0.50943,-1.25369]},
- {"t":8.25731, "x":4.11001, "y":7.64816, "heading":-0.00071, "vx":-1.1991, "vy":0.01289, "omega":0.01187, "ax":9.79153, "ay":-0.09058, "alpha":-0.10117, "fx":[138.78981,138.79599,138.79541,138.78918], "fy":[-1.61587,-0.94628,-0.95039,-1.62322]},
- {"t":8.31854, "x":4.05495, "y":7.64878, "heading":-0.00017, "vx":-0.59957, "vy":0.00735, "omega":0.00568, "ax":9.79236, "ay":-0.12002, "alpha":-0.09276, "fx":[138.80094,138.80845,138.80795,138.80038], "fy":[-2.00457,-1.39044,-1.3965,-2.01337]},
- {"t":8.37977, "x":4.03659, "y":7.649, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":8.44251, "ay":-4.14519, "alpha":-11.72858, "fx":[117.99677,137.43852,133.88147,89.36535], "fy":[-73.12964,-19.43257,-36.28929,-106.1766]},
- {"t":8.42931, "x":4.04695, "y":7.64391, "heading":-0.01439, "vx":0.41827, "vy":-0.20537, "omega":-0.58108, "ax":8.64976, "ay":-3.68316, "alpha":-11.83524, "fx":[120.54354,138.03394,136.43553,95.42007], "fy":[-68.81304,-14.43551,-24.85477,-100.72831]},
- {"t":8.47886, "x":4.07829, "y":7.62922, "heading":-0.05771, "vx":0.84681, "vy":-0.38784, "omega":-1.16744, "ax":8.90605, "ay":-3.00562, "alpha":-11.93987, "fx":[123.69537,138.52756,138.40792,104.33354], "fy":[-62.90945,-8.0452,-8.07102,-91.39023]},
- {"t":8.5284, "x":4.13118, "y":7.60632, "heading":-0.1302, "vx":1.28805, "vy":-0.53675, "omega":-1.75898, "ax":9.22763, "ay":-1.93099, "alpha":-11.52698, "fx":[128.36376,138.716,137.8754,118.24294], "fy":[-52.61081,1.33064,14.13732,-72.34243]},
- {"t":8.57794, "x":4.20631, "y":7.57735, "heading":-0.23149, "vx":1.74522, "vy":-0.63242, "omega":-2.33007, "ax":9.54167, "ay":0.01615, "alpha":-9.27326, "fx":[135.47254,137.51993,132.40865,135.60251], "fy":[-29.46274,17.71909,40.77603,-28.11681]},
- {"t":8.62749, "x":4.30449, "y":7.54604, "heading":-0.35831, "vx":2.21795, "vy":-0.63162, "omega":-2.7895, "ax":9.53416, "ay":1.8961, "alpha":4.05946, "fx":[130.78112,136.60715,138.15371,135.03585], "fy":[45.39621,22.04708,9.27287,30.79068]},
- {"t":8.67703, "x":4.42608, "y":7.51707, "heading":-0.49153, "vx":2.69031, "vy":-0.53768, "omega":-2.58838, "ax":8.9405, "ay":2.17345, "alpha":13.65581, "fx":[103.09251,135.08852,134.93184,133.80471], "fy":[92.19949,25.86382,-30.47929,35.64836]},
- {"t":8.72658, "x":4.57034, "y":7.4931, "heading":-0.60301, "vx":3.13325, "vy":-0.43, "omega":-1.91182, "ax":8.9363, "ay":2.47155, "alpha":12.53397, "fx":[107.1544,129.46298,135.74821,134.31383], "fy":[87.04589,45.1772,-24.8217,32.73338]},
- {"t":8.77612, "x":4.73654, "y":7.47483, "heading":-0.68235, "vx":3.57599, "vy":-0.30755, "omega":-1.29084, "ax":8.7837, "ay":2.96539, "alpha":11.82554, "fx":[107.19024,121.31496,136.38628,133.13576], "fy":[85.84913,61.18613,-13.69134,34.79104]},
- {"t":8.82566, "x":4.92448, "y":7.46323, "heading":-0.73179, "vx":4.01116, "vy":-0.16064, "omega":-0.70496, "ax":3.56519, "ay":8.19604, "alpha":4.94088, "fx":[43.70204,31.4828,60.0362,66.92184], "fy":[121.45329,122.97146,110.58782,109.69516]},
- {"t":8.87521, "x":5.12759, "y":7.46534, "heading":-0.76065, "vx":4.18779, "vy":0.24543, "omega":-0.46017, "ax":-9.18028, "ay":0.62413, "alpha":-12.29732, "fx":[-127.44154,-133.68728,-122.10567,-137.27853], "fy":[-49.74758,18.16911,61.99134,4.9746]},
- {"t":8.92475, "x":5.3238, "y":7.47826, "heading":-0.79854, "vx":3.73297, "vy":0.27635, "omega":-1.06943, "ax":-9.24998, "ay":-0.24583, "alpha":-12.65582, "fx":[-123.80613,-136.65818,-125.83407,-138.16645], "fy":[-60.8428,-7.85599,56.46101,-1.70061]},
- {"t":8.97429, "x":5.49739, "y":7.49165, "heading":-0.86706, "vx":3.27469, "vy":0.26417, "omega":-1.69644, "ax":-9.22891, "ay":-0.68111, "alpha":-13.05744, "fx":[-122.73278,-134.9803,-127.14899,-138.40855], "fy":[-63.75654,-26.65506,54.23272,-2.43953]},
- {"t":9.02384, "x":5.6483, "y":7.5039, "heading":-0.96713, "vx":2.81746, "vy":0.23042, "omega":-2.34336, "ax":-8.79796, "ay":-4.13602, "alpha":-4.17038, "fx":[-118.54002,-119.40424,-131.56873,-129.32304], "fy":[-71.67062,-70.05148,-43.11959,-49.66687]},
- {"t":9.07338, "x":5.77709, "y":7.51024, "heading":-1.08835, "vx":2.38158, "vy":0.02551, "omega":-2.54997, "ax":-7.32129, "ay":-6.40359, "alpha":4.49784, "fx":[-112.10677,-114.43684,-97.79827,-90.76854], "fy":[-81.56097,-78.3529,-98.35099,-104.81281]},
- {"t":9.12292, "x":5.8861, "y":7.50365, "heading":-1.20916, "vx":2.01885, "vy":-0.29175, "omega":-2.32713, "ax":-6.52885, "ay":-7.06824, "alpha":7.69882, "fx":[-104.49587,-114.41304,-87.10755,-64.16317], "fy":[-91.19611,-78.51781,-108.03839,-123.01034]},
- {"t":9.17247, "x":5.97811, "y":7.48052, "heading":-1.31501, "vx":1.69539, "vy":-0.64193, "omega":-1.9457, "ax":-6.08798, "ay":-7.36723, "alpha":9.0618, "fx":[-95.75876,-115.16828,-84.06158,-50.19393], "fy":[-100.38223,-77.4682,-110.47155,-129.39316]},
- {"t":9.22201, "x":6.05463, "y":7.43967, "heading":-1.40028, "vx":1.39377, "vy":-1.00693, "omega":-1.49675, "ax":-5.94399, "ay":-7.46752, "alpha":9.29044, "fx":[-89.30513,-115.61265,-84.8342,-47.26676], "fy":[-106.18191,-76.819,-109.89223,-130.50783]},
- {"t":9.2739, "x":6.11895, "y":7.37737, "heading":-1.46544, "vx":1.08533, "vy":-1.39443, "omega":-1.01465, "ax":-5.97595, "ay":-7.46729, "alpha":8.89585, "fx":[-86.4331,-115.32639,-86.87398,-50.19724], "fy":[-108.50721,-77.2164,-108.27016,-129.3943]},
- {"t":9.32579, "x":6.16723, "y":7.29495, "heading":-1.50612, "vx":0.77523, "vy":-1.78192, "omega":-0.55303, "ax":-6.02325, "ay":-7.46012, "alpha":8.39255, "fx":[-85.30102,-114.47455,-88.24185,-53.49535], "fy":[-109.36803,-78.43398,-107.13509,-128.04472]},
- {"t":9.37769, "x":6.19935, "y":7.19244, "heading":-1.52352, "vx":0.46267, "vy":-2.16904, "omega":-0.11753, "ax":-6.09156, "ay":-7.44539, "alpha":7.67076, "fx":[-85.78361,-112.94966,-89.08617,-57.56617], "fy":[-108.94878,-80.56236,-106.40037,-126.23513]},
- {"t":9.42958, "x":6.21515, "y":7.06986, "heading":-1.51929, "vx":0.14657, "vy":-2.5554, "omega":0.28052, "ax":-6.19078, "ay":-7.41827, "alpha":6.56379, "fx":[-87.62792,-110.42204,-89.65565,-63.30566], "fy":[-107.41411,-83.92058,-105.86783,-123.40618]},
- {"t":9.48147, "x":6.21442, "y":6.92727, "heading":-1.49589, "vx":-0.17468, "vy":-2.94034, "omega":0.62112, "ax":-6.34244, "ay":-7.36173, "alpha":4.69259, "fx":[-90.45288,-105.98915,-90.49364,-72.67474], "fy":[-104.96271,-89.34159,-105.0563,-118.04231]},
- {"t":9.53336, "x":6.19682, "y":6.76478, "heading":-1.45734, "vx":-0.5038, "vy":-3.32235, "omega":0.86463, "ax":-6.59528, "ay":-7.20356, "alpha":0.93124, "fx":[-93.73018,-96.66491,-93.30223,-90.24865], "fy":[-101.91263,-99.15479,-102.34174,-105.02586]},
- {"t":9.58525, "x":6.1618, "y":6.58268, "heading":-1.41122, "vx":-0.84604, "vy":-3.69616, "omega":0.91295, "ax":-6.9925, "ay":-6.4618, "alpha":-8.81654, "fx":[-96.93666,-67.86891,-108.60303,-123.05944], "fy":[-98.60915,-120.24319,-84.71604,-62.80957]},
- {"t":9.63714, "x":6.10848, "y":6.38218, "heading":-1.37572, "vx":-1.20889, "vy":-4.03147, "omega":0.45545, "ax":-8.61173, "ay":-3.66963, "alpha":-8.74279, "fx":[-117.69287,-105.21832,-131.95339,-133.41251], "fy":[-68.74191,-84.91895,-27.25504,-27.1485]},
- {"t":9.68904, "x":6.03415, "y":6.16804, "heading":-1.36386, "vx":-1.65577, "vy":-4.2219, "omega":0.00177, "ax":8.49168, "ay":-2.84524, "alpha":-0.00704, "fx":[120.35761,120.36766,120.37757,120.36753], "fy":[-40.35814,-40.33863,-40.30292,-40.32243]},
- {"t":9.74093, "x":5.95967, "y":5.94513, "heading":-1.36377, "vx":-1.21512, "vy":-4.36954, "omega":0.00141, "ax":9.63362, "ay":-0.41315, "alpha":2.39593, "fx":[136.95164,136.76062,135.92034,136.58431], "fy":[3.25172,0.18987,-15.72595,-11.14078]},
- {"t":9.79282, "x":5.90958, "y":5.71783, "heading":-1.36048, "vx":-0.71522, "vy":-4.39098, "omega":0.12573, "ax":8.31438, "ay":4.68915, "alpha":8.50351, "fx":[112.66563,96.8496,129.78532,132.11694], "fy":[80.19803,98.38482,46.59541,40.69187]},
- {"t":9.84471, "x":5.88366, "y":5.49629, "heading":-1.3425, "vx":-0.28377, "vy":-4.14765, "omega":0.567, "ax":7.6677, "ay":5.67259, "alpha":9.08114, "fx":[103.6142,80.71492,122.30195,128.12042], "fy":[91.99252,112.45598,64.53576,52.64613]},
- {"t":9.8966, "x":5.87926, "y":5.2887, "heading":-1.30085, "vx":0.11412, "vy":-3.85329, "omega":1.03823, "ax":7.3819, "ay":6.09106, "alpha":8.61048, "fx":[99.27283,76.60639,117.92093,124.74642], "fy":[96.80959,115.47142,72.60296,60.47328]},
- {"t":9.94849, "x":5.89512, "y":5.09694, "heading":-1.23538, "vx":0.49718, "vy":-3.53722, "omega":1.48504, "ax":7.22839, "ay":6.34347, "alpha":7.71069, "fx":[96.3923,77.21724,115.10419,121.12914], "fy":[99.75299,115.15816,77.19863,67.55915]},
- {"t":10.00039, "x":5.93065, "y":4.92193, "heading":-1.14794, "vx":0.87227, "vy":-3.20804, "omega":1.88516, "ax":7.04144, "ay":6.61802, "alpha":6.49951, "fx":[93.14658,78.66791,111.3478,116.08086], "fy":[102.74987,114.13445,82.49504,75.85623]},
- {"t":10.04718, "x":5.97918, "y":4.77907, "heading":-1.05262, "vx":1.20175, "vy":-2.89837, "omega":2.18929, "ax":6.74549, "ay":6.96319, "alpha":5.36528, "fx":[88.74583,78.10753,105.95496,109.6545], "fy":[106.46816,114.40756,89.18175,84.74851]},
- {"t":10.09397, "x":6.04279, "y":4.65107, "heading":-0.9443, "vx":1.51739, "vy":-2.57255, "omega":2.44034, "ax":6.41377, "ay":7.29902, "alpha":4.12302, "fx":[84.35072,77.60363,99.61406,102.08604], "fy":[109.79534,114.55427,95.98925,93.50883]},
- {"t":10.14076, "x":6.12082, "y":4.53868, "heading":-0.8256, "vx":1.81751, "vy":-2.23101, "omega":2.63327, "ax":6.11326, "ay":7.55711, "alpha":2.6306, "fx":[81.46441,78.53609,92.73709,93.87828], "fy":[111.52875,113.48483,102.18321,101.28387]},
- {"t":10.18755, "x":6.21256, "y":4.44256, "heading":-0.6995, "vx":2.10356, "vy":-1.87739, "omega":2.75636, "ax":6.36116, "ay":7.24719, "alpha":-0.18425, "fx":[90.6253,90.6154,89.71426,89.71646], "fy":[102.31294,102.34766,103.13795,103.11027]},
- {"t":10.23435, "x":6.31795, "y":4.36265, "heading":-0.57073, "vx":2.40121, "vy":-1.53828, "omega":2.74774, "ax":7.90168, "ay":4.95236, "alpha":-6.7365, "fx":[126.45454,118.60462,97.84866,105.10971], "fy":[43.46831,64.1638,92.15936,81.00241]},
- {"t":10.28114, "x":6.43896, "y":4.29609, "heading":-0.44953, "vx":2.77095, "vy":-1.30655, "omega":2.43252, "ax":8.17339, "ay":3.98259, "alpha":-8.90414, "fx":[130.82853,121.79132,97.73414,113.0695], "fy":[18.72575,55.07174,89.5886,62.42289]},
- {"t":10.32793, "x":6.57757, "y":4.23931, "heading":-0.34545, "vx":3.1534, "vy":-1.1202, "omega":2.01588, "ax":7.80582, "ay":3.95626, "alpha":-9.78684, "fx":[127.27362,117.00114,89.82844,108.47941], "fy":[17.13177,58.16047,92.02368,57.00011]},
- {"t":10.37472, "x":6.73367, "y":4.19123, "heading":-0.26184, "vx":3.51865, "vy":-0.93507, "omega":1.55793, "ax":6.87574, "ay":3.54784, "alpha":-9.65759, "fx":[113.52579,105.34479,78.88264,92.09464], "fy":[17.66918,56.00898,82.67783,44.80328]},
- {"t":10.42152, "x":6.90584, "y":4.15136, "heading":-0.19951, "vx":3.84039, "vy":-0.76906, "omega":1.10603, "ax":2.6666, "ay":3.60693, "alpha":-3.38337, "fx":[43.95204,43.78285,31.98868,31.46993], "fy":[44.00251,53.96146,58.17489,48.37049]},
- {"t":10.46831, "x":7.08846, "y":4.11932, "heading":-0.15146, "vx":3.96516, "vy":-0.60029, "omega":0.94771, "ax":-4.78671, "ay":5.06474, "alpha":8.98184, "fx":[-72.84798,-90.72647,-64.61433,-43.21324], "fy":[81.93143,51.5668,61.0111,92.65638]},
- {"t":10.5151, "x":7.26876, "y":4.09678, "heading":-0.09728, "vx":3.74118, "vy":-0.36329, "omega":1.36799, "ax":-6.27453, "ay":6.14606, "alpha":10.56397, "fx":[-91.16776,-117.84898,-93.34888,-53.39443], "fy":[94.95683,54.71771,81.02546,117.77587]},
- {"t":10.56189, "x":7.43695, "y":4.08651, "heading":-0.02171, "vx":3.44758, "vy":-0.07571, "omega":1.86231, "ax":-6.73859, "ay":6.26802, "alpha":9.84281, "fx":[-97.79234,-122.96406,-99.30047,-62.01457], "fy":[93.86832,55.0429,87.04728,119.43219]},
- {"t":10.60869, "x":7.59089, "y":4.08983, "heading":0.07621, "vx":3.13227, "vy":0.21759, "omega":2.32287, "ax":-8.15078, "ay":4.43716, "alpha":9.97756, "fx":[-115.9313,-133.35599,-123.6466,-89.2075], "fy":[71.87755,26.30538,51.37951,102.02049]},
- {"t":10.65548, "x":7.72853, "y":4.10486, "heading":0.19582, "vx":2.75087, "vy":0.42521, "omega":2.78975, "ax":-8.7064, "ay":3.42178, "alpha":9.48389, "fx":[-124.43972,-136.00596,-129.90347,-103.29544], "fy":[57.00016,11.59116,36.68114,88.73921]},
- {"t":10.70227, "x":7.84772, "y":4.12851, "heading":0.33675, "vx":2.34348, "vy":0.58533, "omega":3.23352, "ax":-8.68498, "ay":3.65948, "alpha":8.68378, "fx":[-125.75831,-135.99024,-126.10707,-104.57424], "fy":[54.78562,14.62331,50.01672,88.06353]},
- {"t":10.74906, "x":7.94787, "y":4.1599, "heading":0.49756, "vx":1.93709, "vy":0.75656, "omega":3.63985, "ax":-8.0479, "ay":5.12513, "alpha":6.67497, "fx":[-119.53383,-129.22246,-108.99162,-98.56061], "fy":[67.66957,45.34258,82.1819,95.39619]},
- {"t":10.79585, "x":8.0297, "y":4.20091, "heading":0.67518, "vx":1.56051, "vy":0.99638, "omega":3.95219, "ax":-6.52613, "ay":7.16135, "alpha":1.97459, "fx":[-96.82824,-97.74278,-87.7684,-87.68588], "fy":[97.71058,96.60901,105.74015,105.98219]},
- {"t":10.84265, "x":8.09558, "y":4.25538, "heading":0.86227, "vx":1.25514, "vy":1.33148, "omega":4.04459, "ax":-4.8138, "ay":8.40968, "alpha":-3.97354, "fx":[-52.73399,-62.37421,-81.72031,-76.10922], "fy":[127.45053,123.18852,111.244,114.93752]},
- {"t":10.88944, "x":8.14904, "y":4.32689, "heading":1.04718, "vx":1.02989, "vy":1.72498, "omega":3.85866, "ax":-3.86487, "ay":8.74767, "alpha":-8.26636, "fx":[-17.32511,-51.43728,-87.09422,-63.27763], "fy":[137.22129,128.53513,107.50538,122.72256]},
- {"t":10.93623, "x":8.193, "y":4.41718, "heading":1.21869, "vx":0.84904, "vy":2.13431, "omega":3.47185, "ax":-3.43841, "ay":8.78705, "alpha":-10.76285, "fx":[-1.63868,-52.83794,-94.71284,-45.76496], "fy":[138.52909,128.15263,101.08556,130.45035]},
- {"t":10.98302, "x":8.22896, "y":4.52667, "heading":1.36936, "vx":0.68815, "vy":2.54547, "omega":2.96824, "ax":-3.20308, "ay":8.33336, "alpha":-17.04936, "fx":[14.43464,-63.06787,-117.39996,-15.57811], "fy":[137.92237,123.56164,73.73219,137.27738]},
- {"t":11.02982, "x":8.25765, "y":4.6549, "heading":1.48958, "vx":0.53827, "vy":2.93541, "omega":2.17046, "ax":-0.88076, "ay":4.65024, "alpha":-46.14214, "fx":[31.02491,-80.3783,-137.99149,137.40687], "fy":[135.18135,113.09063,13.51936,1.87271]},
- {"t":11.07104, "x":8.27909, "y":4.77985, "heading":1.53985, "vx":0.50197, "vy":3.1271, "omega":0.26841, "ax":-2.87826, "ay":7.12216, "alpha":-27.57496, "fx":[10.50025,-84.44,-135.85372,46.59868], "fy":[138.19664,109.99215,27.09524,128.53571]},
- {"t":11.11226, "x":8.29734, "y":4.91481, "heading":1.52749, "vx":0.38332, "vy":3.42068, "omega":-0.86826, "ax":-5.64609, "ay":7.46735, "alpha":-11.62094, "fx":[-36.37233,-86.84269,-120.8624,-76.05043], "fy":[133.46087,107.82979,67.20226,114.89873]},
- {"t":11.15348, "x":8.30834, "y":5.06216, "heading":1.48182, "vx":0.15058, "vy":3.7285, "omega":-1.3473, "ax":-6.76775, "ay":6.42734, "alpha":11.64738, "fx":[-127.98677,-106.29109,-52.83532,-96.61193], "fy":[51.58467,86.65308,127.39373,98.7927]},
- {"t":11.1947, "x":8.3088, "y":5.22131, "heading":1.43618, "vx":-0.12839, "vy":3.99344, "omega":-0.86717, "ax":-7.14588, "ay":6.04342, "alpha":10.83593, "fx":[-127.95432,-114.20901,-63.60487,-99.39649], "fy":[50.58333,74.83374,121.78073,95.45843]},
- {"t":11.23592, "x":8.29744, "y":5.39106, "heading":1.40964, "vx":-0.42296, "vy":4.24256, "omega":-0.4205, "ax":-8.0893, "ay":4.7627, "alpha":8.95454, "fx":[-130.66693,-126.03356,-91.25212,-110.70289], "fy":[39.72063,49.11915,100.83113,80.36967]},
- {"t":11.27714, "x":8.27313, "y":5.56999, "heading":1.39992, "vx":-0.75641, "vy":4.43889, "omega":-0.05138, "ax":-9.26268, "ay":-1.25625, "alpha":1.0685, "fx":[-131.22797,-130.5902,-131.42521,-131.94191], "fy":[-19.96259,-22.06718,-15.52325,-13.6749]},
- {"t":11.31837, "x":8.23408, "y":5.7519, "heading":1.39871, "vx":-1.13823, "vy":4.3871, "omega":-0.00734, "ax":-8.56976, "ay":-2.58672, "alpha":0.02155, "fx":[-121.47343,-121.44625,-121.47508,-121.50221], "fy":[-36.69637,-36.74971,-36.63585,-36.58257]},
- {"t":11.35959, "x":8.17988, "y":5.93054, "heading":1.39842, "vx":-1.49149, "vy":4.28047, "omega":-0.00645, "ax":-8.08697, "ay":-3.18006, "alpha":0.00449, "fx":[-114.63133,-114.62372,-114.6305,-114.63811], "fy":[-45.08151,-45.09341,-45.07162,-45.05972]},
- {"t":11.40081, "x":8.11153, "y":6.10429, "heading":1.39816, "vx":-1.82484, "vy":4.14939, "omega":-0.00627, "ax":-8.13654, "ay":-3.99143, "alpha":-0.00407, "fx":[-115.33348,-115.3414,-115.3335,-115.32558], "fy":[-56.57454,-56.56198,-56.58071,-56.59327]},
- {"t":11.44203, "x":8.02939, "y":6.27194, "heading":1.3979, "vx":-2.16024, "vy":3.98485, "omega":-0.00643, "ax":-7.99635, "ay":-4.96451, "alpha":-0.19762, "fx":[-113.3438,-113.81649,-113.35136,-112.87355], "fy":[-70.30907,-69.61479,-70.43317,-71.12581]},
- {"t":11.48325, "x":7.93355, "y":6.43199, "heading":1.39747, "vx":-2.48986, "vy":3.78021, "omega":-0.01458, "ax":-4.86953, "ay":-8.19219, "alpha":-5.12375, "fx":[-59.3612,-88.00514,-76.79248,-51.93892], "fy":[-121.94393,-103.63328,-112.8573,-126.05466]},
- {"t":11.52447, "x":7.82678, "y":6.58085, "heading":1.39251, "vx":-2.69059, "vy":3.44252, "omega":-0.22579, "ax":-2.13898, "ay":-9.28514, "alpha":-7.82548, "fx":[-2.76878,-59.5276,-49.65821,-9.32382], "fy":[-137.10736,-123.58921,-128.4131,-137.34915]},
- {"t":11.56569, "x":7.71405, "y":6.71487, "heading":1.37656, "vx":-2.77876, "vy":3.05977, "omega":-0.54836, "ax":-1.21548, "ay":-9.43285, "alpha":-8.37647, "fx":[15.64488,-46.66105,-40.49726,2.5967], "fy":[-136.38307,-129.03954,-131.66417,-137.74704]},
- {"t":11.60532, "x":7.60298, "y":6.82872, "heading":1.34825, "vx":-2.82693, "vy":2.68596, "omega":-0.88031, "ax":-0.49412, "ay":-9.4377, "alpha":-8.95825, "fx":[30.55388,-35.85182,-34.09718,11.37871], "fy":[-133.32684,-131.76378,-133.05989,-136.95826]},
- {"t":11.64495, "x":7.49056, "y":6.92775, "heading":1.30633, "vx":-2.84651, "vy":2.31196, "omega":-1.23531, "ax":0.32761, "ay":-9.33182, "alpha":-10.03344, "fx":[48.93036,-23.26918,-28.29998,21.21396], "fy":[-126.86782,-133.28061,-133.73041,-135.22664]},
- {"t":11.68458, "x":7.37802, "y":7.01204, "heading":1.2495, "vx":-2.83353, "vy":1.94215, "omega":-1.63293, "ax":1.62849, "ay":-8.93509, "alpha":-12.05331, "fx":[76.98615,0.31555,-20.97885,36.01088], "fy":[-110.21392,-131.87815,-133.58461,-130.93426]},
- {"t":11.72421, "x":7.26701, "y":7.08199, "heading":1.17532, "vx":-2.769, "vy":1.58807, "omega":-2.11058, "ax":6.24572, "ay":-5.74325, "alpha":-15.51519, "fx":[121.36207,113.54298,36.77721,82.44427], "fy":[-50.8369,-47.75804,-123.35681,-103.68495]},
- {"t":11.76384, "x":7.16218, "y":7.14041, "heading":1.0795, "vx":-2.52149, "vy":1.36047, "omega":-2.72543, "ax":8.32525, "ay":3.80465, "alpha":-7.24182, "fx":[122.6384,104.20672,115.41699,129.77144], "fy":[52.04597,81.44296,58.98811,23.2427]},
- {"t":11.80347, "x":7.06879, "y":7.19731, "heading":0.96581, "vx":-2.19157, "vy":1.51124, "omega":-3.01241, "ax":8.62953, "ay":2.84284, "alpha":-6.64977, "fx":[126.46099,112.74217,120.07379,130.00939], "fy":[38.05507,66.68332,44.97008,11.47767]},
- {"t":11.84309, "x":6.98872, "y":7.25943, "heading":0.84121, "vx":-1.84959, "vy":1.6239, "omega":-3.27593, "ax":8.2577, "ay":-1.4505, "alpha":-7.43767, "fx":[123.4044,120.1586,112.1373,112.50336], "fy":[-15.72159,10.26842,-28.66037,-48.12851]},
- {"t":11.88272, "x":6.92191, "y":7.32265, "heading":0.70555, "vx":-1.52235, "vy":1.56642, "omega":-3.57067, "ax":-4.27732, "ay":-6.6554, "alpha":4.99802, "fx":[-74.99194,-55.81335,-44.22384,-67.49083], "fy":[-87.24634,-101.93693,-102.28602,-85.88552]},
- {"t":11.92235, "x":6.85822, "y":7.37949, "heading":0.56797, "vx":-1.69186, "vy":1.30268, "omega":-3.37261, "ax":-8.00206, "ay":-3.85164, "alpha":9.22918, "fx":[-125.20606,-104.62595,-98.15746,-125.71947], "fy":[-38.66916,-78.46661,-80.02274,-21.22606]},
- {"t":11.96198, "x":6.78489, "y":7.42809, "heading":0.44157, "vx":-2.00897, "vy":1.15004, "omega":-3.00687, "ax":-8.74627, "ay":-2.64994, "alpha":9.44414, "fx":[-132.69227,-117.76146,-113.4561,-131.99562], "fy":[-19.86582,-63.87952,-66.12794,-0.37559]},
- {"t":12.00161, "x":6.69841, "y":7.47159, "heading":0.32983, "vx":-2.35557, "vy":1.04503, "omega":-2.63261, "ax":-9.02112, "ay":-2.0897, "alpha":9.43549, "fx":[-135.14788,-123.58356,-119.0551,-133.70255], "fy":[-9.96252,-55.35833,-60.55777,7.39445]},
- {"t":12.04124, "x":6.59798, "y":7.51136, "heading":0.23291, "vx":-2.71306, "vy":0.96222, "omega":-2.2587, "ax":-9.10791, "ay":-2.00472, "alpha":9.55584, "fx":[-136.16936,-125.79896,-119.64747,-134.79421], "fy":[-6.08115,-52.44448,-62.41568,7.2758]},
- {"t":12.08087, "x":6.48332, "y":7.54792, "heading":0.1509, "vx":-3.074, "vy":0.88277, "omega":-1.88001, "ax":-9.07162, "ay":-2.29902, "alpha":9.89383, "fx":[-136.69596,-125.65732,-116.28421,-135.71461], "fy":[-6.73998,-54.37862,-70.37825,1.14465]},
- {"t":12.12049, "x":6.35437, "y":7.58109, "heading":0.08417, "vx":-3.43349, "vy":0.79166, "omega":-1.48793, "ax":-8.91661, "ay":-2.85298, "alpha":10.50515, "fx":[-136.91881,-123.70679,-108.99018,-135.94773], "fy":[-10.21267,-59.80712,-82.46108,-9.28012]},
- {"t":12.16012, "x":6.21131, "y":7.61023, "heading":0.03345, "vx":-3.78684, "vy":0.67861, "omega":-1.07163, "ax":-8.63934, "ay":-3.52345, "alpha":11.48074, "fx":[-136.90734,-120.35845,-97.65504,-134.92175], "fy":[-14.36716,-67.09088,-96.45239,-21.86604]},
- {"t":12.19975, "x":6.05446, "y":7.63435, "heading":0.0, "vx":-4.12921, "vy":0.53898, "omega":-0.61667, "ax":-6.54556, "ay":-6.67273, "alpha":9.98177, "fx":[-123.01507,-96.32322,-57.54267,-94.24613], "fy":[-59.60507,-97.67261,-124.00764,-97.05213]},
- {"t":12.26161, "x":5.78652, "y":7.65492, "heading":-0.01905, "vx":-4.5341, "vy":0.12622, "omega":0.00077, "ax":0.00015, "ay":-4.48929, "alpha":-0.01036, "fx":[0.0225,0.0233,-0.01833,-0.01911], "fy":[-63.64841,-63.62123,-63.62071,-63.6479]},
- {"t":12.32346, "x":5.50605, "y":7.65414, "heading":-0.01902, "vx":-4.53409, "vy":-0.15147, "omega":0.00013, "ax":-0.03397, "ay":1.46294, "alpha":-0.00152, "fx":[-0.47899,-0.47889,-0.48405,-0.48415], "fy":[20.73432,20.73926,20.73935,20.73441]},
- {"t":12.38532, "x":5.22552, "y":7.64757, "heading":-0.01902, "vx":-4.53619, "vy":-0.06098, "omega":0.00004, "ax":4.85804, "ay":1.01266, "alpha":1.43588, "fx":[66.82078,67.24701,70.895,70.48338], "fy":[17.64004,11.66747,11.1626,16.94668]},
- {"t":12.44718, "x":4.95422, "y":7.64574, "heading":-0.01627, "vx":-4.23569, "vy":0.00166, "omega":0.08886, "ax":9.7523, "ay":0.08059, "alpha":-0.27159, "fx":[138.24814,138.2339,138.22443,138.23943], "fy":[0.22899,2.01162,2.06713,0.26136]},
- {"t":12.50903, "x":4.71087, "y":7.646, "heading":-0.01129, "vx":-3.63244, "vy":0.00665, "omega":0.07206, "ax":9.77606, "ay":0.04849, "alpha":-0.27485, "fx":[138.57998,138.57127,138.56641,138.57562], "fy":[-0.23167,1.57687,1.61835,-0.21403]},
- {"t":12.57089, "x":4.50489, "y":7.6465, "heading":-0.00736, "vx":-3.02772, "vy":0.00965, "omega":0.05506, "ax":9.78407, "ay":0.02132, "alpha":-0.24271, "fx":[138.68994,138.68656,138.68378,138.68737], "fy":[-0.50529,1.09448,1.11913,-0.49926]},
- {"t":12.63275, "x":4.33632, "y":7.64714, "heading":-0.00442, "vx":-2.42251, "vy":0.01097, "omega":0.04004, "ax":9.78808, "ay":-0.00474, "alpha":-0.20648, "fx":[138.74416,138.74485,138.74315,138.7425], "fy":[-0.75129,0.61147,0.6236,-0.75266]},
- {"t":12.69461, "x":4.2052, "y":7.64781, "heading":-0.00233, "vx":-1.81705, "vy":0.01067, "omega":0.02727, "ax":9.79043, "ay":-0.0308, "alpha":-0.17344, "fx":[138.77574,138.77934,138.77822,138.77459], "fy":[-1.00899,0.13686,0.1407,-1.01468]},
- {"t":12.75646, "x":4.11153, "y":7.64841, "heading":-0.00098, "vx":-1.21145, "vy":0.00877, "omega":0.01654, "ax":9.79191, "ay":-0.0573, "alpha":-0.14535, "fx":[138.79555,138.80116,138.80038,138.7947], "fy":[-1.29043,-0.32938,-0.33072,-1.29848]},
- {"t":12.81832, "x":4.05533, "y":7.64884, "heading":-0.00023, "vx":-0.60575, "vy":0.00522, "omega":0.00755, "ax":9.79285, "ay":-0.08443, "alpha":-0.1221, "fx":[138.80819,138.81513,138.81455,138.80753], "fy":[-1.59728,-0.78944,-0.79386,-1.60643]},
- {"t":12.88018, "x":4.03659, "y":7.649, "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":[0,186]
- },
- "events":[]
-}
+++ /dev/null
-{
- "name":"liberal",
- "version":3,
- "snapshot":{
- "waypoints":[
- {"x":4.420742511749268, "y":7.652679920196533, "heading":-1.5707963267948966, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":8.613431930541992, "y":6.143284797668457, "heading":-2.309870115554166, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.056009769439697, "y":5.0790486335754395, "heading":2.511558587727175, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.9137725830078125, "y":7.295578479766846, "heading":0.1300731703999055, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":4.036591053009033, "y":7.649001598358154, "heading":0.0, "intervals":18, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.9600324630737305, "y":6.425201892852783, "heading":-1.5493711192251445, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.909896373748779, "y":4.600945472717285, "heading":-0.7175417284567359, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.224385738372803, "y":4.976198196411133, "heading":1.3569870388467742, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.079377174377441, "y":6.611003398895264, "heading":1.1902896090630062, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":4.036591053009033, "y":7.649001598358154, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
- {"from":"first", "to":4, "data":{"type":"KeepOutCircle", "props":{"x":4.889016749337316, "y":5.995364322792739, "r":1.0}}, "enabled":true},
- {"from":4, "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":4.492599055171013, "y":6.150994903218816, "r":1.0331388199726266}}, "enabled":true},
- {"from":4, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
- {"from":5, "to":7, "data":{"type":"KeepInRectangle", "props":{"x":5.236986309289932, "y":3.979900181293487, "w":3.833156108856201, "h":3.509829044342041}}, "enabled":true}],
- "targetDt":0.05
- },
- "params":{
- "waypoints":[
- {"x":{"exp":"4.420742511749268 m", "val":4.420742511749268}, "y":{"exp":"7.652679920196533 m", "val":7.652679920196533}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"8.613431930541992 m", "val":8.613431930541992}, "y":{"exp":"6.143284797668457 m", "val":6.143284797668457}, "heading":{"exp":"-2.309870115554166 rad", "val":-2.309870115554166}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.056009769439697 m", "val":7.056009769439697}, "y":{"exp":"5.0790486335754395 m", "val":5.0790486335754395}, "heading":{"exp":"2.511558587727175 rad", "val":2.511558587727175}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.9137725830078125 m", "val":5.9137725830078125}, "y":{"exp":"7.295578479766846 m", "val":7.295578479766846}, "heading":{"exp":"0.1300731703999055 rad", "val":0.1300731703999055}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"shootPos.x", "val":4.036591053009033}, "y":{"exp":"shootPos.y", "val":7.649001598358154}, "heading":{"exp":"shootPos.heading", "val":0.0}, "intervals":18, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.9600324630737305 m", "val":5.9600324630737305}, "y":{"exp":"6.425201892852783 m", "val":6.425201892852783}, "heading":{"exp":"-1.5493711192251445 rad", "val":-1.5493711192251445}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.909896373748779 m", "val":5.909896373748779}, "y":{"exp":"4.600945472717285 m", "val":4.600945472717285}, "heading":{"exp":"-0.7175417284567359 rad", "val":-0.7175417284567359}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.224385738372803 m", "val":7.224385738372803}, "y":{"exp":"4.976198196411133 m", "val":4.976198196411133}, "heading":{"exp":"1.3569870388467742 rad", "val":1.3569870388467742}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.079377174377441 m", "val":7.079377174377441}, "y":{"exp":"6.611003398895264 m", "val":6.611003398895264}, "heading":{"exp":"1.1902896090630062 rad", "val":1.1902896090630062}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"shootPos.x", "val":4.036591053009033}, "y":{"exp":"shootPos.y", "val":7.649001598358154}, "heading":{"exp":"shootPos.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},
- {"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":true},
- {"from":"first", "to":4, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.889016749337316 m", "val":4.889016749337316}, "y":{"exp":"5.995364322792739 m", "val":5.995364322792739}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
- {"from":4, "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.492599055171013 m", "val":4.492599055171013}, "y":{"exp":"6.150994903218816 m", "val":6.150994903218816}, "r":{"exp":"1.0331388199726266 m", "val":1.0331388199726266}}}, "enabled":true},
- {"from":4, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
- {"from":5, "to":7, "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"5.236986309289932 m", "val":5.236986309289932}, "y":{"exp":"3.9799001812934875 m", "val":3.979900181293487}, "w":{"exp":"3.833156108856201 m", "val":3.833156108856201}, "h":{"exp":"3.509829044342041 m", "val":3.509829044342041}}}, "enabled":true}],
- "targetDt":{
- "exp":"0.05 s",
- "val":0.05
- }
- },
- "trajectory":{
- "config":{
- "frontLeft":{
- "x":0.52705,
- "y":0.52705
- },
- "backLeft":{
- "x":-0.52705,
- "y":0.52705
- },
- "mass":56.69904625,
- "inertia":7.0,
- "gearing":7.03125,
- "radius":0.0508,
- "vmax":628.3185307179587,
- "tmax":7.0,
- "cof":1.0,
- "bumper":{
- "front":0.4064,
- "side":0.4064,
- "back":0.4064
- },
- "differentialTrackWidth":0.5588
- },
- "sampleType":"Swerve",
- "waypoints":[0.0,1.34621,2.07615,3.01406,3.68029,4.64137,5.19971,5.85499,6.30045,7.43645],
- "samples":[
- {"t":0.0, "x":4.42074, "y":7.65268, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.66812, "ay":-1.34927, "alpha":-3.29992, "fx":[135.04281,136.04726,138.59088,138.49219], "fy":[-32.05199,-27.56147,-7.78018,-9.10859]},
- {"t":0.05385, "x":4.43476, "y":7.65072, "heading":-1.57558, "vx":0.52061, "vy":-0.07266, "omega":-0.1777, "ax":9.67123, "ay":-1.33091, "alpha":-3.20645, "fx":[135.18875,136.11277,138.57022,138.47754], "fy":[-31.35558,-27.15921,-7.87652,-9.06976]},
- {"t":0.1077, "x":4.47682, "y":7.64488, "heading":-1.5898, "vx":1.0414, "vy":-0.14432, "omega":-0.35036, "ax":9.67437, "ay":-1.31629, "alpha":-3.05426, "fx":[135.38308,136.17127,138.52552,138.44768], "fy":[-30.40224,-26.75866,-8.2923,-9.17907]},
- {"t":0.16155, "x":4.54692, "y":7.6352, "heading":-1.61309, "vx":1.56235, "vy":-0.2152, "omega":-0.51483, "ax":9.67799, "ay":-1.30518, "alpha":-2.794, "fx":[135.65542,136.2501,138.44169,138.38586], "fy":[-29.01223,-26.19984,-9.16104,-9.6293]},
- {"t":0.21539, "x":4.64508, "y":7.62172, "heading":-1.64487, "vx":2.08349, "vy":-0.28549, "omega":-0.66528, "ax":9.68226, "ay":-1.29777, "alpha":-2.34185, "fx":[136.0389,136.39446,138.28544,138.25624], "fy":[-26.91728,-25.18961,-10.71233,-10.76338]},
- {"t":0.26924, "x":4.77131, "y":7.60447, "heading":-1.68409, "vx":2.60487, "vy":-0.35537, "omega":-0.79138, "ax":9.68619, "ay":-1.29441, "alpha":-1.51716, "fx":[136.57699,136.69241,137.96696,137.96137], "fy":[-23.59632,-23.04935,-13.45724,-13.28875]},
- {"t":0.32309, "x":4.92562, "y":7.58345, "heading":-1.7289, "vx":3.12645, "vy":-0.42507, "omega":-0.87308, "ax":9.68124, "ay":-1.29531, "alpha":0.21315, "fx":[137.32246,137.32327,137.13535,137.13609], "fy":[-17.68319,-17.64036,-19.04535,-19.07394]},
- {"t":0.37694, "x":5.10801, "y":7.55869, "heading":-1.77561, "vx":3.64777, "vy":-0.49482, "omega":-0.8616, "ax":9.55521, "ay":-1.29481, "alpha":5.70761, "fx":[138.03039,137.78975,132.53843,133.41284], "fy":[-3.71583,3.60612,-37.75353,-35.55131]},
- {"t":0.43079, "x":5.31829, "y":7.53016, "heading":-1.81373, "vx":4.16231, "vy":-0.56454, "omega":-0.55426, "ax":6.21196, "ay":-0.58364, "alpha":10.28588, "fx":[101.09067,82.37991,74.31064,94.43107], "fy":[7.56631,22.92404,-31.01584,-32.56646]},
- {"t":0.48464, "x":5.55144, "y":7.49892, "heading":-1.82866, "vx":4.49681, "vy":-0.59597, "omega":-0.00038, "ax":0.00461, "ay":0.02765, "alpha":0.00042, "fx":[0.06618,0.06483,0.06447,0.06582], "fy":[0.39247,0.39282,0.39147,0.39111]},
- {"t":0.53849, "x":5.79359, "y":7.46687, "heading":-1.82868, "vx":4.49706, "vy":-0.59448, "omega":-0.00036, "ax":-0.00114, "ay":-0.0084, "alpha":0.00001, "fx":[-0.01611,-0.01614,-0.01615,-0.01612], "fy":[-0.11913,-0.11912,-0.11915,-0.11915]},
- {"t":0.59233, "x":6.03575, "y":7.43484, "heading":-1.8287, "vx":4.497, "vy":-0.59494, "omega":-0.00035, "ax":-0.00082, "ay":-0.00601, "alpha":0.0, "fx":[-0.01165,-0.01166,-0.01166,-0.01165], "fy":[-0.08512,-0.08512,-0.08513,-0.08513]},
- {"t":0.64618, "x":6.2779, "y":7.4028, "heading":-1.82872, "vx":4.49696, "vy":-0.59526, "omega":-0.00035, "ax":-0.00125, "ay":-0.00923, "alpha":0.0, "fx":[-0.01772,-0.01771,-0.0177,-0.01771], "fy":[-0.13085,-0.13085,-0.13084,-0.13084]},
- {"t":0.70003, "x":6.52006, "y":7.37073, "heading":-1.82874, "vx":4.49689, "vy":-0.59576, "omega":-0.00035, "ax":-0.01445, "ay":-0.10833, "alpha":-0.00001, "fx":[-0.20483,-0.20481,-0.20481,-0.20483], "fy":[-1.53556,-1.53556,-1.53554,-1.53554]},
- {"t":0.75388, "x":6.76219, "y":7.33849, "heading":-1.82876, "vx":4.49611, "vy":-0.60159, "omega":-0.00035, "ax":-0.17448, "ay":-1.23395, "alpha":-0.00002, "fx":[-2.47332,-2.47326,-2.47324,-2.4733], "fy":[-17.49095,-17.49096,-17.4909,-17.49089]},
- {"t":0.80773, "x":7.00404, "y":7.30431, "heading":-1.82877, "vx":4.48672, "vy":-0.66804, "omega":-0.00036, "ax":-1.30592, "ay":-6.82165, "alpha":-0.00016, "fx":[-18.5115,-18.51073,-18.51062,-18.5114], "fy":[-96.69527,-96.69544,-96.69519,-96.69502]},
- {"t":0.86158, "x":7.24375, "y":7.25844, "heading":-1.82879, "vx":4.41639, "vy":-1.03537, "omega":-0.00036, "ax":-2.61611, "ay":-8.90737, "alpha":-0.00053, "fx":[-37.08432,-37.08112,-37.08116,-37.08436], "fy":[-126.25947,-126.26041,-126.26021,-126.25927]},
- {"t":0.91542, "x":7.47777, "y":7.18978, "heading":-1.82881, "vx":4.27552, "vy":-1.51502, "omega":-0.00039, "ax":-3.74539, "ay":-8.85101, "alpha":-0.01439, "fx":[-53.12701,-53.04151,-53.05302,-53.13857], "fy":[-125.44649,-125.48238,-125.47556,-125.43963]},
- {"t":0.96927, "x":7.70257, "y":7.09536, "heading":-1.82886, "vx":4.07384, "vy":-1.99164, "omega":-0.00117, "ax":-6.99765, "ay":-6.65885, "alpha":-4.22989, "fx":[-102.55171,-86.12825,-95.83977,-112.24039], "fy":[-92.02936,-107.4214,-98.49518,-79.60468]},
- {"t":1.02312, "x":7.9118, "y":6.97846, "heading":-1.83505, "vx":3.69702, "vy":-2.3502, "omega":-0.22894, "ax":-9.15156, "ay":-2.76516, "alpha":-8.33781, "fx":[-130.26028,-115.21601,-135.15136,-138.25732], "fy":[-46.86548,-76.47313,-28.2187,-5.22464]},
- {"t":1.07697, "x":8.09761, "y":6.8479, "heading":-1.85947, "vx":3.20422, "vy":-2.4991, "omega":-0.67792, "ax":-9.46213, "ay":-1.45044, "alpha":-8.46445, "fx":[-134.97503,-125.10595,-138.35826,-138.05445], "fy":[-31.55057,-59.44129,-3.24999,12.0033]},
- {"t":1.13082, "x":8.25643, "y":6.71122, "heading":-1.90825, "vx":2.6947, "vy":-2.57721, "omega":-1.13372, "ax":-9.5728, "ay":-0.84121, "alpha":-7.82377, "fx":[-136.85104,-129.99581,-138.47749,-137.44429], "fy":[-22.53841,-48.13909,4.59082,18.39106]},
- {"t":1.18467, "x":8.38766, "y":6.57122, "heading":-1.98064, "vx":2.17922, "vy":-2.62251, "omega":-1.55502, "ax":-9.6482, "ay":-0.47018, "alpha":-6.69206, "fx":[-137.91355,-133.40775,-138.51925,-137.20303], "fy":[-15.11529,-37.91605,5.91396,20.45842]},
- {"t":1.23852, "x":8.49102, "y":6.42932, "heading":-2.07408, "vx":1.65968, "vy":-2.64782, "omega":-1.91537, "ax":-9.7052, "ay":-0.20039, "alpha":-5.35969, "fx":[-138.50971,-135.86875,-138.61488,-137.28196], "fy":[-8.45097,-28.06044,5.00895,20.1406]},
- {"t":1.29236, "x":8.56632, "y":6.28645, "heading":-2.18499, "vx":1.13707, "vy":-2.65862, "omega":-2.20398, "ax":-9.73843, "ay":-0.00281, "alpha":-4.27814, "fx":[-138.75331,-137.27925,-138.68842,-137.43858], "fy":[-3.05772,-20.2644,3.95888,19.20392]},
- {"t":1.34621, "x":8.61343, "y":6.14328, "heading":-2.30987, "vx":0.61267, "vy":-2.65877, "omega":-2.43436, "ax":-9.77064, "ay":0.25174, "alpha":-2.26346, "fx":[-138.72832,-138.56484,-138.6623,-138.03026], "fy":[2.86145,-7.07897,4.40255,14.08833]},
- {"t":1.39183, "x":8.63121, "y":6.02225, "heading":-2.42328, "vx":0.16692, "vy":-2.64728, "omega":-2.53762, "ax":-9.77157, "ay":0.53855, "alpha":-0.28634, "fx":[-138.51381,-138.58031,-138.51193,-138.43248], "fy":[7.65014,6.29325,7.61768,8.97448]},
- {"t":1.43746, "x":8.62866, "y":5.90204, "heading":-2.53935, "vx":-0.27887, "vy":-2.62271, "omega":-2.55068, "ax":-9.74188, "ay":0.85083, "alpha":1.41944, "fx":[-138.21432,-137.42967,-138.12401,-138.58717], "fy":[11.39802,18.68223,12.67553,5.4856]},
- {"t":1.48308, "x":8.6058, "y":5.78327, "heading":-2.65424, "vx":-0.72331, "vy":-2.5839, "omega":-2.48593, "ax":-9.68072, "ay":1.22366, "alpha":2.94274, "fx":[-137.84085,-135.14509,-137.29806,-138.60373], "fy":[14.77432,30.99984,19.53522,4.07092]},
- {"t":1.5287, "x":8.56273, "y":5.66667, "heading":-2.76459, "vx":-1.16495, "vy":-2.52807, "omega":-2.35167, "ax":-9.58101, "ay":1.69486, "alpha":4.17661, "fx":[-137.26154,-131.70075,-135.77305,-138.49903], "fy":[18.94713,43.19691,28.08675,5.8659]},
- {"t":1.57432, "x":8.49961, "y":5.5531, "heading":-2.86753, "vx":-1.60205, "vy":-2.45075, "omega":-2.16113, "ax":-9.41919, "ay":2.33245, "alpha":5.01844, "fx":[-136.01401,-126.86503,-133.13486,-138.04496], "fy":[26.0089,55.65881,38.53895,12.04084]},
- {"t":1.61994, "x":8.41672, "y":5.44372, "heading":-2.9609, "vx":-2.03177, "vy":-2.34434, "omega":-1.93218, "ax":-9.12712, "ay":3.24943, "alpha":5.34519, "fx":[-132.78287,-119.84192,-128.5273,-136.34704], "fy":[38.93169,69.33197,51.69347,24.28228]},
- {"t":1.66556, "x":8.31453, "y":5.34015, "heading":-3.04349, "vx":-2.44816, "vy":-2.1961, "omega":-1.68833, "ax":-8.5288, "ay":4.60374, "alpha":4.94716, "fx":[-124.08862,-108.899,-119.9461,-130.64098], "fy":[60.94666,85.32838,69.11978,45.63286]},
- {"t":1.71118, "x":8.19397, "y":5.24475, "heading":-3.11536, "vx":-2.83725, "vy":-1.98607, "omega":-1.46263, "ax":-7.22916, "ay":6.49483, "alpha":3.45515, "fx":[-103.09115,-91.30085,-102.61297,-112.88159], "fy":[91.94702,103.78823,92.72312,79.79206]},
- {"t":1.7568, "x":8.05701, "y":5.1609, "heading":3.10469, "vx":-3.16705, "vy":-1.68977, "omega":-1.30501, "ax":-4.69841, "ay":8.53636, "alpha":0.57366, "fx":[-66.01624,-64.3297,-67.1709,-68.87837], "fy":[121.3175,122.24132,120.71559,119.72884]},
- {"t":1.80243, "x":7.90763, "y":5.09269, "heading":3.04575, "vx":-3.3814, "vy":-1.30033, "omega":-1.27883, "ax":-1.26815, "ay":9.63973, "alpha":-2.87138, "fx":[-24.48769,-29.72792,-10.35959,-7.32779], "fy":[136.01659,134.8687,137.68832,137.98963]},
- {"t":1.84805, "x":7.75205, "y":5.0434, "heading":2.98442, "vx":-3.43926, "vy":-0.86055, "omega":-1.40983, "ax":1.66407, "ay":9.53163, "alpha":-5.29128, "fx":[8.47742,4.76564,42.79982,38.30826], "fy":[138.06588,138.08064,131.37036,132.91735]},
- {"t":1.89367, "x":7.59688, "y":5.01406, "heading":2.9146, "vx":-3.36334, "vy":-0.42571, "omega":-1.65123, "ax":3.54625, "ay":8.97658, "alpha":-6.31162, "fx":[31.40465,31.45403,74.04725,64.16304], "fy":[134.82501,134.64245,116.81189,122.68419]},
- {"t":1.93929, "x":7.44713, "y":5.00398, "heading":2.8327, "vx":-3.20155, "vy":-0.01618, "omega":-1.93917, "ax":4.67106, "ay":8.45244, "alpha":-6.34485, "fx":[47.57056,49.43954,89.15135,78.68295], "fy":[130.09359,129.24541,105.88482,114.02159]},
- {"t":1.98491, "x":7.30593, "y":5.01204, "heading":2.73763, "vx":-2.98846, "vy":0.36943, "omega":-2.22863, "ax":5.35781, "ay":8.06548, "alpha":-5.73091, "fx":[59.82918,61.45113,95.42151,87.08081], "fy":[125.00096,124.09528,100.38923,107.81967]},
- {"t":2.03053, "x":7.17517, "y":5.03729, "heading":2.62999, "vx":-2.74403, "vy":0.73738, "omega":-2.49008, "ax":5.79163, "ay":7.8036, "alpha":-4.64543, "fx":[69.75996,70.19007,96.74097,91.68896], "fy":[119.79723,119.46422,99.21108,103.98415]},
- {"t":2.07615, "x":7.05601, "y":5.07905, "heading":2.51156, "vx":-2.4798, "vy":1.09339, "omega":-2.70201, "ax":6.13728, "ay":7.56957, "alpha":-3.32105, "fx":[78.77776,78.24996,96.47468,94.4754], "fy":[114.02694,114.32373,99.43128,101.40555]},
- {"t":2.11879, "x":6.95587, "y":5.13254, "heading":2.39335, "vx":-2.21816, "vy":1.4161, "omega":-2.84359, "ax":6.53048, "ay":7.25037, "alpha":-2.01282, "fx":[87.96613,87.29303,97.64707,97.36582], "fy":[106.97236,107.46857,98.15507,98.49301]},
- {"t":2.16142, "x":6.86724, "y":5.1995, "heading":2.27029, "vx":-1.93975, "vy":1.7252, "omega":-2.9294, "ax":6.93546, "ay":6.86377, "alpha":-0.68019, "fx":[96.89436,96.5707,99.77729,99.99168], "fy":[98.74049,99.0309,95.79702,95.60055]},
- {"t":2.20405, "x":6.79084, "y":5.27929, "heading":2.14479, "vx":-1.64408, "vy":2.01782, "omega":-2.9584, "ax":7.3447, "ay":6.3983, "alpha":0.61956, "fx":[105.25938,105.61558,103.00358,102.55891], "fy":[89.35912,88.97545,91.99163,92.45138]},
- {"t":2.24668, "x":6.72743, "y":5.37113, "heading":2.01923, "vx":-1.33096, "vy":2.29059, "omega":-2.93199, "ax":7.75054, "ay":5.83366, "alpha":1.79911, "fx":[112.77594,113.90625,107.30229,105.46391], "fy":[78.77769,77.33013,86.29017,88.365]},
- {"t":2.28931, "x":6.67773, "y":5.47408, "heading":1.89586, "vx":-1.00053, "vy":2.53929, "omega":-2.85529, "ax":8.14186, "ay":5.11682, "alpha":2.73036, "fx":[119.11523,120.85688,112.44922,109.21433], "fy":[66.48036,63.90847,77.85645,81.87332]},
- {"t":2.33195, "x":6.64247, "y":5.58699, "heading":1.77662, "vx":-0.65343, "vy":2.75743, "omega":-2.73889, "ax":8.46231, "ay":4.04262, "alpha":3.10188, "fx":[123.00757,124.99505,117.6899,114.11216], "fy":[50.02553,47.21976,63.59364,68.37364]},
- {"t":2.37458, "x":6.62231, "y":5.70822, "heading":1.66267, "vx":-0.29266, "vy":2.92978, "omega":-2.60665, "ax":8.05375, "ay":0.22947, "alpha":-0.31161, "fx":[114.29039,113.95908,114.02951,114.36099], "fy":[4.17168,4.0629,2.32314,2.453]},
- {"t":2.41721, "x":6.61715, "y":5.83333, "heading":1.55126, "vx":0.05069, "vy":2.93956, "omega":-2.61993, "ax":6.18291, "ay":-5.32627, "alpha":-6.35086, "fx":[103.64298,86.66971,70.03594,90.21633], "fy":[-56.61346,-70.79944,-94.14593,-80.43584]},
- {"t":2.45984, "x":6.62493, "y":5.95381, "heading":1.4338, "vx":0.31428, "vy":2.71249, "omega":-2.89068, "ax":0.46249, "ay":-7.66607, "alpha":-7.29546, "fx":[31.45033,-11.66587,-13.56988,20.00832], "fy":[-103.11692,-104.48817,-113.46621,-113.58779]},
- {"t":2.50247, "x":6.63875, "y":6.06248, "heading":1.30393, "vx":0.334, "vy":2.38567, "omega":-3.20171, "ax":-4.5355, "ay":-6.15388, "alpha":-4.32774, "fx":[-56.27391,-75.77739,-71.36271,-53.74429], "fy":[-88.8021,-76.54151,-86.70249,-96.87328]},
- {"t":2.54511, "x":6.64886, "y":6.15859, "heading":1.1635, "vx":0.14064, "vy":2.12332, "omega":-3.38621, "ax":-7.21794, "ay":-2.99147, "alpha":-0.76435, "fx":[-101.69874,-103.42068,-102.93988,-101.19112], "fy":[-42.19703,-39.68459,-42.61732,-45.11477]},
- {"t":2.58774, "x":6.6483, "y":6.2464, "heading":1.01845, "vx":-0.16708, "vy":1.99578, "omega":-3.41879, "ax":-7.98241, "ay":0.29255, "alpha":2.10832, "fx":[-114.88085,-112.94026,-111.52164,-113.25203], "fy":[2.12742,-3.92782,6.41625,11.97122]},
- {"t":2.63037, "x":6.63392, "y":6.33175, "heading":0.87461, "vx":-0.50739, "vy":2.00826, "omega":-3.32891, "ax":-7.49703, "ay":3.16016, "alpha":4.38438, "fx":[-111.88483,-110.96163,-100.29544,-101.93267], "fy":[39.18398,29.21575,52.16571,58.61271]},
- {"t":2.673, "x":6.60548, "y":6.42023, "heading":0.73668, "vx":-0.827, "vy":2.14298, "omega":-3.14199, "ax":-6.34427, "ay":5.33986, "alpha":6.23278, "fx":[-101.10936,-101.8764,-76.32838,-80.39987], "fy":[67.86882,57.11395,86.96138,90.82094]},
- {"t":2.71564, "x":6.56446, "y":6.51645, "heading":0.60839, "vx":-1.09747, "vy":2.37063, "omega":-2.87628, "ax":-5.30492, "ay":6.61767, "alpha":7.68375, "fx":[-91.06206,-94.04991,-54.30724,-61.3649], "fy":[85.79406,74.40903,106.24055,108.7717]},
- {"t":2.75827, "x":6.51285, "y":6.62353, "heading":0.49275, "vx":-1.32363, "vy":2.65276, "omega":-2.5487, "ax":-5.54904, "ay":6.32523, "alpha":13.67994, "fx":[-100.93914,-114.69127,-44.74668,-54.24815], "fy":[81.50898,48.08402,111.9966,117.04488]},
- {"t":2.8009, "x":6.45138, "y":6.74237, "heading":0.39653, "vx":-1.5602, "vy":2.92241, "omega":-1.9655, "ax":-9.20395, "ay":-2.1297, "alpha":8.00704, "fx":[-136.12896,-125.45957,-124.2402,-136.02627], "fy":[-14.08434,-54.44696,-54.7978,2.57694]},
- {"t":2.84353, "x":6.3765, "y":6.86502, "heading":0.32001, "vx":-1.95258, "vy":2.83162, "omega":-1.62414, "ax":-9.06372, "ay":-3.16563, "alpha":6.28852, "fx":[-134.85368,-123.45601,-120.12544,-135.4689], "fy":[-28.34629,-61.22671,-66.77945,-23.13599]},
- {"t":2.88616, "x":6.28502, "y":6.98286, "heading":0.25648, "vx":-2.33899, "vy":2.69666, "omega":-1.35605, "ax":-8.90666, "ay":-3.71435, "alpha":5.72954, "fx":[-133.50735,-121.6618,-116.59118,-133.23876], "fy":[-35.58358,-65.533,-73.7934,-35.6901]},
- {"t":2.9288, "x":6.17721, "y":7.09445, "heading":0.20388, "vx":-2.7187, "vy":2.53831, "omega":-1.11178, "ax":-8.74338, "ay":-4.12416, "alpha":5.69213, "fx":[-132.38252,-119.70166,-112.65529,-131.00199], "fy":[-40.24791,-69.45287,-80.13566,-43.99943]},
- {"t":2.97143, "x":6.05336, "y":7.19892, "heading":0.16165, "vx":-3.09145, "vy":2.36249, "omega":-0.86911, "ax":-8.57366, "ay":-4.46394, "alpha":6.02112, "fx":[-131.5764,-117.57685,-108.01767,-128.94771], "fy":[-43.20877,-73.23072,-86.53943,-50.122]},
- {"t":3.01406, "x":5.91377, "y":7.29558, "heading":0.13007, "vx":-3.45696, "vy":2.17218, "omega":-0.61242, "ax":-8.13376, "ay":-5.21589, "alpha":6.28698, "fx":[-128.34604,-111.94306,-98.18132,-122.70628], "fy":[-52.22096,-81.71589,-97.70276,-64.0966]},
- {"t":3.06958, "x":5.70931, "y":7.40814, "heading":0.10576, "vx":-3.90854, "vy":1.8826, "omega":-0.26337, "ax":-6.58789, "ay":-7.11884, "alpha":4.57847, "fx":[-108.36103,-93.07448,-76.9679,-95.1237], "fy":[-85.99279,-102.4326,-114.93269,-100.27309]},
- {"t":3.1251, "x":5.48216, "y":7.50169, "heading":0.0982, "vx":-4.27429, "vy":1.48737, "omega":-0.00918, "ax":-2.77928, "ay":-9.32794, "alpha":0.13955, "fx":[-39.97113,-39.63747,-38.82196,-39.15205], "fy":[-132.04745,-132.15405,-132.39345,-132.29011]},
- {"t":3.18062, "x":5.24057, "y":7.56989, "heading":0.0979, "vx":-4.4286, "vy":0.96949, "omega":-0.00143, "ax":2.68093, "ay":-9.26008, "alpha":-4.97444, "fx":[49.07797,57.50787,23.77874,21.64138], "fy":[-128.74468,-124.90416,-135.35704,-136.0321]},
- {"t":3.23614, "x":4.99883, "y":7.60944, "heading":0.09015, "vx":-4.27976, "vy":0.45538, "omega":-0.27761, "ax":8.86796, "ay":-4.04499, "alpha":-1.38901, "fx":[125.10756,128.21792,126.47641,123.00289], "fy":[-58.86975,-51.69228,-55.71671,-63.06827]},
- {"t":3.29166, "x":4.77489, "y":7.62849, "heading":0.0726, "vx":-3.78742, "vy":0.23081, "omega":-0.35473, "ax":9.58705, "ay":-1.89096, "alpha":0.44001, "fx":[136.09283,135.53843,135.70808,136.23712], "fy":[-25.78981,-28.57148,-27.79385,-25.06077]},
- {"t":3.34717, "x":4.57939, "y":7.63839, "heading":0.05359, "vx":-3.25515, "vy":0.12582, "omega":-0.3303, "ax":9.72419, "ay":-1.02541, "alpha":0.97994, "fx":[138.13114,137.42187,137.58358,138.21582], "fy":[-11.78531,-18.30117,-17.14374,-10.90938]},
- {"t":3.40269, "x":4.41366, "y":7.64379, "heading":0.03676, "vx":-2.71528, "vy":0.06889, "omega":-0.27589, "ax":9.76396, "ay":-0.59486, "alpha":1.08381, "fx":[138.60446,138.14143,138.22821,138.63333], "fy":[-5.12258,-12.43777,-11.56094,-4.60681]},
- {"t":3.45821, "x":4.27796, "y":7.6467, "heading":0.02311, "vx":-2.17319, "vy":0.03587, "omega":-0.21572, "ax":9.77888, "ay":-0.34764, "alpha":1.05575, "fx":[138.73185,138.4674,138.51126,138.74274], "fy":[-1.554,-8.7102,-8.12708,-1.31974]},
- {"t":3.51373, "x":4.17237, "y":7.64816, "heading":0.01276, "vx":-1.63028, "vy":0.01657, "omega":-0.15711, "ax":9.78543, "ay":-0.19195, "alpha":0.99729, "fx":[138.76762,138.62996,138.65271,138.77408], "fy":[0.55466,-6.20969,-5.83949,0.6113]},
- {"t":3.56925, "x":4.09694, "y":7.64878, "heading":0.00558, "vx":-1.087, "vy":0.00591, "omega":-0.10174, "ax":9.7886, "ay":-0.08852, "alpha":0.93984, "fx":[138.77623,138.71661,138.72929,138.78231], "fy":[1.88556,-4.48582,-4.2553,1.83682]},
- {"t":3.62477, "x":4.05168, "y":7.64897, "heading":0.00138, "vx":-0.54355, "vy":0.001, "omega":-0.04956, "ax":9.79027, "ay":-0.01795, "alpha":0.89266, "fx":[138.7769,138.76541,138.77329,138.78351], "fy":[2.75947,-3.28731,-3.14226,2.65235]},
- {"t":3.68029, "x":4.03659, "y":7.649, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.74711, "ay":-0.78424, "alpha":-2.20658, "fx":[137.71087,138.75932,138.73632,137.44551], "fy":[-17.42044,-3.65865,-4.06509,-19.32161]},
- {"t":3.73368, "x":4.05048, "y":7.64788, "heading":-0.00315, "vx":0.52043, "vy":-0.04187, "omega":-0.11782, "ax":9.73705, "ay":-0.82409, "alpha":-2.60433, "fx":[137.4802,138.75781,138.73395,137.10966], "fy":[-19.02677,-2.96542,-3.29986,-21.43306]},
- {"t":3.78708, "x":4.09215, "y":7.64447, "heading":-0.01315, "vx":1.04032, "vy":-0.08587, "omega":-0.25687, "ax":9.72093, "ay":-0.88637, "alpha":-3.14035, "fx":[137.11795,138.74573,138.72062,136.58313], "fy":[-21.31882,-2.2444,-2.31181,-24.38116]},
- {"t":3.84047, "x":4.16155, "y":7.63862, "heading":-0.03134, "vx":1.55935, "vy":-0.1332, "omega":-0.42454, "ax":9.69285, "ay":-0.98744, "alpha":-3.90946, "fx":[136.50215,138.71625,138.68309,135.67389], "fy":[-24.74371,-1.52656,-0.95115,-28.76573]},
- {"t":3.89386, "x":4.25863, "y":7.63011, "heading":-0.05958, "vx":2.07689, "vy":-0.18592, "omega":-0.63328, "ax":9.63572, "ay":-1.169, "alpha":-5.14754, "fx":[135.29942,138.65366,138.58234,133.80073], "fy":[-30.34064,-0.91194,1.10055,-36.12913]},
- {"t":3.94725, "x":4.38326, "y":7.61851, "heading":-0.10073, "vx":2.59137, "vy":-0.24834, "omega":-0.90813, "ax":9.47468, "ay":-1.57748, "alpha":-7.67583, "fx":[132.21791,138.50594,138.25951,128.22196], "fy":[-41.28961,-0.85567,4.68186,-51.97807]},
- {"t":4.00065, "x":4.53512, "y":7.603, "heading":-0.16016, "vx":3.09725, "vy":-0.33257, "omega":-1.31796, "ax":8.52474, "ay":-4.53769, "alpha":-4.33188, "fx":[117.75175,128.54212,125.74201,111.30888], "fy":[-71.54016,-49.42575,-55.49479,-80.8222]},
- {"t":4.05404, "x":4.71265, "y":7.57878, "heading":-0.2367, "vx":3.55241, "vy":-0.57485, "omega":-1.54926, "ax":0.65043, "ay":-9.45815, "alpha":3.3787, "fx":[1.38808,-3.63197,15.70272,23.42014], "fy":[-134.38578,-135.00464,-134.29331,-132.58408]},
- {"t":4.10743, "x":4.90325, "y":7.5346, "heading":-0.31461, "vx":3.58714, "vy":-1.07985, "omega":-1.36886, "ax":0.25024, "ay":-6.83816, "alpha":3.74509, "fx":[-2.576,-7.77976,8.79241,15.75147], "fy":[-93.09788,-99.21834,-100.86342,-94.53768]},
- {"t":4.16083, "x":5.09513, "y":7.4672, "heading":-0.38236, "vx":3.6005, "vy":-1.44496, "omega":-1.16889, "ax":-5.88231, "ay":-2.93712, "alpha":-6.85119, "fx":[-73.52772,-74.74654,-93.2897,-91.95727], "fy":[-62.41689,-39.19329,-20.38507,-44.5367]},
- {"t":4.21422, "x":5.27899, "y":7.38586, "heading":-0.45453, "vx":3.28643, "vy":-1.60178, "omega":-1.5347, "ax":-8.23173, "ay":-2.47376, "alpha":-9.4186, "fx":[-102.85832,-114.8802,-126.17506,-122.81772], "fy":[-72.64987,-32.21561,2.85703,-38.25146]},
- {"t":4.26761, "x":5.44273, "y":7.29681, "heading":-0.5499, "vx":2.84691, "vy":-1.73386, "omega":-2.03759, "ax":-8.92461, "ay":-1.04287, "alpha":-9.53507, "fx":[-118.09254,-127.11296,-129.2859,-131.52564], "fy":[-57.09674,-7.53993,25.02119,-19.51403]},
- {"t":4.32101, "x":5.58202, "y":7.20275, "heading":-0.67229, "vx":2.3704, "vy":-1.78955, "omega":-2.5467, "ax":-9.10134, "ay":0.23811, "alpha":-9.04363, "fx":[-126.83166,-129.00518,-126.31403,-133.88633], "fy":[-37.98474,11.33879,41.25745,-1.11087]},
- {"t":4.3744, "x":5.6956, "y":7.10754, "heading":-0.82115, "vx":1.88445, "vy":-1.77683, "omega":-3.02957, "ax":-8.99312, "ay":-2.4509, "alpha":-5.82961, "fx":[-120.97712,-124.77882,-132.94767,-131.198], "fy":[-57.2711,-43.8439,-9.01567,-28.83289]},
- {"t":4.42779, "x":5.7834, "y":7.00917, "heading":-0.99122, "vx":1.40428, "vy":-1.90769, "omega":-3.34083, "ax":-6.46628, "ay":-7.05636, "alpha":3.11775, "fx":[-97.45448,-100.24915,-87.03276,-81.89539], "fy":[-94.54115,-92.20698,-104.88152,-108.45926]},
- {"t":4.48119, "x":5.84916, "y":6.89726, "heading":-1.16516, "vx":1.05902, "vy":-2.28446, "omega":-3.17436, "ax":-4.75712, "ay":-8.22482, "alpha":8.60117, "fx":[-75.61759,-98.90012,-64.92066,-30.28561], "fy":[-114.4167,-95.90412,-121.72137,-134.29732]},
- {"t":4.53458, "x":5.89893, "y":6.76356, "heading":-1.32238, "vx":0.80502, "vy":-2.72361, "omega":-2.71512, "ax":-4.36124, "ay":-8.34683, "alpha":10.77405, "fx":[-59.79124,-104.8947,-66.14542,-16.44679], "fy":[-124.1966,-90.11584,-121.61494,-137.32967]},
- {"t":4.58797, "x":5.93569, "y":6.60624, "heading":-1.452, "vx":0.57216, "vy":-3.16927, "omega":-2.13986, "ax":-4.35738, "ay":-8.29318, "alpha":11.8408, "fx":[-49.22294,-109.54717,-71.57171,-16.71724], "fy":[-129.16916,-84.77117,-118.72407,-137.55107]},
- {"t":4.64137, "x":5.96003, "y":6.4252, "heading":-1.54937, "vx":0.33951, "vy":-3.61207, "omega":-1.50764, "ax":-4.5025, "ay":-7.70908, "alpha":16.95324, "fx":[-35.76577,-127.11915,-82.65842,-9.74399], "fy":[-132.92764,-54.77659,-111.23631,-138.15701]},
- {"t":4.68125, "x":5.96999, "y":6.27502, "heading":-1.59602, "vx":0.15994, "vy":-3.91952, "omega":-0.83152, "ax":-5.25452, "ay":-7.47507, "alpha":14.46527, "fx":[-57.87965,-125.93902,-88.22971,-25.87811], "fy":[-124.54738,-56.82546,-106.63047,-135.82629]},
- {"t":4.72113, "x":5.97219, "y":6.11276, "heading":-1.61767, "vx":-0.04962, "vy":-4.21763, "omega":-0.25462, "ax":-6.90845, "ay":-6.53835, "alpha":8.04401, "fx":[-98.71228,-121.86123,-100.47272,-70.65654], "fy":[-94.81796,-63.67351,-94.26038,-117.96612]},
- {"t":4.76101, "x":5.96472, "y":5.93935, "heading":-1.62143, "vx":-0.32513, "vy":-4.47839, "omega":0.06618, "ax":-9.50083, "ay":0.00402, "alpha":-1.56211, "fx":[-134.84854,-134.51451,-134.51247,-134.81271], "fy":[-4.53254,-5.39667,5.00791,5.14951]},
- {"t":4.80089, "x":5.9442, "y":5.76075, "heading":-1.62003, "vx":-0.70404, "vy":-4.47823, "omega":0.00388, "ax":-4.30428, "ay":7.65081, "alpha":10.95253, "fx":[-24.23763,-71.89193,-101.21582,-46.70338], "fy":[128.16746,110.48095,80.23733,114.9076]},
- {"t":4.84077, "x":5.9127, "y":5.58824, "heading":-1.61117, "vx":-0.8757, "vy":-4.17311, "omega":0.44068, "ax":3.08021, "ay":8.59951, "alpha":13.98346, "fx":[65.76708,4.93386,4.28108,99.66289], "fy":[120.80479,137.30193,135.83211,93.645]},
- {"t":4.88065, "x":5.88022, "y":5.42865, "heading":-1.58247, "vx":-0.75286, "vy":-3.83015, "omega":0.99836, "ax":4.26092, "ay":8.21694, "alpha":12.94298, "fx":[76.06826,18.51318,35.67054,111.33839], "fy":[115.36472,136.80894,132.45992,81.2592]},
- {"t":4.92054, "x":5.85358, "y":5.28243, "heading":-1.53236, "vx":-0.58293, "vy":-3.50244, "omega":1.51455, "ax":5.039, "ay":7.87104, "alpha":11.85072, "fx":[81.16388,28.14118,60.24533,116.15633], "fy":[112.12136,135.40604,123.8379,74.91536]},
- {"t":4.96042, "x":5.83434, "y":5.14901, "heading":-1.46254, "vx":-0.38196, "vy":-3.18854, "omega":1.98717, "ax":5.47289, "ay":7.66543, "alpha":10.89382, "fx":[82.43903,34.77026,76.30259,116.79599], "fy":[111.33186,133.98973,115.03265,74.26808]},
- {"t":5.0003, "x":5.82346, "y":5.02794, "heading":-1.37462, "vx":-0.1637, "vy":-2.88283, "omega":2.42163, "ax":5.75913, "ay":7.53161, "alpha":10.01487, "fx":[82.22698,41.03629,87.608,115.66614], "fy":[111.57432,132.28697,106.95326,76.22031]},
- {"t":5.04018, "x":5.82151, "y":4.91896, "heading":-1.27008, "vx":0.06598, "vy":-2.58246, "omega":2.82104, "ax":5.97167, "ay":7.43846, "alpha":9.11682, "fx":[81.53451,48.01705,95.45783,113.57868], "fy":[112.13691,129.97238,100.21848,79.42596]},
- {"t":5.08006, "x":5.82889, "y":4.82188, "heading":-1.15032, "vx":0.30414, "vy":-2.2858, "omega":3.18463, "ax":6.14764, "ay":7.36969, "alpha":8.05514, "fx":[80.99669,56.23326,100.48394,110.85125], "fy":[112.56412,126.67806,95.3369,83.27531]},
- {"t":5.11994, "x":5.84591, "y":4.73658, "heading":-1.01691, "vx":0.54932, "vy":-1.99189, "omega":3.50588, "ax":6.30516, "ay":7.31679, "alpha":6.65985, "fx":[81.20222,65.8604,102.92336,107.51052], "fy":[112.44296,121.98944,92.81884,87.60358]},
- {"t":5.15982, "x":5.87284, "y":4.66296, "heading":-0.87179, "vx":0.80078, "vy":-1.70008, "omega":3.77148, "ax":6.44428, "ay":7.2758, "alpha":4.82959, "fx":[82.85933,76.3476,102.7102,103.4674], "fy":[111.24704,115.75569,93.14534,92.38281]},
- {"t":5.19971, "x":5.9099, "y":4.60095, "heading":-0.71754, "vx":1.05778, "vy":-1.40991, "omega":3.9641, "ax":6.52391, "ay":7.26842, "alpha":2.47074, "fx":[86.69578,86.1067,98.95495,98.14187], "fy":[108.26238,108.69727,97.14681,98.00592]},
- {"t":5.24066, "x":5.95869, "y":4.5493, "heading":-0.55312, "vx":1.32497, "vy":-1.11224, "omega":4.06528, "ax":6.6304, "ay":7.18763, "alpha":-0.51152, "fx":[95.45402,94.96098,92.53756,92.9847], "fy":[100.51779,100.9932,103.21653,102.80443]},
- {"t":5.28162, "x":6.01851, "y":4.50977, "heading":-0.38705, "vx":1.59652, "vy":-0.81787, "omega":4.04434, "ax":6.64429, "ay":7.11926, "alpha":-3.543, "fx":[105.42762,98.91989,83.56669,88.81063], "fy":[89.84212,97.03896,110.51388,106.26036]},
- {"t":5.32257, "x":6.08947, "y":4.48225, "heading":-0.22439, "vx":1.86864, "vy":-0.5263, "omega":3.89923, "ax":6.47006, "ay":7.17456, "alpha":-6.05362, "fx":[111.8502,97.4951,72.22168,85.27902], "fy":[81.48296,98.35294,118.10558,108.84947]},
- {"t":5.36353, "x":6.17143, "y":4.46671, "heading":-0.06977, "vx":2.13362, "vy":-0.23246, "omega":3.65131, "ax":6.33957, "ay":7.14997, "alpha":-8.21644, "fx":[117.27191,94.80893,61.20338,86.16315], "fy":[73.07579,100.73927,123.93663,107.64473]},
- {"t":5.40448, "x":6.26413, "y":4.46319, "heading":0.07287, "vx":2.39326, "vy":0.06037, "omega":3.3148, "ax":6.31702, "ay":6.99667, "alpha":-9.98379, "fx":[121.16672,91.86306,52.15569,92.98355], "fy":[65.56923,102.9978,127.49978,100.63754]},
- {"t":5.44544, "x":6.36744, "y":4.47153, "heading":0.20026, "vx":2.65197, "vy":0.34691, "omega":2.90591, "ax":6.51418, "ay":6.53439, "alpha":-11.47642, "fx":[123.50694,90.56983,49.49257,105.77835], "fy":[58.10167,102.68703,126.83213,82.87275]},
- {"t":5.48639, "x":6.48152, "y":4.49122, "heading":0.30965, "vx":2.91876, "vy":0.61453, "omega":2.4359, "ax":0.95694, "ay":-2.98735, "alpha":-3.8263, "fx":[21.77768,18.69524,4.96101,8.82375], "fy":[-45.70069,-34.71895,-39.11398,-49.84616]},
- {"t":5.52735, "x":6.60186, "y":4.51388, "heading":0.4062, "vx":2.95795, "vy":0.49218, "omega":2.27919, "ax":-9.07956, "ay":-0.61944, "alpha":10.80219, "fx":[-134.68597,-126.93537,-126.02143,-127.15967], "fy":[6.86152,-44.21614,-36.78792,39.02083]},
- {"t":5.5683, "x":6.71538, "y":4.53352, "heading":0.5086, "vx":2.5861, "vy":0.46681, "omega":2.72159, "ax":-7.66744, "ay":5.47004, "alpha":8.32549, "fx":[-117.08914,-128.6082,-99.47873,-89.56073], "fy":[70.76924,44.53337,91.76628,103.07715]},
- {"t":5.60926, "x":6.81487, "y":4.55722, "heading":0.62705, "vx":2.27208, "vy":0.69084, "omega":3.06257, "ax":-6.05644, "ay":7.49878, "alpha":4.48234, "fx":[-95.67629,-98.65904,-73.7899,-75.26933], "fy":[98.85943,95.44445,115.7245,115.14501]},
- {"t":5.65021, "x":6.90284, "y":4.5918, "heading":0.75624, "vx":2.02403, "vy":0.99795, "omega":3.24614, "ax":-5.00959, "ay":8.34308, "alpha":0.78428, "fx":[-73.61376,-72.73318,-68.32053,-69.37141], "fy":[116.70289,117.21262,119.84748,119.28172]},
- {"t":5.69117, "x":6.98153, "y":4.63967, "heading":0.88984, "vx":1.81887, "vy":1.33964, "omega":3.27826, "ax":-4.355, "ay":8.70805, "alpha":-2.53117, "fx":[-51.45185,-58.39714,-71.25166,-65.82378], "fy":[128.31535,125.38,118.51577,121.52701]},
- {"t":5.73212, "x":7.05237, "y":4.70184, "heading":1.02198, "vx":1.64051, "vy":1.69628, "omega":3.1746, "ax":-3.96977, "ay":8.8381, "alpha":-5.26966, "fx":[-33.03366,-53.14255,-77.21332,-61.69277], "fy":[134.4358,127.91367,114.93712,123.82533]},
- {"t":5.77308, "x":7.11623, "y":4.77872, "heading":1.14757, "vx":1.47792, "vy":2.05825, "omega":2.95878, "ax":-3.76723, "ay":8.8508, "alpha":-7.39998, "fx":[-20.3317,-53.21576,-84.09605,-55.95507], "fy":[137.06534,128.00924,110.13621,126.62141]},
- {"t":5.81403, "x":7.1736, "y":4.87044, "heading":1.26254, "vx":1.32364, "vy":2.42073, "omega":2.65571, "ax":-4.08365, "ay":7.88615, "alpha":-17.07788, "fx":[18.74838,-63.75178,-122.98928,-63.54611], "fy":[137.4037,123.22926,64.06984,122.43452]},
- {"t":5.85499, "x":7.22439, "y":4.9762, "heading":1.35699, "vx":1.15639, "vy":2.74371, "omega":1.95628, "ax":-2.83267, "ay":6.17709, "alpha":-30.70994, "fx":[29.45276,-74.94009,-135.48801,20.36545], "fy":[135.5445,116.79203,29.70945,68.18939]},
- {"t":5.89548, "x":7.26889, "y":5.09237, "heading":1.41103, "vx":1.04168, "vy":2.99386, "omega":0.71263, "ax":-5.14081, "ay":6.86454, "alpha":-19.39976, "fx":[10.5279,-81.6906,-134.8442,-85.4723], "fy":[138.2504,112.12472,32.27354,106.56437]},
- {"t":5.93598, "x":7.30686, "y":5.21924, "heading":1.42398, "vx":0.83349, "vy":3.27185, "omega":-0.07299, "ax":-6.07558, "ay":6.59309, "alpha":-16.3427, "fx":[-18.08231,-88.36554,-132.28084,-105.75089], "fy":[137.3624,106.85365,41.28888,88.3172]},
- {"t":5.97648, "x":7.33563, "y":5.35715, "heading":1.40762, "vx":0.58745, "vy":3.53885, "omega":-0.73482, "ax":-7.25971, "ay":6.17888, "alpha":-9.01853, "fx":[-72.09202,-99.97195,-125.63982,-113.91497], "fy":[118.11484,95.87206,58.15357,78.19606]},
- {"t":6.01697, "x":7.35347, "y":5.50553, "heading":1.37047, "vx":0.29346, "vy":3.78908, "omega":-1.10004, "ax":-8.51691, "ay":4.54633, "alpha":5.95903, "fx":[-130.74004,-128.41449,-107.33644,-116.40959], "fy":[45.13585,50.839,87.03864,74.75901]},
- {"t":6.05747, "x":7.35837, "y":5.6627, "heading":1.33081, "vx":-0.05145, "vy":3.97319, "omega":-0.85872, "ax":-9.15016, "ay":3.03223, "alpha":6.17753, "fx":[-135.88354,-136.1067,-121.37154,-125.44357], "fy":[25.3444,22.76891,65.72638,58.08472]},
- {"t":6.09797, "x":7.34878, "y":5.82609, "heading":1.3011, "vx":-0.422, "vy":4.09598, "omega":-0.60855, "ax":-9.65183, "ay":0.92672, "alpha":3.82929, "fx":[-138.04804,-137.93567,-135.74776,-135.51788], "fy":[4.02831,-2.36811,24.37947,26.50441]},
- {"t":6.13846, "x":7.32378, "y":5.99272, "heading":1.27959, "vx":-0.81287, "vy":4.13351, "omega":-0.45347, "ax":-9.55799, "ay":-1.82394, "alpha":0.97799, "fx":[-135.29217,-134.61888,-135.74783,-136.27017], "fy":[-27.17258,-30.15985,-24.46227,-21.62118]},
- {"t":6.17896, "x":7.28302, "y":6.15862, "heading":1.26203, "vx":-1.19994, "vy":4.05965, "omega":-0.41387, "ax":-8.60763, "ay":-4.52965, "alpha":-1.82343, "fx":[-122.0425,-125.85983,-122.20364,-117.93867], "fy":[-64.30301,-56.61552,-64.23738,-71.67093]},
- {"t":6.21946, "x":7.22737, "y":6.31931, "heading":1.24378, "vx":-1.54852, "vy":3.87621, "omega":-0.48771, "ax":-7.2085, "ay":-6.49179, "alpha":-3.91871, "fx":[-98.65595,-113.88079,-105.60723,-90.57099], "fy":[-96.49559,-78.11038,-89.15355,-104.31871]},
- {"t":6.25995, "x":7.15875, "y":6.47096, "heading":1.22081, "vx":-1.84044, "vy":3.61332, "omega":-0.64641, "ax":-5.90622, "ay":-7.66222, "alpha":-5.30048, "fx":[-73.41303,-101.67249,-91.9819,-67.80971], "fy":[-116.99322,-93.59272,-103.32192,-120.53253]},
- {"t":6.30045, "x":7.07938, "y":6.611, "heading":1.19029, "vx":-2.07962, "vy":3.30302, "omega":-0.86106, "ax":-5.13349, "ay":-8.19415, "alpha":-5.73638, "fx":[-57.94125,-92.55498,-84.131,-56.43697], "fy":[-125.52793,-102.75682,-109.93168,-126.38379]},
- {"t":6.35455, "x":6.95937, "y":6.77769, "heading":1.13532, "vx":-2.35732, "vy":2.85976, "omega":-1.17137, "ax":-4.63459, "ay":-8.44495, "alpha":-6.09976, "fx":[-46.98154,-86.07406,-79.8377,-49.8836], "fy":[-129.60052,-107.71247,-112.71548,-128.7919]},
- {"t":6.40864, "x":6.82507, "y":6.92004, "heading":1.06303, "vx":-2.60803, "vy":2.40292, "omega":-1.50134, "ax":-3.83913, "ay":-8.68257, "alpha":-7.61407, "fx":[-26.27213,-77.9902,-75.00123,-38.4112], "fy":[-133.93771,-111.8789,-114.79813,-131.6789]},
- {"t":6.46274, "x":6.67837, "y":7.03732, "heading":0.97067, "vx":-2.81571, "vy":1.93324, "omega":-1.91322, "ax":1.00832, "ay":-6.2745, "alpha":-2.72728, "fx":[23.26418,13.4557,5.34855,15.1026], "fy":[-87.39788,-85.31471,-90.47263,-92.57319]},
- {"t":6.51683, "x":6.52753, "y":7.13272, "heading":0.86318, "vx":-2.76116, "vy":1.59382, "omega":-2.06076, "ax":0.14333, "ay":-3.68083, "alpha":-0.3258, "fx":[2.90261,1.97212,1.16122,2.09099], "fy":[-52.11639,-51.51936,-52.23528,-52.82848]},
- {"t":6.57093, "x":6.37837, "y":7.21355, "heading":0.75123, "vx":-2.75341, "vy":1.3947, "omega":-2.07838, "ax":-0.99939, "ay":-3.05881, "alpha":0.96983, "fx":[-16.64002,-14.11041,-11.68295,-14.23115], "fy":[-43.15115,-45.42162,-43.58292,-41.27595]},
- {"t":6.62502, "x":6.22796, "y":7.28452, "heading":0.64022, "vx":-2.80747, "vy":1.22923, "omega":-2.02592, "ax":-1.90695, "ay":-2.54292, "alpha":1.84432, "fx":[-31.48162,-27.26477,-22.5345,-26.8411], "fy":[-35.04231,-40.10324,-37.1237,-31.91166]},
- {"t":6.67912, "x":6.0733, "y":7.3473, "heading":0.53332, "vx":-2.91063, "vy":1.09167, "omega":-1.92615, "ax":-2.58211, "ay":-1.8529, "alpha":2.57127, "fx":[-42.35416,-37.51767,-30.75689,-35.77453], "fy":[-24.20632,-32.07687,-28.48521,-20.28925]},
- {"t":6.73321, "x":5.91207, "y":7.40364, "heading":0.43289, "vx":-3.05031, "vy":0.99144, "omega":-1.78706, "ax":-3.07466, "ay":-1.0308, "alpha":3.2681, "fx":[-50.26168,-45.59151,-36.76701,-41.71032], "fy":[-11.38987,-22.1289,-18.10719,-6.81942]},
- {"t":6.78731, "x":5.74257, "y":7.45576, "heading":0.341, "vx":-3.21663, "vy":0.93568, "omega":-1.61027, "ax":-3.43744, "ay":-0.22033, "alpha":3.9701, "fx":[-56.08663,-52.19424,-41.18418,-45.43431], "fy":[1.31153,-12.29689,-7.96683,6.45972]},
- {"t":6.8414, "x":5.56353, "y":7.50606, "heading":0.2597, "vx":-3.40258, "vy":0.92376, "omega":-1.3955, "ax":-3.96925, "ay":-0.19393, "alpha":4.73321, "fx":[-64.29389,-60.86725,-48.03118,-51.86043], "fy":[3.53357,-13.45863,-9.78686,8.71603]},
- {"t":6.8955, "x":5.37366, "y":7.55574, "heading":0.19114, "vx":-3.6173, "vy":0.91327, "omega":-1.13946, "ax":-5.27649, "ay":-4.36642, "alpha":5.20503, "fx":[-86.81697,-76.55296,-61.85954,-73.94231], "fy":[-50.0349,-69.3304,-74.57109,-53.63523]},
- {"t":6.94959, "x":5.17026, "y":7.59876, "heading":0.13711, "vx":-3.90273, "vy":0.67707, "omega":-0.85789, "ax":-5.3239, "ay":-7.42067, "alpha":5.73426, "fx":[-95.5008,-77.4534,-54.45591,-74.4497], "fy":[-89.49697,-106.98211,-119.09913,-105.16677]},
- {"t":7.00369, "x":4.95135, "y":7.62453, "heading":0.0991, "vx":-4.19073, "vy":0.27564, "omega":-0.54769, "ax":9.07371, "ay":-3.25172, "alpha":0.62611, "fx":[128.91982,127.66615,128.34953,129.53507], "fy":[-45.14902,-48.66547,-47.00737,-43.54738]},
- {"t":7.05778, "x":4.73793, "y":7.63468, "heading":0.07038, "vx":-3.69988, "vy":0.09974, "omega":-0.51382, "ax":9.71732, "ay":-0.57356, "alpha":2.83761, "fx":[138.24917,136.92927,137.46059,138.32358], "fy":[0.5343,-19.15959,-15.59858,1.7034]},
- {"t":7.11188, "x":4.552, "y":7.63924, "heading":0.04674, "vx":-3.17422, "vy":0.06871, "omega":-0.36032, "ax":9.76007, "ay":-0.31974, "alpha":1.87871, "fx":[138.53585,138.06963,138.21892,138.56236], "fy":[1.43861,-11.48128,-9.9582,1.87174]},
- {"t":7.16598, "x":4.39457, "y":7.64249, "heading":0.03, "vx":-2.64625, "vy":0.05142, "omega":-0.25869, "ax":9.77449, "ay":-0.23371, "alpha":1.37912, "fx":[138.65264,138.41184,138.47272,138.66718], "fy":[1.14944,-8.26471,-7.47751,1.34162]},
- {"t":7.22007, "x":4.26572, "y":7.64493, "heading":0.01802, "vx":-2.11749, "vy":0.03877, "omega":-0.18409, "ax":9.78141, "ay":-0.19593, "alpha":1.07592, "fx":[138.71583,138.56275,138.59316,138.72509], "fy":[0.7406,-6.56547,-6.11297,0.82884]},
- {"t":7.27417, "x":4.16549, "y":7.64674, "heading":0.00964, "vx":-1.58836, "vy":0.02817, "omega":-0.12589, "ax":9.78532, "ay":-0.17838, "alpha":0.88244, "fx":[138.7546,138.64245,138.66016,138.76099], "fy":[0.37557,-5.59506,-5.30959,0.41531]},
- {"t":7.32826, "x":4.09388, "y":7.648, "heading":0.00412, "vx":-1.05902, "vy":0.01853, "omega":-0.07815, "ax":9.78772, "ay":-0.17143, "alpha":0.75962, "fx":[138.78036,138.68865,138.70049,138.78507], "fy":[0.07932,-5.04802,-4.8481,0.09687]},
- {"t":7.38236, "x":4.05091, "y":7.64875, "heading":0.001, "vx":-0.52955, "vy":0.00925, "omega":-0.03706, "ax":9.78928, "ay":-0.17103, "alpha":0.68505, "fx":[138.79854,138.71655,138.72556,138.80222], "fy":[-0.15767,-4.7748,-4.61681,-0.14811]},
- {"t":7.43645, "x":4.03659, "y":7.649, "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":[0,75]
- },
- "events":[]
-}
+++ /dev/null
-{
- "name":"loopBumpDepot",
- "version":3,
- "snapshot":{
- "waypoints":[
- {"x":4.408560752868652, "y":7.650118350982666, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.938620567321777, "y":4.880990982055664, "heading":-1.5273453115960398, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.895162582397461, "y":4.453661918640137, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.397093296051025, "y":5.255403518676758, "heading":1.4745043905199968, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":3.3102965354919434, "y":5.603780269622803, "heading":1.5815484919422391, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":true},
- {"x":0.4285269379615784, "y":4.993633270263672, "heading":1.5707963267948966, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":0.4379138052463531, "y":7.039971351623535, "heading":1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":true},
- {"x":3.5649924278259277, "y":7.61433219909668, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.540783405303955, "y":7.388168811798096, "heading":-0.7517029687773807, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":8.491996765136719, "y":4.8637166023254395, "heading":-0.859887011106121, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
- {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":4.605355881154537, "y":6.080103725194931, "r":1.0}}, "enabled":true},
- {"from":4, "to":4, "data":{"type":"KeepOutCircle", "props":{"x":0.0, "y":0.0, "r":1.0}}, "enabled":true},
- {"from":4, "to":5, "data":{"type":"KeepOutCircle", "props":{"x":0.9606258273124696, "y":3.940527379512787, "r":0.5301561610110335}}, "enabled":true},
- {"from":5, "to":6, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
- {"from":4, "to":5, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true},
- {"from":6, "to":7, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
- "targetDt":0.05
- },
- "params":{
- "waypoints":[
- {"x":{"exp":"4.408560752868652 m", "val":4.408560752868652}, "y":{"exp":"7.650118350982666 m", "val":7.650118350982666}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.938620567321777 m", "val":5.938620567321777}, "y":{"exp":"4.880990982055664 m", "val":4.880990982055664}, "heading":{"exp":"-1.5273453115960398 rad", "val":-1.5273453115960398}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.895162582397461 m", "val":6.895162582397461}, "y":{"exp":"4.453661918640137 m", "val":4.453661918640137}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.397093296051025 m", "val":7.397093296051025}, "y":{"exp":"5.255403518676758 m", "val":5.255403518676758}, "heading":{"exp":"1.4745043905199968 rad", "val":1.4745043905199968}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"3.3102965354919434 m", "val":3.3102965354919434}, "y":{"exp":"5.603780269622803 m", "val":5.603780269622803}, "heading":{"exp":"1.5815484919422391 rad", "val":1.5815484919422391}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":true},
- {"x":{"exp":"0.42852693796157837 m", "val":0.4285269379615784}, "y":{"exp":"4.993633270263672 m", "val":4.993633270263672}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"0.43791380524635315 m", "val":0.4379138052463531}, "y":{"exp":"7.039971351623535 m", "val":7.039971351623535}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":true},
- {"x":{"exp":"3.5649924278259277 m", "val":3.5649924278259277}, "y":{"exp":"7.61433219909668 m", "val":7.61433219909668}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.540783405303955 m", "val":6.540783405303955}, "y":{"exp":"7.388168811798096 m", "val":7.388168811798096}, "heading":{"exp":"-0.7517029687773807 rad", "val":-0.7517029687773807}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"8.491996765136719 m", "val":8.491996765136719}, "y":{"exp":"4.8637166023254395 m", "val":4.8637166023254395}, "heading":{"exp":"-0.859887011106121 rad", "val":-0.859887011106121}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":true},
- {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.605355881154537 m", "val":4.605355881154537}, "y":{"exp":"6.080103725194931 m", "val":6.080103725194931}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
- {"from":4, "to":4, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
- {"from":4, "to":5, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"0.9606258273124695 m", "val":0.9606258273124696}, "y":{"exp":"3.940527379512787 m", "val":3.940527379512787}, "r":{"exp":"0.5301561610110335 m", "val":0.5301561610110335}}}, "enabled":true},
- {"from":5, "to":6, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true},
- {"from":4, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
- {"from":6, "to":7, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
- "targetDt":{
- "exp":"0.05 s",
- "val":0.05
- }
- },
- "trajectory":{
- "config":{
- "frontLeft":{
- "x":0.52705,
- "y":0.52705
- },
- "backLeft":{
- "x":-0.52705,
- "y":0.52705
- },
- "mass":56.69904625,
- "inertia":7.0,
- "gearing":7.03125,
- "radius":0.0508,
- "vmax":628.3185307179587,
- "tmax":7.0,
- "cof":1.0,
- "bumper":{
- "front":0.4064,
- "side":0.4064,
- "back":0.4064
- },
- "differentialTrackWidth":0.5588
- },
- "sampleType":"Swerve",
- "waypoints":[0.0,1.2302,1.73128,2.21329,3.38389,6.38345,7.48512,10.6974,11.51115,12.47044],
- "samples":[
- {"t":0.0, "x":4.40856, "y":7.65012, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.16322, "ay":-2.83718, "alpha":-8.50869, "fx":[127.5421,138.3054,137.5879,116.11032], "fy":[-54.82407,-11.92691,-18.07633,-76.03783]},
- {"t":0.05592, "x":4.42289, "y":7.64568, "heading":-0.0133, "vx":0.51239, "vy":-0.15865, "omega":-0.47579, "ax":9.18032, "ay":-2.71079, "alpha":-8.91197, "fx":[127.74571,138.46057,138.03614,116.27283], "fy":[-54.30306,-9.7046,-13.95152,-75.73994]},
- {"t":0.11184, "x":4.46589, "y":7.63257, "heading":-0.05384, "vx":1.02574, "vy":-0.31023, "omega":-0.97413, "ax":9.19913, "ay":-2.5273, "alpha":-9.53512, "fx":[127.77123,138.58868,138.51817,116.70395], "fy":[-54.17418,-7.15541,-6.97233,-74.99354]},
- {"t":0.16776, "x":4.53763, "y":7.61127, "heading":-0.12322, "vx":1.54014, "vy":-0.45156, "omega":-1.50732, "ax":9.22055, "ay":-2.23491, "alpha":-10.48237, "fx":[127.73257,138.67713,138.55226,117.83466], "fy":[-54.14699,-3.79943,4.28152,-73.05235]},
- {"t":0.22367, "x":4.63817, "y":7.58253, "heading":-0.2239, "vx":2.05574, "vy":-0.57653, "omega":-2.09348, "ax":9.33042, "ay":-2.16426, "alpha":-8.51227, "fx":[128.33885,138.31575,138.49038,123.88107], "fy":[-52.40243,-9.24896,0.85985,-61.91986]},
- {"t":0.27959, "x":4.76771, "y":7.54691, "heading":-0.35427, "vx":2.57748, "vy":-0.69755, "omega":-2.56947, "ax":8.68025, "ay":-3.87793, "alpha":9.48588, "fx":[136.06978,105.88216,115.62597,134.58426], "fy":[-23.24912,-88.62555,-75.97459,-32.02593]},
- {"t":0.33551, "x":4.92541, "y":7.50184, "heading":-0.48312, "vx":3.06287, "vy":-0.9144, "omega":-2.03904, "ax":3.65123, "ay":-8.73868, "alpha":9.11077, "fx":[58.13099,10.44413,50.1528,88.29341], "fy":[-124.06529,-137.24488,-128.48681,-105.67756]},
- {"t":0.39143, "x":5.10239, "y":7.43704, "heading":-0.58289, "vx":3.26704, "vy":-1.40305, "omega":-1.52958, "ax":-2.49729, "ay":-9.33407, "alpha":2.23521, "fx":[-40.18134,-44.02153,-31.26862,-26.12249], "fy":[-131.01176,-129.96732,-133.66198,-134.59178]},
- {"t":0.44735, "x":5.28117, "y":7.344, "heading":-0.66493, "vx":3.12739, "vy":-1.925, "omega":-1.40459, "ax":-4.4974, "ay":-8.37014, "alpha":0.92566, "fx":[-65.89641,-66.76281,-61.71728,-60.62201], "fy":[-117.38117,-117.10066,-119.86969,-120.22753]},
- {"t":0.50327, "x":5.44902, "y":7.22327, "heading":-0.74203, "vx":2.8759, "vy":-2.39304, "omega":-1.35283, "ax":-7.46264, "ay":-4.43252, "alpha":-4.57788, "fx":[-98.52951,-98.99023,-113.65939,-111.94527], "fy":[-76.80129,-70.83826,-46.77503,-56.90486]},
- {"t":0.55918, "x":5.59817, "y":7.08252, "heading":-0.82483, "vx":2.45861, "vy":-2.6409, "omega":-1.60881, "ax":-7.88045, "ay":-0.64979, "alpha":-7.17947, "fx":[-110.08642,-104.90961,-112.94115,-118.87681], "fy":[-35.12368,-14.30738,18.15474,-5.5663]},
- {"t":0.6151, "x":5.72333, "y":6.93383, "heading":-0.92602, "vx":2.01794, "vy":-2.67723, "omega":-2.01028, "ax":-7.5282, "ay":-1.38409, "alpha":-4.56064, "fx":[-105.24258,-101.50455,-108.23405,-111.86046], "fy":[-35.02067,-25.15389,-3.10464,-15.19748]},
- {"t":0.67102, "x":5.8244, "y":6.78196, "heading":-1.04556, "vx":1.59698, "vy":-2.75463, "omega":-2.2653, "ax":-6.84974, "ay":-2.54464, "alpha":-1.14504, "fx":[-96.56241,-95.37799,-97.66695,-98.76645], "fy":[-39.52615,-38.00948,-32.49336,-34.24965]},
- {"t":0.72694, "x":5.90299, "y":6.62395, "heading":-1.17402, "vx":1.21395, "vy":-2.89692, "omega":-2.32933, "ax":-6.6087, "ay":-3.12941, "alpha":1.19235, "fx":[-94.49969,-95.73653,-92.96729,-91.50364], "fy":[-41.22987,-41.48633,-47.29282,-47.4255]},
- {"t":0.78286, "x":5.96054, "y":6.45706, "heading":-1.30241, "vx":0.84441, "vy":-3.07191, "omega":-2.26266, "ax":-6.03525, "ay":-5.07641, "alpha":5.64074, "fx":[-88.29428,-98.89296,-84.48016,-70.52547], "fy":[-62.01339,-58.40416,-80.60557,-86.80431]},
- {"t":0.83878, "x":5.99832, "y":6.27735, "heading":-1.42011, "vx":0.50693, "vy":-3.35578, "omega":-1.94724, "ax":-5.47345, "ay":-6.48128, "alpha":9.34628, "fx":[-79.42919,-105.33278,-79.74288,-45.83453], "fy":[-85.84535,-66.84723,-99.30761,-115.48225]},
- {"t":0.89469, "x":6.01811, "y":6.07957, "heading":-1.51439, "vx":0.20086, "vy":-3.7182, "omega":-1.42461, "ax":-7.25088, "ay":-5.46429, "alpha":9.59324, "fx":[-110.17885,-124.94751,-102.73651,-73.25519], "fy":[-67.86435,-45.7235,-86.00439,-110.22764]},
- {"t":0.95061, "x":6.01801, "y":5.86311, "heading":-1.57905, "vx":-0.2046, "vy":-4.02375, "omega":-0.88817, "ax":-8.84918, "ay":-3.23716, "alpha":7.61681, "fx":[-131.8322,-134.76168,-123.61838,-111.52772], "fy":[-28.96883,-19.71875,-57.72021,-77.13612]},
- {"t":1.00653, "x":5.99273, "y":5.63305, "heading":-1.61681, "vx":-0.69943, "vy":-4.20477, "omega":-0.46225, "ax":3.02286, "ay":8.6345, "alpha":-11.05513, "fx":[13.12018,86.72662,61.20192,10.34471], "fy":[131.91428,101.96729,120.89838,134.78808]},
- {"t":1.06245, "x":5.95835, "y":5.41142, "heading":-1.65994, "vx":-0.5304, "vy":-3.72194, "omega":-1.08043, "ax":5.02339, "ay":6.73703, "alpha":21.36735, "fx":[99.10885,15.85176,32.21704,137.64382], "fy":[96.88748,137.59038,132.67917,14.82621]},
- {"t":1.11837, "x":5.93654, "y":5.21383, "heading":-1.68695, "vx":-0.2495, "vy":-3.34522, "omega":0.11439, "ax":4.69585, "ay":6.60567, "alpha":23.99895, "fx":[101.98721,15.31764,10.39016,138.55528], "fy":[94.07882,137.85298,136.97157,5.63163]},
- {"t":1.17429, "x":5.92993, "y":5.0371, "heading":-1.64303, "vx":0.01309, "vy":-2.97584, "omega":1.45637, "ax":5.09008, "ay":6.58517, "alpha":21.90687, "fx":[100.61847,13.05734,36.3438,138.58301], "fy":[95.61668,138.15043,132.74163,6.86393]},
- {"t":1.2302, "x":5.93862, "y":4.88099, "heading":-1.52735, "vx":0.29772, "vy":-2.60761, "omega":2.68137, "ax":6.02533, "ay":6.76631, "alpha":15.44596, "fx":[92.98433,25.54374,90.20143,132.90113], "fy":[102.97663,136.31126,104.73432,39.62131]},
- {"t":1.26875, "x":5.95457, "y":4.78551, "heading":-1.41252, "vx":0.52996, "vy":-2.34681, "omega":3.27672, "ax":6.065, "ay":7.47896, "alpha":7.2353, "fx":[86.13374,57.95864,89.14206,110.64515], "fy":[108.66438,125.9039,105.99022,83.49135]},
- {"t":1.30729, "x":5.9795, "y":4.70061, "heading":-1.28085, "vx":0.76373, "vy":-2.05854, "omega":3.5556, "ax":6.29051, "ay":7.39999, "alpha":4.65977, "fx":[86.70066,71.84679,93.70569,104.41304], "fy":[108.11631,118.43956,101.9424,91.07384]},
- {"t":1.34584, "x":6.01361, "y":4.62676, "heading":-1.14034, "vx":1.00619, "vy":-1.77331, "omega":3.73521, "ax":6.56654, "ay":7.22023, "alpha":1.71965, "fx":[91.04256,87.37571,95.46636,98.43165], "fy":[104.34749,107.39454,100.24844,97.38966]},
- {"t":1.38438, "x":6.05727, "y":4.56377, "heading":-0.99509, "vx":1.2593, "vy":-1.49501, "omega":3.80149, "ax":6.85691, "ay":6.94102, "alpha":-1.2836, "fx":[99.58513,100.69727,95.00994,93.48787], "fy":[96.03203,94.91382,100.61559,101.98792]},
- {"t":1.42292, "x":6.11091, "y":4.5113, "heading":-0.84952, "vx":1.52359, "vy":-1.22747, "omega":3.75202, "ax":7.11585, "ay":6.60737, "alpha":-3.94557, "fx":[110.13239,109.18856,93.25924,90.88185], "fy":[83.47285,84.9029,102.1472,104.10837]},
- {"t":1.46147, "x":6.17492, "y":4.4689, "heading":-0.70783, "vx":1.79787, "vy":-0.9728, "omega":3.59994, "ax":7.28743, "ay":6.31865, "alpha":-5.99966, "fx":[118.71436,113.07963,90.64543,90.75081], "fy":[70.44219,79.52108,104.34592,103.95212]},
- {"t":1.50001, "x":6.24963, "y":4.4361, "heading":-0.57353, "vx":2.07875, "vy":-0.72925, "omega":3.36869, "ax":7.30752, "ay":6.19869, "alpha":-7.40004, "fx":[123.37475,113.40217,86.50778,91.04472], "fy":[61.57561,78.89665,107.63504,103.35262]},
- {"t":1.53856, "x":6.33518, "y":4.41259, "heading":-0.44918, "vx":2.36042, "vy":-0.49033, "omega":3.08346, "ax":7.09985, "ay":6.35878, "alpha":-8.24557, "fx":[123.93993,110.31239,79.62567,88.67674], "fy":[60.00465,82.94513,112.61159,104.9754]},
- {"t":1.5771, "x":6.43144, "y":4.39842, "heading":-0.33646, "vx":2.63408, "vy":-0.24523, "omega":2.76564, "ax":6.51489, "ay":6.91027, "alpha":-8.57552, "fx":[119.19916,102.51028,68.21979,79.45881], "fy":[68.41566,92.12854,119.60645,111.65497]},
- {"t":1.61565, "x":6.5378, "y":4.3941, "heading":-0.23623, "vx":2.88519, "vy":0.02112, "omega":2.4351, "ax":5.20318, "ay":7.94365, "alpha":-8.12752, "fx":[103.03788,85.80709,49.14857,57.02175], "fy":[90.36534,107.49364,128.32246,124.21584]},
- {"t":1.65419, "x":6.65288, "y":4.40081, "heading":-0.14841, "vx":3.08574, "vy":0.3273, "omega":2.12183, "ax":2.50537, "ay":9.22026, "alpha":-6.0983, "fx":[58.66449,49.94481,17.26065,16.18223], "fy":[123.40627,127.75772,136.03872,135.57727]},
- {"t":1.69273, "x":6.77368, "y":4.42028, "heading":-0.07115, "vx":3.18231, "vy":0.68269, "omega":1.88678, "ax":-1.57838, "ay":9.51596, "alpha":-2.11768, "fx":[-17.00613,-14.45792,-27.16064,-30.8678], "fy":[135.71843,136.21693,134.30372,133.30695]},
- {"t":1.73128, "x":6.89516, "y":4.45366, "heading":0.0, "vx":3.12147, "vy":1.04948, "omega":1.80515, "ax":-5.25676, "ay":8.10206, "alpha":1.9573, "fx":[-76.14293,-81.96073,-72.82407,-67.12556], "fy":[114.08928,109.81654,115.95199,119.52109]},
- {"t":1.77145, "x":7.0163, "y":4.50235, "heading":0.07409, "vx":2.91032, "vy":1.37491, "omega":1.88377, "ax":-8.06353, "ay":5.16653, "alpha":6.0385, "fx":[-113.91834,-127.8379,-117.77003,-97.66842], "fy":[76.99268,50.05135,69.54493,96.34827]},
- {"t":1.81161, "x":7.1267, "y":4.56175, "heading":0.15462, "vx":2.58643, "vy":1.58244, "omega":2.12632, "ax":-9.14593, "ay":2.64625, "alpha":8.16327, "fx":[-129.14562,-137.56684,-135.4619,-116.39133], "fy":[48.27304,7.00617,21.51301,73.24755]},
- {"t":1.85178, "x":7.22321, "y":4.62744, "heading":0.24662, "vx":2.21906, "vy":1.68873, "omega":2.45422, "ax":-9.43951, "ay":1.25512, "alpha":8.65483, "fx":[-134.69406,-137.3711,-137.57088,-125.5749], "fy":[30.6664,-13.73927,-2.63734,56.87432]},
- {"t":1.89195, "x":7.30473, "y":4.69629, "heading":0.35218, "vx":1.8399, "vy":1.73915, "omega":2.80186, "ax":-9.54385, "ay":0.56876, "alpha":8.17576, "fx":[-136.95526,-136.32036,-137.56101,-130.2904], "fy":[19.3813,-23.02637,-9.93505,45.82809]},
- {"t":1.93212, "x":7.37093, "y":4.7666, "heading":0.47132, "vx":1.45655, "vy":1.76199, "omega":3.13026, "ax":-9.61918, "ay":0.21923, "alpha":6.99015, "fx":[-138.00619,-135.98102,-137.87678,-133.53415], "fy":[10.93642,-25.65118,-8.86982,36.01492]},
- {"t":1.97228, "x":7.42168, "y":4.83755, "heading":0.60269, "vx":1.07018, "vy":1.7708, "omega":3.41103, "ax":-9.69028, "ay":-0.00222, "alpha":5.23022, "fx":[-138.46535,-136.507,-138.24314,-136.21394], "fy":[3.8209,-23.23073,-5.44714,24.73105]},
- {"t":2.01245, "x":7.45685, "y":4.90868, "heading":0.74392, "vx":0.68095, "vy":1.77071, "omega":3.62111, "ax":-9.74553, "ay":-0.19682, "alpha":3.03772, "fx":[-138.55666,-137.50736,-138.44122,-138.0573], "fy":[-1.99789,-16.8856,-3.77679,11.50105]},
- {"t":2.05262, "x":7.47634, "y":4.97965, "heading":0.89182, "vx":0.2895, "vy":1.7628, "omega":3.74313, "ax":-9.76893, "ay":-0.39711, "alpha":0.60448, "fx":[-138.48539,-138.34256,-138.48783,-138.57311], "fy":[-5.81218,-8.45578,-5.43933,-2.80856]},
- {"t":2.09278, "x":7.48009, "y":5.05013, "heading":1.04266, "vx":-0.1029, "vy":1.74685, "omega":3.76741, "ax":-9.75327, "ay":-0.60629, "alpha":-1.83207, "fx":[-138.46514,-138.65369,-138.29187,-137.59041], "fy":[-6.82941,-0.28459,-10.17181,-17.09005]},
- {"t":2.13295, "x":7.46808, "y":5.11981, "heading":1.19251, "vx":-0.49466, "vy":1.7225, "omega":3.69382, "ax":-9.70405, "ay":-0.81304, "alpha":-4.05794, "fx":[-138.57691,-138.58621,-137.6785,-135.36888], "fy":[-4.65502,5.60015,-16.91973,-30.12418]},
- {"t":2.17312, "x":7.44039, "y":5.18834, "heading":1.33761, "vx":-0.88444, "vy":1.68984, "omega":3.53083, "ax":-9.62958, "ay":-1.01034, "alpha":-6.10624, "fx":[-138.6748,-138.46494,-136.51949,-132.3289], "fy":[0.37995,8.6707,-24.77093,-41.56498]},
- {"t":2.21329, "x":7.39709, "y":5.2554, "heading":1.4745, "vx":-1.27124, "vy":1.64926, "omega":3.28556, "ax":-9.5263, "ay":-1.18463, "alpha":-8.32222, "fx":[-138.47291,-138.42516,-134.73842,-128.49543], "fy":[8.44617,10.05836,-33.31931,-52.35237]},
- {"t":2.26903, "x":7.31143, "y":5.3455, "heading":1.64472, "vx":-1.80226, "vy":1.58322, "omega":2.82165, "ax":-9.48054, "ay":-1.28114, "alpha":-9.02177, "fx":[-137.94945,-138.63353,-132.95306,-128.00171], "fy":[14.40158,6.15844,-39.76577,-53.43363]},
- {"t":2.32477, "x":7.19624, "y":5.43176, "heading":1.78799, "vx":-2.33074, "vy":1.51181, "omega":2.31875, "ax":-9.41789, "ay":-1.42839, "alpha":-9.78834, "fx":[-137.3776,-138.72571,-130.72977,-127.15223], "fy":[18.7547,1.96268,-46.44856,-55.257]},
- {"t":2.38052, "x":7.05168, "y":5.51382, "heading":1.90204, "vx":-2.85572, "vy":1.43219, "omega":1.77311, "ax":-9.34117, "ay":-1.65736, "alpha":-10.39623, "fx":[-137.09147,-138.65403,-128.07604,-125.81388], "fy":[20.2026,-3.0176,-53.175,-57.98057]},
- {"t":2.43626, "x":6.87798, "y":5.59108, "heading":1.98473, "vx":-3.37643, "vy":1.3398, "omega":1.19359, "ax":-9.22894, "ay":-2.08039, "alpha":-10.67668, "fx":[-137.47884,-138.21463,-124.65195,-122.92663], "fy":[16.01452,-10.03454,-60.50016,-63.43598]},
- {"t":2.492, "x":6.67543, "y":5.66253, "heading":2.03467, "vx":-3.89088, "vy":1.22383, "omega":0.59844, "ax":-8.88064, "ay":-3.24724, "alpha":-10.27035, "fx":[-137.79804,-135.77719,-117.27353,-112.6749], "fy":[-5.53925,-26.03366,-73.17003,-79.37255]},
- {"t":2.54775, "x":6.44474, "y":5.7257, "heading":2.05208, "vx":-4.38592, "vy":1.04282, "omega":0.02594, "ax":-2.15153, "ay":-9.32351, "alpha":-0.4683, "fx":[-30.32398,-32.58382,-30.66935,-28.41233], "fy":[-132.15424,-131.66497,-132.17922,-132.63579]},
- {"t":2.60349, "x":6.19691, "y":5.76935, "heading":2.05279, "vx":-4.50585, "vy":0.5231, "omega":-0.00017, "ax":-0.54459, "ay":-9.01822, "alpha":0.0001, "fx":[-7.67213,-7.70713,-7.76673,-7.7315], "fy":[-127.83406,-127.83193,-127.82828,-127.83044]},
- {"t":2.65923, "x":5.9449, "y":5.7845, "heading":2.05278, "vx":-4.53621, "vy":0.02039, "omega":-0.00016, "ax":0.11173, "ay":-4.65132, "alpha":0.00004, "fx":[1.75968,1.64013,1.40768,1.52754], "fy":[-65.969,-65.80805,-65.89379,-66.05476]},
- {"t":2.71498, "x":5.69221, "y":5.77841, "heading":2.05278, "vx":-4.52998, "vy":-0.23889, "omega":-0.00016, "ax":0.03712, "ay":-0.65409, "alpha":0.0, "fx":[0.57932,0.54284,0.47298,0.50945], "fy":[-9.28734,-9.22082,-9.25565,-9.32231]},
- {"t":2.77072, "x":5.43975, "y":5.76407, "heading":2.05277, "vx":-4.52791, "vy":-0.27535, "omega":-0.00016, "ax":-0.00038, "ay":0.00616, "alpha":0.0, "fx":[0.04572,0.01058,-0.05634,-0.02123], "fy":[0.07159,0.13724,0.10302,0.03732]},
- {"t":2.82646, "x":5.18735, "y":5.74873, "heading":2.05276, "vx":-4.52793, "vy":-0.27501, "omega":-0.00016, "ax":-0.00197, "ay":0.03259, "alpha":0.0, "fx":[0.09245,0.00978,-0.14838,-0.06579], "fy":[0.42484,0.5809,0.49913,0.3431]},
- {"t":2.88221, "x":4.93494, "y":5.73345, "heading":2.05275, "vx":-4.52804, "vy":-0.27319, "omega":-0.00016, "ax":0.00017, "ay":-0.00287, "alpha":0.0, "fx":[0.33866,0.1087,-0.33345,-0.10415], "fy":[-0.14407,0.29275,0.06229,-0.37398]},
- {"t":2.93795, "x":4.68254, "y":5.71822, "heading":2.05274, "vx":-4.52803, "vy":-0.27335, "omega":-0.00016, "ax":0.01541, "ay":-0.23952, "alpha":-0.00017, "fx":[0.73899,0.39092,-0.29873,0.04252], "fy":[-3.54584,-2.87676,-3.24726,-3.91061]},
- {"t":2.99369, "x":4.43015, "y":5.70261, "heading":2.05273, "vx":-4.52717, "vy":-0.2867, "omega":-0.00017, "ax":5.41951, "ay":-0.98121, "alpha":-7.59148, "fx":[82.82411,63.28184,72.08263,89.09264], "fy":[6.37852,-7.1311,-35.23753,-19.64335]},
- {"t":3.04943, "x":4.18621, "y":5.68511, "heading":2.04093, "vx":-4.22507, "vy":-0.3414, "omega":-0.42334, "ax":9.3241, "ay":0.6058, "alpha":-11.87064, "fx":[128.85767,132.08785,129.63181,138.09027], "fy":[49.80718,38.19516,-47.11447,-6.53943]},
- {"t":3.10518, "x":3.96518, "y":5.66702, "heading":1.99889, "vx":-3.70531, "vy":-0.30763, "omega":-1.08505, "ax":9.67859, "ay":0.57511, "alpha":-5.12804, "fx":[135.59517,137.00764,137.62926,138.53452], "fy":[28.25231,19.54099,-15.03539,-0.14956]},
- {"t":3.16092, "x":3.77367, "y":5.65076, "heading":1.93043, "vx":-3.1658, "vy":-0.27557, "omega":-1.3709, "ax":9.74291, "ay":0.58001, "alpha":-2.64793, "fx":[137.37464,137.84375,138.57837,138.61667], "fy":[18.67324,14.47284,-3.15454,2.89455]},
- {"t":3.21666, "x":3.61234, "y":5.6363, "heading":1.8499, "vx":-2.6227, "vy":-0.24324, "omega":-1.51851, "ax":9.76201, "ay":0.58255, "alpha":-1.4128, "fx":[138.02791,138.17511,138.67082,138.62271], "fy":[13.68781,11.94667,2.53871,4.8569]},
- {"t":3.27241, "x":3.48131, "y":5.62365, "heading":1.76306, "vx":-2.07853, "vy":-0.21076, "omega":-1.59726, "ax":9.76933, "ay":0.5838, "alpha":-0.67562, "fx":[138.32818,138.36221,138.62243,138.59892], "fy":[10.75217,10.23119,5.72819,6.38944]},
- {"t":3.32815, "x":3.38062, "y":5.61281, "heading":1.67297, "vx":-1.53396, "vy":-0.17822, "omega":-1.63492, "ax":9.77251, "ay":0.58445, "alpha":-0.18603, "fx":[138.48531,138.48707,138.56082,138.55887], "fy":[8.92325,8.87638,7.64015,7.69796]},
- {"t":3.38389, "x":3.3103, "y":5.60378, "heading":1.58155, "vx":-0.98921, "vy":-0.14564, "omega":-1.64529, "ax":0.11153, "ay":-0.58052, "alpha":2.05936, "fx":[-1.8042,5.03553,4.97405,-1.88193], "fy":[-11.6816,-11.60281,-4.77715,-4.85324]},
- {"t":3.53387, "x":3.16319, "y":5.57541, "heading":1.35795, "vx":-0.97248, "vy":-0.23271, "omega":-1.33644, "ax":0.00005, "ay":-0.00023, "alpha":1.38568, "fx":[-2.73913,1.755,2.74068,-1.75349], "fy":[-1.75746,-2.74312,1.75103,2.73671]},
- {"t":3.68385, "x":3.01734, "y":5.54051, "heading":1.1731, "vx":-0.97247, "vy":-0.23274, "omega":-1.12862, "ax":0.00003, "ay":-0.00011, "alpha":1.72346, "fx":[-3.69121,1.66366,3.69198,-1.6629], "fy":[-1.66487,-3.69318,1.66168,3.69]},
- {"t":3.83383, "x":2.87149, "y":5.5056, "heading":1.02322, "vx":-0.97247, "vy":-0.23276, "omega":-0.87014, "ax":0.00003, "ay":-0.00014, "alpha":2.1822, "fx":[-4.89727,1.54381,4.89824,-1.54287], "fy":[-1.54534,-4.89973,1.54134,4.89577]},
- {"t":3.98381, "x":2.72565, "y":5.47069, "heading":0.91726, "vx":-0.97246, "vy":-0.23278, "omega":-0.54285, "ax":0.00004, "ay":-0.00017, "alpha":2.13901, "fx":[-4.91453,1.13879,4.91568,-1.13767], "fy":[-1.14062,-4.91746,1.13584,4.91274]},
- {"t":4.13378, "x":2.5798, "y":5.43577, "heading":0.8599, "vx":-0.97246, "vy":-0.2328, "omega":-0.22205, "ax":0.00005, "ay":-0.0002, "alpha":1.58759, "fx":[-3.67875,0.78289,3.6801,-0.78158], "fy":[-0.78504,-3.68219,0.77943,3.67665]},
- {"t":4.28376, "x":2.43395, "y":5.40086, "heading":0.84445, "vx":-0.97245, "vy":-0.23283, "omega":0.01605, "ax":0.00006, "ay":-0.00023, "alpha":1.03072, "fx":[-2.3881,0.59807,2.3897,-0.5965], "fy":[-0.60061,-2.39218,0.59396,2.38559]},
- {"t":4.43374, "x":2.28811, "y":5.36593, "heading":0.85845, "vx":-0.97244, "vy":-0.23287, "omega":0.17064, "ax":0.00007, "ay":-0.00028, "alpha":0.67664, "fx":[-1.55544,0.49988,1.55736,-0.49799], "fy":[-0.50293,-1.56036,0.49494,1.55242]},
- {"t":4.58372, "x":2.14226, "y":5.33101, "heading":0.89165, "vx":-0.97243, "vy":-0.23291, "omega":0.27212, "ax":0.00008, "ay":-0.00034, "alpha":0.50758, "fx":[-1.15057,0.43946,1.15289,-0.43716], "fy":[-0.44315,-1.15653,0.43347,1.1469]},
- {"t":4.73369, "x":1.99642, "y":5.29607, "heading":0.93817, "vx":-0.97242, "vy":-0.23296, "omega":0.34825, "ax":0.0001, "ay":-0.00041, "alpha":0.44939, "fx":[-1.00397,0.40519,1.00679,-0.40239], "fy":[-0.40968,-1.01123,0.3979,0.9995]},
- {"t":4.88367, "x":1.85058, "y":5.26113, "heading":0.99546, "vx":-0.9724, "vy":-0.23302, "omega":0.41564, "ax":0.00012, "ay":-0.00051, "alpha":0.44537, "fx":[-0.9839,0.39352,0.98736,-0.39009], "fy":[-0.39901,-0.99278,0.38462,0.97844]},
- {"t":5.03365, "x":1.70474, "y":5.22617, "heading":1.0628, "vx":-0.97239, "vy":-0.2331, "omega":0.48244, "ax":0.00015, "ay":-0.00062, "alpha":0.46374, "fx":[-1.01116,0.41932,1.0154,-0.41511], "fy":[-0.42604,-1.02206,0.4084,1.00445]},
- {"t":5.18363, "x":1.55891, "y":5.19121, "heading":1.14037, "vx":-0.97236, "vy":-0.23319, "omega":0.55199, "ax":0.00018, "ay":-0.00076, "alpha":0.49332, "fx":[-1.04752,0.5021,1.05272,-0.49692], "fy":[-0.51034,-1.06091,0.48868,1.03928]},
- {"t":5.33361, "x":1.41308, "y":5.15623, "heading":1.22871, "vx":-0.97234, "vy":-0.23331, "omega":0.62598, "ax":0.00022, "ay":-0.00094, "alpha":0.55104, "fx":[-1.12261,0.64847,1.12899,-0.64212], "fy":[-0.65857,-1.13905,0.63202,1.11252]},
- {"t":5.48358, "x":1.26725, "y":5.12122, "heading":1.32879, "vx":-0.9723, "vy":-0.23345, "omega":0.70862, "ax":0.00027, "ay":-0.00114, "alpha":0.61781, "fx":[-1.19935,0.81733,1.20711,-0.80961], "fy":[-0.82959,-1.21936,0.79734,1.18714]},
- {"t":5.63356, "x":1.12143, "y":5.0862, "heading":1.44201, "vx":-0.97226, "vy":-0.23362, "omega":0.80128, "ax":0.00032, "ay":-0.00135, "alpha":0.39063, "fx":[-0.71975,0.56708,0.72899,-0.5579], "fy":[-0.58166,-0.74357,0.54334,0.70529]},
- {"t":5.78354, "x":0.97562, "y":5.05115, "heading":1.56658, "vx":-0.97221, "vy":-0.23382, "omega":0.85986, "ax":0.00037, "ay":-0.00153, "alpha":-1.17979, "fx":[1.93237,-1.98546,-1.92179,1.99579], "fy":[1.96881,1.90531,-2.01229,-1.94871]},
- {"t":5.93352, "x":0.82981, "y":5.01606, "heading":1.68227, "vx":-0.97216, "vy":-0.23405, "omega":0.68292, "ax":0.0004, "ay":-0.00164, "alpha":-5.08992, "fx":[7.53313,-9.27739,-7.52144,9.28816], "fy":[9.25877,7.50349,-9.30541,-7.55009]},
- {"t":6.08349, "x":0.68401, "y":4.98094, "heading":1.72745, "vx":-0.9721, "vy":-0.2343, "omega":-0.08045, "ax":-0.00073, "ay":0.00303, "alpha":-6.15523, "fx":[8.69997,-11.54609,-8.72427,11.52903], "fy":[11.57112,8.75608,-11.48592,-8.66946]},
- {"t":6.23347, "x":0.53821, "y":4.94584, "heading":1.64616, "vx":-0.97221, "vy":-0.23384, "omega":-1.0036, "ax":3.21211, "ay":7.36832, "alpha":6.68237, "fx":[35.2382,68.62585,53.91704,24.3426], "fy":[104.09074,91.97872,106.7856,114.92161]},
- {"t":6.38345, "x":0.42853, "y":4.99363, "heading":1.5708, "vx":-0.49046, "vy":0.87124, "omega":-0.00139, "ax":5.73923, "ay":7.92791, "alpha":0.02997, "fx":[81.33415,81.46464,81.37036,81.23987], "fy":[112.38911,112.29475,112.36334,112.45754]},
- {"t":6.43353, "x":0.41116, "y":5.0472, "heading":1.57076, "vx":-0.20306, "vy":1.26824, "omega":0.00011, "ax":4.34688, "ay":8.75187, "alpha":0.0214, "fx":[61.58725,61.70101,61.6447,61.531], "fy":[124.06967,124.01334,124.04175,124.09799]},
- {"t":6.4836, "x":0.40644, "y":5.12168, "heading":1.5708, "vx":0.01461, "vy":1.7065, "omega":0.00118, "ax":1.22327, "ay":5.82442, "alpha":-0.04252, "fx":[17.38573,17.13482,17.2917,17.54628], "fy":[82.52116,82.628,82.59853,82.49139]},
- {"t":6.53368, "x":0.40871, "y":5.21444, "heading":1.5708, "vx":0.07587, "vy":1.99816, "omega":-0.00095, "ax":-0.42875, "ay":0.01402, "alpha":0.02534, "fx":[-6.1204,-6.03604,-6.03462,-6.11893], "fy":[0.15728,0.15622,0.24013,0.24121]},
- {"t":6.58375, "x":0.41197, "y":5.31452, "heading":1.57079, "vx":0.0544, "vy":1.99887, "omega":0.00032, "ax":-0.24706, "ay":0.00596, "alpha":-0.00311, "fx":[-3.49671,-3.50706,-3.5073,-3.49694], "fy":[0.08941,0.08976,0.07948,0.07914]},
- {"t":6.63383, "x":0.41439, "y":5.41462, "heading":1.5708, "vx":0.04203, "vy":1.99916, "omega":0.00016, "ax":-0.18306, "ay":0.00343, "alpha":-0.00454, "fx":[-2.58683,-2.60204,-2.60287,-2.58765], "fy":[0.05565,0.05646,0.04153,0.04072]},
- {"t":6.68391, "x":0.41626, "y":5.51474, "heading":1.5708, "vx":0.03286, "vy":1.99934, "omega":-0.00007, "ax":-0.15382, "ay":0.00223, "alpha":-0.00034, "fx":[-2.17932,-2.18056,-2.18155,-2.1803], "fy":[0.03171,0.03258,0.03155,0.03067]},
- {"t":6.73398, "x":0.41771, "y":5.61486, "heading":1.5708, "vx":0.02516, "vy":1.99945, "omega":-0.00008, "ax":-0.13707, "ay":0.00149, "alpha":0.00133, "fx":[-1.94468,-1.94032,-1.94128,-1.94564], "fy":[0.01848,0.01929,0.02374,0.02293]},
- {"t":6.78406, "x":0.4188, "y":5.71498, "heading":1.57079, "vx":0.01829, "vy":1.99952, "omega":-0.00002, "ax":-0.12725, "ay":0.00096, "alpha":0.00089, "fx":[-1.80478,-1.80183,-1.80271,-1.80566], "fy":[0.01178,0.01252,0.01547,0.01473]},
- {"t":6.83413, "x":0.41956, "y":5.81511, "heading":1.57079, "vx":0.01192, "vy":1.99957, "omega":0.00003, "ax":-0.12162, "ay":0.00054, "alpha":0.00005, "fx":[-1.72364,-1.72345,-1.72424,-1.72442], "fy":[0.00724,0.00793,0.00806,0.00737]},
- {"t":6.88421, "x":0.42, "y":5.91524, "heading":1.5708, "vx":0.00583, "vy":1.9996, "omega":0.00003, "ax":-0.11905, "ay":0.00017, "alpha":-0.00037, "fx":[-1.6865,-1.68769,-1.68839,-1.68721], "fy":[0.00271,0.00336,0.0021,0.00145]},
- {"t":6.93429, "x":0.42014, "y":6.01538, "heading":1.5708, "vx":-0.00013, "vy":1.99961, "omega":0.00001, "ax":-0.11911, "ay":-0.00019, "alpha":-0.00033, "fx":[-1.68751,-1.68857,-1.68921,-1.68814], "fy":[-0.00237,-0.00174,-0.00288,-0.00351]},
- {"t":6.98436, "x":0.41999, "y":6.11551, "heading":1.5708, "vx":-0.0061, "vy":1.9996, "omega":0.0, "ax":-0.12178, "ay":-0.00056, "alpha":-0.00015, "fx":[-1.72569,-1.72615,-1.72674,-1.72627], "fy":[-0.00793,-0.00733,-0.00785,-0.00846]},
- {"t":7.03444, "x":0.41953, "y":6.21564, "heading":1.5708, "vx":-0.0122, "vy":1.99957, "omega":-0.00001, "ax":-0.12743, "ay":-0.00098, "alpha":-0.00002, "fx":[-1.80599,-1.80605,-1.80659,-1.80653], "fy":[-0.01413,-0.01355,-0.01366,-0.01423]},
- {"t":7.08452, "x":0.41876, "y":6.31577, "heading":1.5708, "vx":-0.01858, "vy":1.99952, "omega":-0.00001, "ax":-0.13758, "ay":-0.00151, "alpha":0.00006, "fx":[-1.95007,-1.94987,-1.95038,-1.95058], "fy":[-0.02182,-0.02128,-0.02112,-0.02166]},
- {"t":7.13459, "x":0.41766, "y":6.41589, "heading":1.5708, "vx":-0.02547, "vy":1.99944, "omega":-0.00001, "ax":-0.15565, "ay":-0.00229, "alpha":0.00025, "fx":[-2.2065,-2.20566,-2.20614,-2.20698], "fy":[-0.03304,-0.03255,-0.03174,-0.03223]},
- {"t":7.18467, "x":0.41619, "y":6.51602, "heading":1.5708, "vx":-0.03326, "vy":1.99933, "omega":0.0, "ax":-0.18303, "ay":-0.00346, "alpha":0.00054, "fx":[-2.59509,-2.59327,-2.59372,-2.59554], "fy":[-0.05021,-0.04976,-0.04798,-0.04843]},
- {"t":7.23474, "x":0.41429, "y":6.61613, "heading":1.5708, "vx":-0.04243, "vy":1.99916, "omega":0.00003, "ax":-0.28902, "ay":-0.00718, "alpha":0.00018, "fx":[-4.09685,-4.0962,-4.09662,-4.09727], "fy":[-0.10225,-0.10181,-0.10126,-0.10171]},
- {"t":7.28482, "x":0.4118, "y":6.71623, "heading":1.5708, "vx":-0.0569, "vy":1.9988, "omega":0.00004, "ax":-1.71769, "ay":-0.08599, "alpha":-0.00287, "fx":[-24.34302,-24.35247,-24.35275,-24.3433], "fy":[-1.21429,-1.21376,-1.2234,-1.22393]},
- {"t":7.3349, "x":0.4068, "y":6.81621, "heading":1.5708, "vx":-0.14291, "vy":1.99449, "omega":-0.00011, "ax":5.45298, "ay":-4.86242, "alpha":0.00426, "fx":[77.28224,77.29762,77.30721,77.29183], "fy":[-68.937,-68.92315,-68.91022,-68.92406]},
- {"t":7.38497, "x":0.40648, "y":6.90999, "heading":1.5708, "vx":0.13015, "vy":1.751, "omega":0.00011, "ax":3.44418, "ay":-9.14355, "alpha":-0.00192, "fx":[48.82805,48.81691,48.81273,48.82387], "fy":[-129.60479,-129.60897,-129.61059,-129.6064]},
- {"t":7.43505, "x":0.41732, "y":6.98621, "heading":1.5708, "vx":0.30262, "vy":1.29313, "omega":0.00001, "ax":4.34042, "ay":-8.7707, "alpha":-0.00288, "fx":[61.53585,61.52052,61.51295,61.52828], "fy":[-124.31684,-124.32441,-124.32819,-124.32062]},
- {"t":7.48512, "x":0.43791, "y":7.03997, "heading":1.5708, "vx":0.51997, "vy":0.85392, "omega":-0.00013, "ax":2.89745, "ay":-4.25676, "alpha":-2.57547, "fx":[46.58006,37.24015,35.70848,44.75378], "fy":[-55.58705,-57.17951,-65.1615,-63.42591]},
- {"t":7.64574, "x":0.5588, "y":7.12222, "heading":1.53756, "vx":0.98534, "vy":0.17023, "omega":-0.41379, "ax":0.00014, "ay":-0.0008, "alpha":-1.97152, "fx":[3.36978,-3.17599,-3.36541,3.17947], "fy":[3.16755,3.35155,-3.19052,-3.37404]},
- {"t":7.80635, "x":0.71706, "y":7.14955, "heading":1.44567, "vx":0.98536, "vy":0.1701, "omega":-0.73044, "ax":-0.00008, "ay":0.00044, "alpha":-1.2345, "fx":[2.23805,-1.84398,-2.24013,1.84173], "fy":[1.84898,2.24459,-1.83649,-2.23203]},
- {"t":7.96696, "x":0.87532, "y":7.17688, "heading":1.31242, "vx":0.98535, "vy":0.17017, "omega":-0.92872, "ax":-0.00008, "ay":0.00045, "alpha":-0.9216, "fx":[1.79843,-1.21095,-1.8006,1.20875], "fy":[1.21615,1.80571,-1.2035,-1.79304]},
- {"t":8.12758, "x":1.03358, "y":7.20421, "heading":1.15137, "vx":0.98534, "vy":0.17024, "omega":-1.07674, "ax":-0.00008, "ay":0.00047, "alpha":-0.65182, "fx":[1.36484,-0.71335,-1.36714,0.71107], "fy":[0.71884,1.37259,-0.70556,-1.35932]},
- {"t":8.28819, "x":1.19184, "y":7.23156, "heading":0.97002, "vx":0.98533, "vy":0.17032, "omega":-1.18143, "ax":-0.00009, "ay":0.0005, "alpha":-0.21214, "fx":[0.45917,-0.24916,-0.46162,0.24672], "fy":[0.25501,0.46745,-0.24086,-0.45331]},
- {"t":8.44881, "x":1.3501, "y":7.25893, "heading":0.77753, "vx":0.98531, "vy":0.1704, "omega":-1.21551, "ax":-0.00009, "ay":0.00053, "alpha":0.40687, "fx":[-0.9561,-0.06488,0.9535,0.06229], "fy":[0.07108,-0.94732,-0.05609,0.96231]},
- {"t":8.60942, "x":1.50835, "y":7.2863, "heading":0.58755, "vx":0.9853, "vy":0.17049, "omega":-1.15016, "ax":-0.0001, "ay":0.00055, "alpha":1.00677, "fx":[-2.34365,-0.34288,2.34095,0.34018], "fy":[0.34933,-2.33452,-0.33374,2.35009]},
- {"t":8.77003, "x":1.6666, "y":7.31369, "heading":0.41581, "vx":0.98528, "vy":0.17057, "omega":-0.98846, "ax":-0.0001, "ay":0.00057, "alpha":1.35381, "fx":[-3.07943,-0.855,3.07667,0.85221], "fy":[0.86162,-3.07004,-0.84558,3.08605]},
- {"t":8.93065, "x":1.82485, "y":7.34109, "heading":0.27451, "vx":0.98527, "vy":0.17066, "omega":-0.77102, "ax":-0.0001, "ay":0.00059, "alpha":1.37815, "fx":[-3.03765,-1.20232,3.0348,1.19942], "fy":[1.20918,-3.02793,-1.19256,3.0445]},
- {"t":9.09126, "x":1.9831, "y":7.36851, "heading":0.16845, "vx":0.98525, "vy":0.17076, "omega":-0.54967, "ax":-0.00011, "ay":0.00062, "alpha":1.17969, "fx":[-2.52939,-1.22506,2.52639,1.222], "fy":[1.23227,-2.51915,-1.21476,2.5366]},
- {"t":9.25188, "x":2.14134, "y":7.39595, "heading":0.09538, "vx":0.98523, "vy":0.17086, "omega":-0.36019, "ax":-0.00011, "ay":0.00066, "alpha":0.90349, "fx":[-1.90831,-1.02395,1.90509,1.02066], "fy":[1.03168,-1.89732,-1.0129,1.91606]},
- {"t":9.41249, "x":2.29958, "y":7.4234, "heading":0.04919, "vx":0.98521, "vy":0.17096, "omega":-0.21508, "ax":-0.00013, "ay":0.00072, "alpha":0.64971, "fx":[-1.37243,-0.76091,1.36891,0.75732], "fy":[0.76934,-1.36043,-0.74885,1.38089]},
- {"t":9.5731, "x":2.45782, "y":7.45087, "heading":0.02302, "vx":0.98519, "vy":0.17108, "omega":-0.11073, "ax":-0.00014, "ay":0.0008, "alpha":0.43514, "fx":[-0.93736,-0.50179,0.93344,0.49782], "fy":[0.51115,-0.92404,-0.48841,0.94675]},
- {"t":9.73372, "x":2.61605, "y":7.47835, "heading":0.01085, "vx":0.98517, "vy":0.17121, "omega":-0.04084, "ax":-0.00016, "ay":0.00091, "alpha":0.17947, "fx":[-0.44825,-0.14892,0.4438,0.14442], "fy":[0.15951,-0.43317,-0.13379,0.45887]},
- {"t":9.89433, "x":2.77428, "y":7.50586, "heading":0.00661, "vx":0.98515, "vy":0.17135, "omega":-0.01201, "ax":-0.00018, "ay":0.00105, "alpha":-0.26055, "fx":[0.34794,0.51307,-0.35312,-0.51828], "fy":[-0.50078,0.36545,0.53061,-0.33562]},
- {"t":10.05494, "x":2.93251, "y":7.5334, "heading":0.00131, "vx":0.98512, "vy":0.17152, "omega":-0.05386, "ax":-0.00022, "ay":0.00127, "alpha":-0.73601, "fx":[1.20011,1.2375,-1.20636,-1.24379], "fy":[-1.22266,1.22123,1.25864,-1.18524]},
- {"t":10.21556, "x":3.09073, "y":7.56096, "heading":-0.01683, "vx":0.98508, "vy":0.17173, "omega":-0.17207, "ax":-0.00029, "ay":0.00165, "alpha":0.67076, "fx":[-1.04949,-1.18389,1.04148,1.17557], "fy":[1.20311,-1.02206,-1.15633,1.06892]},
- {"t":10.37617, "x":3.24894, "y":7.58857, "heading":-0.03581, "vx":0.98504, "vy":0.17199, "omega":-0.06434, "ax":-0.00045, "ay":0.00259, "alpha":9.57593, "fx":[-15.43246,-16.36314,15.42156,16.3484], "fy":[16.39212,-15.39011,-16.31925,15.46387]},
- {"t":10.53679, "x":3.40715, "y":7.61623, "heading":0.07737, "vx":0.98496, "vy":0.17241, "omega":1.47369, "ax":-0.02756, "ay":-2.29363, "alpha":-24.34872, "fx":[41.84027,40.87599,-49.32474,-34.95388], "fy":[-68.3666,10.47874,2.03164,-74.19018]},
- {"t":10.6974, "x":3.56499, "y":7.61433, "heading":0.0, "vx":0.98054, "vy":-0.19598, "omega":-2.43706, "ax":8.34523, "ay":-5.10916, "alpha":-0.63599, "fx":[117.95062,119.78687,118.67216,116.75702], "fy":[-73.01344,-69.95417,-71.81889,-74.89813]},
- {"t":10.74023, "x":3.61464, "y":7.60125, "heading":-0.10496, "vx":1.33796, "vy":-0.4148, "omega":-2.46429, "ax":8.97576, "ay":-3.85144, "alpha":-2.31503, "fx":[125.50394,130.78719,129.44598,123.17968], "fy":[-58.9906,-46.08567,-49.65046,-63.64649]},
- {"t":10.78306, "x":3.68018, "y":7.57995, "heading":-0.21263, "vx":1.72238, "vy":-0.57975, "omega":-2.56345, "ax":9.58302, "ay":-1.52273, "alpha":-5.13245, "fx":[133.56206,138.38797,138.51929,132.87902], "fy":[-37.07295,-7.92864,-2.17278,-39.16274]},
- {"t":10.82589, "x":3.76273, "y":7.55373, "heading":-0.32712, "vx":2.13281, "vy":-0.64497, "omega":-2.78326, "ax":9.72419, "ay":0.91108, "alpha":-0.76771, "fx":[138.13602,137.74953,137.50017,137.96672], "fy":[9.60271,14.16341,16.28454,11.60688]},
- {"t":10.86872, "x":3.863, "y":7.52694, "heading":-0.44703, "vx":2.54929, "vy":-0.60595, "omega":-2.81614, "ax":9.00424, "ay":1.68041, "alpha":14.27045, "fx":[104.76719,137.51319,133.92262,134.32889], "fy":[90.33715,6.07958,-34.91635,33.7771]},
- {"t":10.91155, "x":3.98044, "y":7.50253, "heading":-0.55456, "vx":2.93493, "vy":-0.53398, "omega":-2.20495, "ax":9.03114, "ay":1.9007, "alpha":13.22997, "fx":[107.9004,134.98441,133.99708,135.17535], "fy":[86.38814,25.63167,-33.96255,29.71041]},
- {"t":10.95437, "x":4.11442, "y":7.4814, "heading":-0.63686, "vx":3.32173, "vy":-0.45258, "omega":-1.63833, "ax":9.04939, "ay":2.01327, "alpha":12.49974, "fx":[111.09049,131.99688,134.38524,135.61906], "fy":[81.88934,36.81827,-31.21973,26.66248]},
- {"t":10.9972, "x":4.26499, "y":7.46387, "heading":-0.69556, "vx":3.7093, "vy":-0.36635, "omega":-1.10298, "ax":9.02124, "ay":2.11758, "alpha":12.11197, "fx":[112.5128,128.95578,134.50699,135.5199], "fy":[79.15857,43.91515,-28.19256,25.18343]},
- {"t":11.04003, "x":4.43213, "y":7.45012, "heading":-0.73169, "vx":4.09567, "vy":-0.27566, "omega":-0.58423, "ax":8.8491, "ay":2.45305, "alpha":11.76841, "fx":[110.90344,122.73357,134.207,133.89134], "fy":[79.06754,53.15001,-20.58501,27.453]},
- {"t":11.08286, "x":4.61566, "y":7.44056, "heading":-0.74592, "vx":4.47467, "vy":-0.17059, "omega":-0.0802, "ax":1.31343, "ay":7.13457, "alpha":1.72399, "fx":[16.81616,13.31266,20.6967,23.64493], "fy":[103.9141,101.62145,98.16473,100.82283]},
- {"t":11.12569, "x":4.80851, "y":7.4398, "heading":-0.74778, "vx":4.53092, "vy":0.13497, "omega":-0.00636, "ax":-0.11392, "ay":2.72195, "alpha":0.00288, "fx":[-1.9663,-1.63334,-1.24506,-1.61437], "fy":[38.56184,38.38124,38.59638,38.79267]},
- {"t":11.16852, "x":5.00246, "y":7.44808, "heading":-0.74805, "vx":4.52605, "vy":0.25155, "omega":-0.00624, "ax":-0.04568, "ay":0.77127, "alpha":-0.00002, "fx":[-0.56829,-0.65116,-0.72498,-0.64577], "fy":[10.9357,11.01958,10.92892,10.84613]},
- {"t":11.21135, "x":5.19627, "y":7.45956, "heading":-0.74831, "vx":4.52409, "vy":0.28458, "omega":-0.00624, "ax":-0.01546, "ay":0.24142, "alpha":-0.00001, "fx":[0.0989,-0.23024,-0.53699,-0.20803], "fy":[3.43463,3.73905,3.40976,3.1046]},
- {"t":11.25418, "x":5.39001, "y":7.47197, "heading":-0.74858, "vx":4.52343, "vy":0.29492, "omega":-0.00624, "ax":0.01156, "ay":-0.17924, "alpha":0.00003, "fx":[0.61378,0.1481,-0.28658,0.17997], "fy":[-2.5235,-2.09452,-2.55792,-2.98698]},
- {"t":11.29701, "x":5.58376, "y":7.48443, "heading":-0.74885, "vx":4.52392, "vy":0.28725, "omega":-0.00624, "ax":0.11204, "ay":-2.15959, "alpha":-0.00442, "fx":[2.02277,1.60604,1.15113,1.57258], "fy":[-30.58666,-30.24981,-30.63689,-30.97359]},
- {"t":11.33984, "x":5.77762, "y":7.49475, "heading":-0.74912, "vx":4.52872, "vy":0.19475, "omega":-0.00643, "ax":-0.05801, "ay":-9.46716, "alpha":-0.0549, "fx":[-0.80977,-0.57338,-0.83503,-1.07114], "fy":[-134.20357,-134.19586,-134.18623,-134.19354]},
- {"t":11.38266, "x":5.97152, "y":7.49441, "heading":-0.74944, "vx":4.52624, "vy":-0.21072, "omega":-0.00878, "ax":-1.01904, "ay":-9.64634, "alpha":-0.16964, "fx":[-14.33588,-13.66748,-14.55492,-15.22041], "fy":[-136.75519,-136.8145,-136.71597,-136.65274]},
- {"t":11.42549, "x":6.16444, "y":7.47654, "heading":-0.74998, "vx":4.48259, "vy":-0.62386, "omega":-0.01605, "ax":-1.93299, "ay":-9.55202, "alpha":-0.21213, "fx":[-27.17639,-26.45329,-27.6266,-28.34219], "fy":[-135.44988,-135.58626,-135.34786,-135.20665]},
- {"t":11.46832, "x":6.35466, "y":7.44106, "heading":-0.75086, "vx":4.3998, "vy":-1.03296, "omega":-0.02513, "ax":-2.52018, "ay":-9.4328, "alpha":0.25258, "fx":[-36.05775,-36.81216,-35.39468,-34.62731], "fy":[-133.61602,-133.41585,-133.80184,-133.9969]},
- {"t":11.51115, "x":6.54078, "y":7.38817, "heading":-0.7517, "vx":4.29187, "vy":-1.43696, "omega":-0.01432, "ax":-3.53805, "ay":-9.1097, "alpha":0.24349, "fx":[-50.5716,-51.12488,-49.73778,-49.16955], "fy":[-128.96304,-128.74921,-129.29316,-129.5059]},
- {"t":11.56758, "x":6.77734, "y":7.29258, "heading":-0.75212, "vx":4.09222, "vy":-1.95101, "omega":-0.00058, "ax":-4.70686, "ay":-8.55174, "alpha":0.00532, "fx":[-66.72965,-66.73731,-66.70746,-66.69979], "fy":[-121.21274,-121.20868,-121.22515,-121.22921]},
- {"t":11.62401, "x":7.00076, "y":7.16887, "heading":-0.75215, "vx":3.82661, "vy":-2.43358, "omega":-0.00027, "ax":-5.7065, "ay":-7.89449, "alpha":0.00128, "fx":[-80.8912,-80.89209,-80.88528,-80.88438], "fy":[-111.90039,-111.89981,-111.90474,-111.90533]},
- {"t":11.68044, "x":7.20761, "y":7.01898, "heading":-0.75216, "vx":3.5046, "vy":-2.87906, "omega":-0.0002, "ax":-6.59191, "ay":-7.11314, "alpha":0.00066, "fx":[-93.44025,-93.4403,-93.43714,-93.43709], "fy":[-100.82563,-100.82564,-100.82857,-100.82855]},
- {"t":11.73687, "x":7.39487, "y":6.84519, "heading":-0.75217, "vx":3.13263, "vy":-3.28044, "omega":-0.00017, "ax":-7.31022, "ay":-6.19632, "alpha":0.00034, "fx":[-103.62143,-103.62132,-103.61988,-103.61999], "fy":[-87.83044,-87.83065,-87.83234,-87.83214]},
- {"t":11.7933, "x":7.56001, "y":6.65021, "heading":-0.75218, "vx":2.72012, "vy":-3.6301, "omega":-0.00015, "ax":-7.57947, "ay":-5.03794, "alpha":0.00015, "fx":[-107.43362,-107.44348,-107.44061,-107.43075], "fy":[-71.41686,-71.40215,-71.40643,-71.42114]},
- {"t":11.84973, "x":7.70143, "y":6.43735, "heading":-0.75219, "vx":2.29242, "vy":-3.91438, "omega":-0.00014, "ax":-4.38761, "ay":-2.39009, "alpha":0.00003, "fx":[-62.13467,-62.21718,-62.25192,-62.16929], "fy":[-33.89783,-33.79236,-33.85991,-33.96557]},
- {"t":11.90615, "x":7.82381, "y":6.21266, "heading":-0.7522, "vx":2.04483, "vy":-4.04925, "omega":-0.00014, "ax":-0.62888, "ay":-0.31397, "alpha":-0.00003, "fx":[-8.86809,-8.92526,-8.96123,-8.90232], "fy":[-4.45886,-4.40153,-4.44195,-4.49933]},
- {"t":11.96258, "x":7.93819, "y":5.98366, "heading":-0.7522, "vx":2.00934, "vy":-4.06697, "omega":-0.00014, "ax":-0.94243, "ay":1.984, "alpha":-2.78808, "fx":[-13.40582,-6.81788,-13.35266,-19.85845], "fy":[21.52606,28.57379,34.65779,27.73309]},
- {"t":12.01901, "x":8.05008, "y":5.75733, "heading":-0.75665, "vx":1.95616, "vy":-3.95502, "omega":-0.15747, "ax":-4.30965, "ay":8.70619, "alpha":-2.96603, "fx":[-66.81389,-49.2689,-56.48849,-71.78159], "fy":[120.70602,128.92183,126.04185,117.96323]},
- {"t":12.07544, "x":8.1536, "y":5.54801, "heading":-0.77026, "vx":1.71297, "vy":-3.46373, "omega":-0.32484, "ax":-4.33174, "ay":8.75688, "alpha":-0.45794, "fx":[-62.23848,-59.6514,-60.59194,-63.12381], "fy":[123.7118,124.98332,124.5396,123.27227]},
- {"t":12.13187, "x":8.24337, "y":5.3665, "heading":-0.78932, "vx":1.46854, "vy":-2.96959, "omega":-0.35068, "ax":-4.33566, "ay":8.7664, "alpha":0.37932, "fx":[-60.75597,-62.87333,-62.17712,-60.02112], "fy":[124.61574,123.55923,123.90564,124.96608]},
- {"t":12.1883, "x":8.31933, "y":5.21288, "heading":-0.8085, "vx":1.22388, "vy":-2.47491, "omega":-0.32927, "ax":-4.33698, "ay":8.76976, "alpha":0.79849, "fx":[-59.96438,-64.40559,-63.07378,-58.45861], "fy":[125.0787,122.84831,123.52875,125.78131]},
- {"t":12.24473, "x":8.38149, "y":5.08719, "heading":-0.82581, "vx":0.97915, "vy":-1.98004, "omega":-0.28421, "ax":-4.33758, "ay":8.77132, "alpha":1.05034, "fx":[-59.44673,-65.28349,-63.67396,-57.5324], "fy":[125.37225,122.43192,123.2675,126.2536]},
- {"t":12.30116, "x":8.42983, "y":4.98942, "heading":-0.84018, "vx":0.73438, "vy":-1.48509, "omega":-0.22494, "ax":-4.33791, "ay":8.77216, "alpha":1.21847, "fx":[-59.0753,-65.8456,-64.10946,-56.92515], "fy":[125.57826,122.16218,123.07325,126.55917]},
- {"t":12.35759, "x":8.46437, "y":4.91959, "heading":-0.85093, "vx":0.4896, "vy":-0.99008, "omega":-0.15619, "ax":-4.33812, "ay":8.77265, "alpha":1.33875, "fx":[-58.79897,-66.2365,-64.43621,-56.49579], "fy":[125.72944,121.97314,122.92527,126.77328]},
- {"t":12.41402, "x":8.48509, "y":4.87768, "heading":-0.85761, "vx":0.2448, "vy":-0.49505, "omega":-0.08064, "ax":-4.33827, "ay":8.77297, "alpha":1.4291, "fx":[-58.5938,-66.52886,-64.68168,-56.17151], "fy":[125.84122,121.83067,122.81345,126.93371]},
- {"t":12.47044, "x":8.492, "y":4.86372, "heading":-0.85989, "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":[]
-}
+++ /dev/null
-{
- "name":"shallowSwipe",
- "version":3,
- "snapshot":{
- "waypoints":[
- {"x":3.5895698070526123, "y":7.62680196762085, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.036516189575195, "y":6.847882270812988, "heading":-1.5313432532484534, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.826457977294922, "y":4.701357364654541, "heading":-0.9827935145707228, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.098229885101318, "y":4.711697101593018, "heading":1.1270129868473104, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.83792781829834, "y":6.324362754821777, "heading":1.4627850621263598, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.888542652130127, "y":7.473618507385254, "heading":0.06807331739317207, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":3.5895698070526123, "y":7.62680196762085, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
- {"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":4.744918951764703, "y":6.406979292631149, "r":0.6145389142105349}}, "enabled":true}],
- "targetDt":0.05
- },
- "params":{
- "waypoints":[
- {"x":{"exp":"3.5895698070526123 m", "val":3.5895698070526123}, "y":{"exp":"7.62680196762085 m", "val":7.62680196762085}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.036516189575195 m", "val":6.036516189575195}, "y":{"exp":"6.847882270812988 m", "val":6.847882270812988}, "heading":{"exp":"-1.5313432532484534 rad", "val":-1.5313432532484534}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.826457977294922 m", "val":5.826457977294922}, "y":{"exp":"4.701357364654541 m", "val":4.701357364654541}, "heading":{"exp":"-0.9827935145707227 rad", "val":-0.9827935145707228}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.098229885101318 m", "val":7.098229885101318}, "y":{"exp":"4.711697101593018 m", "val":4.711697101593018}, "heading":{"exp":"1.1270129868473104 rad", "val":1.1270129868473104}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.83792781829834 m", "val":6.83792781829834}, "y":{"exp":"6.324362754821777 m", "val":6.324362754821777}, "heading":{"exp":"1.4627850621263598 rad", "val":1.4627850621263598}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.888542652130127 m", "val":5.888542652130127}, "y":{"exp":"7.473618507385254 m", "val":7.473618507385254}, "heading":{"exp":"68.07331739317208 mrad", "val":0.06807331739317207}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"3.5895698070526123 m", "val":3.5895698070526123}, "y":{"exp":"7.62680196762085 m", "val":7.62680196762085}, "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},
- {"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":true},
- {"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.744918951764703 m", "val":4.744918951764703}, "y":{"exp":"6.406979292631149 m", "val":6.406979292631149}, "r":{"exp":"0.6145389142105349 m", "val":0.6145389142105349}}}, "enabled":true}],
- "targetDt":{
- "exp":"0.05 s",
- "val":0.05
- }
- },
- "trajectory":{
- "config":{
- "frontLeft":{
- "x":0.52705,
- "y":0.52705
- },
- "backLeft":{
- "x":-0.52705,
- "y":0.52705
- },
- "mass":56.69904625,
- "inertia":7.0,
- "gearing":7.03125,
- "radius":0.0508,
- "vmax":628.3185307179587,
- "tmax":7.0,
- "cof":1.0,
- "bumper":{
- "front":0.4064,
- "side":0.4064,
- "back":0.4064
- },
- "differentialTrackWidth":0.5588
- },
- "sampleType":"Swerve",
- "waypoints":[0.0,1.02437,1.62837,2.30231,2.72798,3.28679,4.04196],
- "samples":[
- {"t":0.0, "x":3.58957, "y":7.6268, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.64948, "ay":-1.17974, "alpha":-5.04028, "fx":[135.68641,138.80718,138.77846,133.84413], "fy":[-29.28221,-0.40058,-0.50883,-36.69856]},
- {"t":0.05391, "x":3.60359, "y":7.62509, "heading":-0.00733, "vx":0.52024, "vy":-0.0636, "omega":-0.27174, "ax":9.66111, "ay":-1.11414, "alpha":-4.8535, "fx":[135.90216,138.79098,138.75964,134.32288], "fy":[-28.18204,-0.1884,0.0261,-34.82645]},
- {"t":0.10783, "x":3.64568, "y":7.62004, "heading":-0.02903, "vx":1.04111, "vy":-0.12367, "omega":-0.53341, "ax":9.67568, "ay":-1.02774, "alpha":-4.59548, "fx":[136.1473,138.76826,138.73066,134.95583], "fy":[-26.85305,-0.10172,0.85184,-32.16918]},
- {"t":0.16174, "x":3.71588, "y":7.61188, "heading":-0.06447, "vx":1.56277, "vy":-0.17908, "omega":-0.78118, "ax":9.69471, "ay":-0.90602, "alpha":-4.20909, "fx":[136.48563,138.73488,138.68314,135.7773], "fy":[-24.88521,-0.06156,1.88718,-28.31102]},
- {"t":0.21566, "x":3.81422, "y":7.60091, "heading":-0.1127, "vx":2.08545, "vy":-0.22793, "omega":-1.00811, "ax":9.7201, "ay":-0.71813, "alpha":-3.57374, "fx":[137.02265,138.68076,138.60668,136.81035], "fy":[-21.37283,0.10426,2.97913,-22.42812]},
- {"t":0.26957, "x":3.94078, "y":7.58757, "heading":-0.17225, "vx":2.6095, "vy":-0.26665, "omega":-1.20078, "ax":9.75145, "ay":-0.38486, "alpha":-2.3767, "fx":[137.88083,138.57475,138.48688,137.95544], "fy":[-13.83209,0.86016,3.7776,-12.6267]},
- {"t":0.32348, "x":4.09565, "y":7.57264, "heading":-0.24044, "vx":3.13524, "vy":-0.2874, "omega":-1.32892, "ax":9.74931, "ay":0.37526, "alpha":0.57684, "fx":[138.08964,138.24168,138.28314,138.16196], "fy":[7.69699,3.98942,2.98524,6.60513]},
- {"t":0.3774, "x":4.27885, "y":7.55769, "heading":-0.31125, "vx":3.66087, "vy":-0.26717, "omega":-1.29782, "ax":9.06933, "ay":1.35398, "alpha":13.47677, "fx":[110.87396,135.52165,134.67827,133.14839], "fy":[80.71545,-11.37992,-27.78628,35.22037]},
- {"t":0.43131, "x":4.4894, "y":7.54525, "heading":-0.36163, "vx":4.14983, "vy":-0.19417, "omega":-0.57123, "ax":6.91538, "ay":3.63136, "alpha":10.16576, "fx":[79.53346,90.1184,114.68991,107.75377], "fy":[85.10537,51.07773,15.34719,54.36434]},
- {"t":0.48523, "x":4.72319, "y":7.54006, "heading":-0.37766, "vx":4.52267, "vy":0.00162, "omega":-0.02315, "ax":-7.09546, "ay":-4.1616, "alpha":-10.2868, "fx":[-79.99123,-92.67983,-119.42966,-110.20522], "fy":[-92.68004,-62.89922,-20.64072,-59.73869]},
- {"t":0.53914, "x":4.95671, "y":7.5341, "heading":-0.39385, "vx":4.14012, "vy":-0.22275, "omega":-0.57776, "ax":-8.44503, "ay":-3.48825, "alpha":-11.81163, "fx":[-94.6525,-122.56505,-135.56506,-126.04246], "fy":[-97.07133,-50.64228,1.98729,-52.05435]},
- {"t":0.59306, "x":5.16765, "y":7.51702, "heading":-0.44217, "vx":3.68482, "vy":-0.41082, "omega":-1.21457, "ax":-8.52103, "ay":-3.73245, "alpha":-11.10439, "fx":[-97.26158,-121.77975,-136.9983,-127.09466], "fy":[-96.64418,-59.70274,-2.82437,-52.45511]},
- {"t":0.64697, "x":5.35393, "y":7.48945, "heading":-0.52379, "vx":3.22541, "vy":-0.61205, "omega":-1.81325, "ax":-8.41458, "ay":-4.24982, "alpha":-9.89126, "fx":[-98.81522,-115.31899,-136.62939,-126.3352], "fy":[-95.92295,-73.782,-15.9515,-55.30437]},
- {"t":0.70088, "x":5.51559, "y":7.45027, "heading":-0.63593, "vx":2.77175, "vy":-0.84118, "omega":-2.34653, "ax":-8.10518, "ay":-5.05436, "alpha":-8.0139, "fx":[-98.63614,-105.65544,-132.19245,-123.0718], "fy":[-96.57878,-88.18957,-39.10067,-62.70826]},
- {"t":0.7548, "x":5.65325, "y":7.39758, "heading":-0.77409, "vx":2.33477, "vy":-1.11368, "omega":-2.77859, "ax":-7.54607, "ay":-6.05813, "alpha":-5.07629, "fx":[-96.73596,-96.63457,-119.19414,-115.29055], "fy":[-98.77573,-98.62486,-69.75695,-76.3324]},
- {"t":0.80871, "x":5.76816, "y":7.32873, "heading":-0.93127, "vx":1.92793, "vy":-1.4403, "omega":-3.05228, "ax":-6.83014, "ay":-6.96971, "alpha":-1.15025, "fx":[-94.64912,-93.6196,-99.14571,-99.84827], "fy":[-100.96607,-101.88248,-96.5061,-95.8215]},
- {"t":0.86263, "x":5.86218, "y":7.24095, "heading":-1.0975, "vx":1.55968, "vy":-1.81606, "omega":-3.11429, "ax":-6.16998, "ay":-7.54759, "alpha":2.92364, "fx":[-91.82378,-96.81909,-84.10759,-77.08157], "fy":[-103.66363,-99.08986,-110.10736,-115.08036]},
- {"t":0.91654, "x":5.9373, "y":7.13207, "heading":-1.26116, "vx":1.22704, "vy":-2.22298, "omega":-2.95667, "ax":-5.70449, "ay":-7.80611, "alpha":6.28206, "fx":[-86.36753,-102.71765,-78.67105,-55.68317], "fy":[-108.3346,-93.11504,-114.20174,-126.94785]},
- {"t":0.97045, "x":5.99516, "y":7.00087, "heading":-1.41143, "vx":0.91948, "vy":-2.64384, "omega":-2.61798, "ax":-5.65514, "ay":-7.18807, "alpha":14.61123, "fx":[-90.00929,-127.58651,-83.85356,-19.19177], "fy":[-105.14147,-54.45976,-110.57188,-137.38351]},
- {"t":1.02437, "x":6.03652, "y":6.84788, "heading":-1.53134, "vx":0.61459, "vy":-3.03138, "omega":-1.83022, "ax":-6.05325, "ay":-3.48345, "alpha":31.07952, "fx":[-113.60073,-138.63317,-94.96806,3.98855], "fy":[47.13195,-4.79704,-101.18746,-138.65573]},
- {"t":1.06751, "x":6.0574, "y":6.71386, "heading":-1.58138, "vx":0.35344, "vy":-3.18167, "omega":-0.48937, "ax":-6.12696, "ay":-6.0776, "alpha":19.00838, "fx":[-96.01717,-138.12813,-98.95057,-14.29669], "fy":[-97.56771,-11.9038,-97.22055,-137.90186]},
- {"t":1.11065, "x":6.06694, "y":6.57094, "heading":-1.5848, "vx":0.0891, "vy":-3.44387, "omega":0.3307, "ax":-6.89944, "ay":-6.0441, "alpha":14.13022, "fx":[-108.07603,-134.50429,-102.26011,-46.3511], "fy":[-85.61577,-33.02487,-93.55868,-130.49544]},
- {"t":1.1538, "x":6.06437, "y":6.41673, "heading":-1.55739, "vx":-0.20856, "vy":-3.70463, "omega":0.94032, "ax":-7.9565, "ay":-5.61867, "alpha":-1.65751, "fx":[-112.1213,-108.25677,-113.69402,-117.05402], "fy":[-80.8226,-85.85777,-78.45204,-73.44103]},
- {"t":1.19694, "x":6.04796, "y":6.25168, "heading":-1.51836, "vx":-0.55182, "vy":-3.94704, "omega":0.86881, "ax":-8.06462, "ay":-4.87122, "alpha":-10.21041, "fx":[-112.14653,-85.22283,-126.38607,-133.50068], "fy":[-80.44322,-108.11101,-53.21508,-34.42434]},
- {"t":1.24008, "x":6.01665, "y":6.07686, "heading":-1.49038, "vx":-0.89975, "vy":-4.15719, "omega":0.4283, "ax":-8.36222, "ay":-4.23769, "alpha":-9.32008, "fx":[-115.66903,-96.07808,-129.04101,-133.34161], "fy":[-73.21467,-96.39932,-40.74669,-29.91228]},
- {"t":1.28322, "x":5.97005, "y":5.89356, "heading":-1.48058, "vx":-1.26052, "vy":-4.34002, "omega":0.02621, "ax":-3.43793, "ay":2.97204, "alpha":2.59145, "fx":[-44.00855,-52.38951,-53.54292,-44.98643], "fy":[47.80231,45.12386,36.51535,39.0701]},
- {"t":1.32637, "x":5.91247, "y":5.70909, "heading":-1.47703, "vx":-1.40884, "vy":-4.2118, "omega":0.13801, "ax":7.24709, "ay":5.80201, "alpha":11.12545, "fx":[101.72754,65.16,114.88953,129.12625], "fy":[92.12838,120.06363,71.31724,45.45915]},
- {"t":1.36951, "x":5.85843, "y":5.53278, "heading":-1.46072, "vx":-1.09618, "vy":-3.96148, "omega":0.61799, "ax":7.37216, "ay":5.81419, "alpha":10.7855, "fx":[102.59003,68.16056,117.49293,129.75106], "fy":[92.42756,119.7239,70.739,46.7686]},
- {"t":1.41265, "x":5.818, "y":5.36728, "heading":-1.42403, "vx":-0.77813, "vy":-3.71064, "omega":1.08331, "ax":7.46032, "ay":5.81091, "alpha":10.14967, "fx":[102.69252,72.18434,119.03726,129.07878], "fy":[92.71918,117.78468,69.42327,49.54575]},
- {"t":1.4558, "x":5.79138, "y":5.2126, "heading":-1.36784, "vx":-0.45627, "vy":-3.45994, "omega":1.52119, "ax":7.55153, "ay":5.79673, "alpha":9.28032, "fx":[102.63782,77.39967,120.32104,127.80612], "fy":[92.97687,114.64978,67.85947,53.18299]},
- {"t":1.49894, "x":5.77872, "y":5.06873, "heading":-1.29358, "vx":-0.13047, "vy":-3.20986, "omega":1.92157, "ax":7.65302, "ay":5.76753, "alpha":8.18817, "fx":[102.75608,83.73388,121.28705,126.142], "fy":[92.96158,110.2501,66.53924,57.2628]},
- {"t":1.54208, "x":5.78021, "y":4.93561, "heading":-1.20306, "vx":0.1997, "vy":-2.96103, "omega":2.27483, "ax":7.76518, "ay":5.72097, "alpha":6.84696, "fx":[103.38059,91.01062,121.72165,124.16552], "fy":[92.34202,104.42846,66.02212,61.58114]},
- {"t":1.58522, "x":5.79605, "y":4.81319, "heading":-1.09854, "vx":0.53471, "vy":-2.71421, "omega":2.57023, "ax":7.88184, "ay":5.6595, "alpha":5.22373, "fx":[104.89184,98.79504,121.33668,121.86907], "fy":[90.675,97.18534,66.92164,66.10643]},
- {"t":1.62837, "x":5.82646, "y":4.70136, "heading":-0.98279, "vx":0.87475, "vy":-2.47005, "omega":2.79559, "ax":7.81175, "ay":5.8182, "alpha":3.67775, "fx":[104.63666,102.38805,118.14615,117.74809], "fy":[90.93364,93.3795,72.41214,73.16105]},
- {"t":1.67049, "x":5.87023, "y":4.60248, "heading":-0.86178, "vx":1.20379, "vy":-2.22498, "omega":2.9505, "ax":7.51488, "ay":6.22309, "alpha":2.36203, "fx":[101.77166,101.32785,111.81532,111.17176], "fy":[94.00774,94.42204,81.73394,82.67975]},
- {"t":1.71261, "x":5.9276, "y":4.51428, "heading":-0.7354, "vx":1.52033, "vy":-1.96285, "omega":3.04999, "ax":7.1432, "ay":6.65333, "alpha":1.01229, "fx":[98.84438,99.11455,103.7602,103.29344], "fy":[96.90471,96.59362,91.58852,92.1506]},
- {"t":1.75473, "x":5.99798, "y":4.4375, "heading":-0.60604, "vx":1.82121, "vy":-1.68261, "omega":3.09263, "ax":6.67277, "ay":7.11128, "alpha":-0.2883, "fx":[95.37534,95.16968,93.80243,93.99244], "fy":[100.05226,100.26063,101.53912,101.3506]},
- {"t":1.79685, "x":6.08061, "y":4.37294, "heading":-0.47603, "vx":2.10227, "vy":-1.38307, "omega":3.08049, "ax":6.0525, "ay":7.61175, "alpha":-1.39643, "fx":[90.09547,88.5604,81.67461,82.84061], "fy":[104.39687,105.78458,111.17277,110.22453]},
- {"t":1.83897, "x":6.17453, "y":4.32143, "heading":-0.34751, "vx":2.35721, "vy":-1.06246, "omega":3.02167, "ax":5.14163, "ay":8.19819, "alpha":-2.04087, "fx":[79.78238,77.07269,66.4075,68.26309], "fy":[111.71428,113.77517,120.28032,119.05995]},
- {"t":1.88109, "x":6.27838, "y":4.28395, "heading":-0.22204, "vx":2.57378, "vy":-0.71714, "omega":2.93571, "ax":3.47246, "ay":8.94046, "alpha":-1.52599, "fx":[54.58745,53.0071,44.15201,45.13844], "fy":[124.51749,125.41674,128.77202,128.20945]},
- {"t":1.92321, "x":6.38987, "y":4.26168, "heading":-0.09974, "vx":2.72005, "vy":-0.34055, "omega":2.87143, "ax":-0.56418, "ay":9.36098, "alpha":2.15265, "fx":[-13.36522,-16.11894,-1.99896,-0.50547], "fy":[132.76292,131.89204,132.75058,133.35312]},
- {"t":1.96534, "x":6.50394, "y":4.25564, "heading":0.02311, "vx":2.69628, "vy":0.05374, "omega":2.9621, "ax":-5.24969, "ay":7.63909, "alpha":6.29441, "fx":[-79.89655,-97.08275,-68.34198,-52.33134], "fy":[107.55884,90.67554,112.27149,122.62346]},
- {"t":2.00746, "x":6.61286, "y":4.26468, "heading":0.15347, "vx":2.47516, "vy":0.37551, "omega":3.22723, "ax":-6.389, "ay":6.87658, "alpha":6.3267, "fx":[-95.48644,-110.8178,-85.73637,-70.20943], "fy":[95.98493,76.35548,102.36829,115.18694]},
- {"t":2.04958, "x":6.71145, "y":4.2866, "heading":0.29501, "vx":2.20605, "vy":0.66516, "omega":3.49372, "ax":-5.76467, "ay":7.66437, "alpha":2.69711, "fx":[-85.82485,-90.8332,-77.13017,-73.06325], "fy":[106.05682,101.39745,112.00386,115.10431]},
- {"t":2.0917, "x":6.79925, "y":4.32141, "heading":0.44457, "vx":1.96323, "vy":0.98799, "omega":3.60732, "ax":-4.86374, "ay":8.41948, "alpha":-1.49826, "fx":[-64.85639,-64.50936,-72.74287,-73.6608], "fy":[121.66941,121.93454,117.21501,116.55732]},
- {"t":2.13382, "x":6.87763, "y":4.3705, "heading":0.59518, "vx":1.75837, "vy":1.34263, "omega":3.54422, "ax":-5.04913, "ay":8.31302, "alpha":-3.41712, "fx":[-60.67206,-63.2991,-80.8943,-81.41526], "fy":[124.26179,123.04869,112.26245,111.76766]},
- {"t":2.17594, "x":6.94722, "y":4.43442, "heading":0.74144, "vx":1.54569, "vy":1.69279, "omega":3.40028, "ax":-5.37242, "ay":8.08328, "alpha":-4.86321, "fx":[-59.35891,-66.71099,-89.80317,-88.73794], "fy":[125.10185,121.43891,105.5004,106.27327]},
- {"t":2.21806, "x":7.00756, "y":4.5129, "heading":0.88035, "vx":1.3194, "vy":2.03326, "omega":3.19544, "ax":-5.69695, "ay":7.8214, "alpha":-6.06928, "fx":[-58.80323,-71.5126,-98.00098,-94.69479], "fy":[125.48298,118.78772,98.06323,101.13195]},
- {"t":2.26018, "x":7.05808, "y":4.60548, "heading":1.00956, "vx":1.07944, "vy":2.36271, "omega":2.93979, "ax":-5.99246, "ay":7.55027, "alpha":-7.18405, "fx":[-58.24855,-76.62299,-105.39722,-99.49816], "fy":[125.81799,115.62843,90.15366,96.49321]},
- {"t":2.30231, "x":7.09823, "y":4.7117, "heading":1.12701, "vx":0.82703, "vy":2.68074, "omega":2.63719, "ax":-6.17905, "ay":7.30296, "alpha":-8.77938, "fx":[-54.05039,-80.47307,-112.4475,-103.37527], "fy":[127.66426,112.97921,81.17067,92.25684]},
- {"t":2.341, "x":7.12561, "y":4.8209, "heading":1.22249, "vx":0.58791, "vy":2.96335, "omega":2.29745, "ax":-6.27503, "ay":7.19094, "alpha":-9.1241, "fx":[-53.6451,-83.82497,-115.50922,-102.8087], "fy":[127.79269,110.47671,76.67574,92.77443]},
- {"t":2.3797, "x":7.14366, "y":4.94096, "heading":1.30457, "vx":0.34508, "vy":3.24162, "omega":1.94436, "ax":-6.40826, "ay":7.01996, "alpha":-9.73243, "fx":[-53.22798,-87.37995,-119.19835,-103.53603], "fy":[127.90576,107.63309,70.69388,91.79218]},
- {"t":2.4184, "x":7.15222, "y":5.07167, "heading":1.37252, "vx":0.09709, "vy":3.51328, "omega":1.56774, "ax":-6.60108, "ay":6.77754, "alpha":-10.35726, "fx":[-54.18469,-91.39336,-122.99868,-105.69813], "fy":[127.40916,104.16326,63.67429,89.03311]},
- {"t":2.4571, "x":7.15103, "y":5.2127, "heading":1.42544, "vx":-0.15836, "vy":3.77556, "omega":1.16693, "ax":-6.90731, "ay":6.41385, "alpha":-10.75, "fx":[-58.55279,-96.31907,-126.58137,-110.18453], "fy":[125.29782,99.47829,55.89155,82.9917]},
- {"t":2.4958, "x":7.13973, "y":5.36361, "heading":1.46255, "vx":-0.42566, "vy":4.02376, "omega":0.75093, "ax":-7.46115, "ay":5.75118, "alpha":-10.5514, "fx":[-70.70344,-103.63337,-130.07173,-118.63137], "fy":[118.51222,91.50929,46.48093,69.58408]},
- {"t":2.53449, "x":7.11767, "y":5.52362, "heading":1.4837, "vx":-0.71439, "vy":4.24632, "omega":0.34261, "ax":-8.63654, "ay":3.91997, "alpha":-8.56153, "fx":[-103.85882,-119.12367,-134.68837,-132.01247], "fy":[89.6066,68.96876,27.79826,35.88466]},
- {"t":2.57319, "x":7.08356, "y":5.69088, "heading":1.49055, "vx":-1.04861, "vy":4.39801, "omega":0.0113, "ax":-9.28872, "ay":-2.26609, "alpha":-0.29022, "fx":[-131.78149,-131.9584,-131.55523,-131.36647], "fy":[-31.52932,-30.97491,-32.70408,-33.27663]},
- {"t":2.61189, "x":7.03602, "y":5.85938, "heading":1.49077, "vx":-1.40806, "vy":4.31032, "omega":0.00006, "ax":-8.71661, "ay":-3.23544, "alpha":-0.00207, "fx":[-123.55649,-123.55899,-123.55514,-123.55264], "fy":[-45.85845,-45.8535,-45.86471,-45.86966]},
- {"t":2.65059, "x":6.97501, "y":6.02376, "heading":1.49077, "vx":-1.74538, "vy":4.18512, "omega":-0.00002, "ax":-2.43204, "ay":-7.72995, "alpha":-8.1517, "fx":[-13.34932,-62.01011,-49.76758,-12.76708], "fy":[-111.32636,-96.76815,-110.59229,-119.59419]},
- {"t":2.68929, "x":6.90565, "y":6.17993, "heading":1.48467, "vx":-1.83949, "vy":3.88598, "omega":-0.31547, "ax":4.63035, "ay":-7.93785, "alpha":-12.92198, "fx":[115.28001,52.6225,18.21846,76.41556], "fy":[-74.34961,-125.02287,-136.16494,-114.53135]},
- {"t":2.72798, "x":6.83793, "y":6.32436, "heading":1.46279, "vx":-1.66031, "vy":3.5788, "omega":-0.81552, "ax":4.66365, "ay":-8.00064, "alpha":-12.44351, "fx":[114.24825,55.67733,18.98406,75.51486], "fy":[-76.82954,-124.77152,-136.48942,-115.53831]},
- {"t":2.7679, "x":6.77537, "y":6.46084, "heading":1.42032, "vx":-1.47416, "vy":3.25946, "omega":-1.31221, "ax":4.19234, "ay":-8.25672, "alpha":-12.2136, "fx":[108.6306,47.38785,12.62814,69.05522], "fy":[-84.14811,-127.71698,-136.99363,-119.28969]},
- {"t":2.80781, "x":6.71987, "y":6.58436, "heading":1.35821, "vx":-1.30682, "vy":2.92989, "omega":-1.79971, "ax":3.49932, "ay":-8.55374, "alpha":-12.10128, "fx":[100.68216,35.35151,2.71971,59.65474], "fy":[-92.92277,-130.91043,-137.2115,-123.94429]},
- {"t":2.84773, "x":6.6705, "y":6.69449, "heading":1.27674, "vx":-1.16714, "vy":2.58847, "omega":-2.28274, "ax":2.52432, "ay":-8.84109, "alpha":-12.16025, "fx":[89.54749,18.21581,-11.28087,46.64405], "fy":[-102.81833,-133.31326,-136.23273,-128.91683]},
- {"t":2.88764, "x":6.62592, "y":6.79077, "heading":1.17594, "vx":-1.06638, "vy":2.23558, "omega":-2.76811, "ax":1.19343, "ay":-9.0125, "alpha":-12.43466, "fx":[73.74897,-5.48102,-29.71382,29.11227], "fy":[-113.12762,-132.41533,-132.38668,-133.07041]},
- {"t":2.92756, "x":6.58431, "y":6.87282, "heading":1.05554, "vx":-1.01875, "vy":1.87584, "omega":-3.26444, "ax":-0.63715, "ay":-8.80907, "alpha":-12.7967, "fx":[48.59751,-37.16173,-52.45909,4.89751], "fy":[-121.98527,-121.70076,-122.11743,-133.66258]},
- {"t":2.96747, "x":6.54314, "y":6.94068, "heading":0.91505, "vx":-1.04418, "vy":1.52423, "omega":-3.77522, "ax":-5.61733, "ay":-2.36693, "alpha":-4.54862, "fx":[-72.08231,-83.70755,-86.83588,-75.87152], "fy":[-35.08982,-19.41516,-32.66129,-47.03614]},
- {"t":3.00739, "x":6.49698, "y":6.99963, "heading":0.76074, "vx":-1.2684, "vy":1.42975, "omega":-3.95678, "ax":0.40805, "ay":9.06528, "alpha":7.70466, "fx":[-28.41286,6.69977,39.46526,5.38395], "fy":[128.13079,128.07569,125.24751,132.53861]},
- {"t":3.0473, "x":6.44668, "y":7.06392, "heading":0.60894, "vx":-1.25211, "vy":1.79159, "omega":-3.64925, "ax":-8.49659, "ay":2.1304, "alpha":15.46223, "fx":[-132.88587,-128.50742,-121.6132,-98.74207], "fy":[28.96214,-40.85397,40.54897,92.13467]},
- {"t":3.08722, "x":6.38993, "y":7.13713, "heading":0.4756, "vx":-1.59125, "vy":1.87663, "omega":-3.03208, "ax":-9.2265, "ay":-1.26493, "alpha":11.42472, "fx":[-137.55138,-125.78611,-127.19846,-132.59789], "fy":[-1.6649,-55.30105,-48.83803,34.08348]},
- {"t":3.12713, "x":6.31907, "y":7.21103, "heading":0.36367, "vx":-1.95953, "vy":1.82614, "omega":-2.57606, "ax":-9.26497, "ay":-1.96656, "alpha":9.58954, "fx":[-137.74677,-126.2903,-124.18039,-137.09762], "fy":[-8.80761,-55.60105,-58.97485,11.88172]},
- {"t":3.16705, "x":6.23347, "y":7.28235, "heading":0.26849, "vx":-2.32934, "vy":1.74764, "omega":-2.19329, "ax":-9.2433, "ay":-2.34291, "alpha":8.7466, "fx":[-137.71999,-126.47829,-121.93624,-137.95189], "fy":[-12.16823,-55.83107,-64.4923,-0.34914]},
- {"t":3.20696, "x":6.13313, "y":7.35025, "heading":0.18791, "vx":-2.69828, "vy":1.65412, "omega":-1.84417, "ax":-9.18371, "ay":-2.64984, "alpha":8.52461, "fx":[-137.65258,-126.09776,-119.0839,-137.87325], "fy":[-14.32667,-57.06435,-70.10906,-8.74313]},
- {"t":3.24688, "x":6.01812, "y":7.41416, "heading":0.12109, "vx":-3.06485, "vy":1.54836, "omega":-1.50391, "ax":-9.08878, "ay":-2.94169, "alpha":8.80262, "fx":[-137.60537,-125.18556,-115.08171,-137.45247], "fy":[-15.65215,-59.28526,-76.7813,-15.07208]},
- {"t":3.28679, "x":5.88854, "y":7.47362, "heading":0.06807, "vx":-3.42763, "vy":1.43094, "omega":-1.15255, "ax":-8.87918, "ay":-3.40647, "alpha":9.77166, "fx":[-137.45026,-122.65204,-106.83434,-136.50414], "fy":[-17.70839,-64.57722,-88.11259,-22.7456]},
- {"t":3.34488, "x":5.67445, "y":7.55099, "heading":0.01761, "vx":-3.94342, "vy":1.23306, "omega":-0.58492, "ax":-8.16388, "ay":-4.81475, "alpha":9.77548, "fx":[-134.06693,-113.94956,-88.24519,-126.62257], "fy":[-33.79518,-78.46967,-106.28999,-54.43699]},
- {"t":3.40297, "x":5.4316, "y":7.6145, "heading":0.00012, "vx":-4.41766, "vy":0.95337, "omega":-0.01706, "ax":-1.73369, "ay":-9.47751, "alpha":0.29542, "fx":[-25.68225,-25.33453,-23.47891,-23.80281], "fy":[-134.12429,-134.22306,-134.55419,-134.46444]},
- {"t":3.46106, "x":5.17206, "y":7.65389, "heading":-0.00037, "vx":-4.51837, "vy":0.40282, "omega":0.0001, "ax":-0.28191, "ay":-9.0759, "alpha":-0.00082, "fx":[-3.99343,-3.99358,-3.99864,-3.9985], "fy":[-128.64906,-128.64867,-128.64852,-128.64891]},
- {"t":3.51915, "x":4.90911, "y":7.66198, "heading":-0.00036, "vx":-4.53475, "vy":-0.1244, "omega":0.00005, "ax":0.02615, "ay":-0.26334, "alpha":-0.00068, "fx":[0.37174,0.37174,0.36949,0.36949], "fy":[-3.73388,-3.73164,-3.73164,-3.73388]},
- {"t":3.57724, "x":4.64573, "y":7.65431, "heading":-0.00036, "vx":-4.53323, "vy":-0.13969, "omega":0.00001, "ax":9.58468, "ay":0.52561, "alpha":0.06705, "fx":[135.84362,135.86705,135.8773,135.85402], "fy":[7.67991,7.24428,7.22144,7.65572]},
- {"t":3.63533, "x":4.39857, "y":7.64708, "heading":-0.00025, "vx":-3.97646, "vy":-0.10916, "omega":0.00391, "ax":9.75189, "ay":0.34374, "alpha":-0.02654, "fx":[138.23431,138.22816,138.22718,138.23334], "fy":[4.78181,4.95696,4.96327,4.7879]},
- {"t":3.69342, "x":4.18403, "y":7.64132, "heading":-0.00007, "vx":-3.40997, "vy":-0.08919, "omega":0.00236, "ax":9.7718, "ay":0.30449, "alpha":-0.02349, "fx":[138.51561,138.51078,138.51026,138.51509], "fy":[4.23588,4.39128,4.39621,4.24064]},
- {"t":3.75151, "x":4.00243, "y":7.63665, "heading":0.00003, "vx":-2.84233, "vy":-0.07151, "omega":0.001, "ax":9.77973, "ay":0.28, "alpha":-0.01525, "fx":[138.62692,138.62403,138.62378,138.62667], "fy":[3.91698,4.01798,4.0209,3.91983]},
- {"t":3.8096, "x":3.85382, "y":7.63297, "heading":0.00006, "vx":-2.27422, "vy":-0.05524, "omega":0.00011, "ax":9.78408, "ay":0.26088, "alpha":-0.00792, "fx":[138.68773,138.68633,138.68623,138.68763], "fy":[3.67099,3.72343,3.72484,3.67237]},
- {"t":3.86769, "x":3.73822, "y":7.6302, "heading":0.00006, "vx":-1.70587, "vy":-0.04009, "omega":-0.00035, "ax":9.78687, "ay":0.24447, "alpha":-0.00214, "fx":[138.72672,138.72636,138.72634,138.72669], "fy":[3.45809,3.47229,3.47264,3.45844]},
- {"t":3.92578, "x":3.65564, "y":7.62828, "heading":0.00003, "vx":-1.13735, "vy":-0.02589, "omega":-0.00047, "ax":9.78884, "ay":0.22968, "alpha":0.00231, "fx":[138.75424,138.7546,138.75462,138.75426], "fy":[3.26349,3.24816,3.2478,3.26313]},
- {"t":3.98387, "x":3.60609, "y":7.62717, "heading":0.00001, "vx":-0.56872, "vy":-0.01254, "omega":-0.00034, "ax":9.79032, "ay":0.21592, "alpha":0.00578, "fx":[138.77495,138.7758,138.77584,138.775], "fy":[3.08026,3.04193,3.04109,3.07941]},
- {"t":4.04196, "x":3.58957, "y":7.6268, "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":[]
-}
+++ /dev/null
-{
- "name":"stealOppHub",
- "version":3,
- "snapshot":{
- "waypoints":[
- {"x":3.573173999786377, "y":7.658982753753662, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.909358024597168, "y":7.412297248840332, "heading":-0.5836359716876055, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":10.596938133239746, "y":5.529364585876465, "heading":-1.1853205735433847, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":10.399354934692385, "y":3.262010097503662, "heading":-2.998884946210841, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.633565902709961, "y":4.615322113037109, "heading":2.4102064162028483, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.1281585693359375, "y":7.472915172576904, "heading":-1.3374351627371277, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":4.036591053009033, "y":7.649001598358154, "heading":0.0, "intervals":25, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.925092697143555, "y":7.378946304321289, "heading":-1.5707966850768345, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.809670448303223, "y":2.0913589000701904, "heading":-2.4676511874322324, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.394168853759766, "y":2.0913589000701904, "heading":1.815774798656562, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.336783409118652, "y":7.2082061767578125, "heading":1.1406287746226669, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":8.618081092834473, "y":4.6805739402771, "heading":-0.8534745074490971, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
- {"from":2, "to":3, "data":{"type":"KeepOutCircle", "props":{"x":12.306512206792831, "y":4.034490287303925, "r":1.0}}, "enabled":true},
- {"from":7, "to":8, "data":{"type":"KeepInLane", "props":{"tolerance":0.6257709589078365}}, "enabled":true},
- {"from":7, "to":10, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
- {"from":6, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
- "targetDt":0.05
- },
- "params":{
- "waypoints":[
- {"x":{"exp":"3.573173999786377 m", "val":3.573173999786377}, "y":{"exp":"7.658982753753662 m", "val":7.658982753753662}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.909358024597168 m", "val":5.909358024597168}, "y":{"exp":"7.412297248840332 m", "val":7.412297248840332}, "heading":{"exp":"-0.5836359716876055 rad", "val":-0.5836359716876055}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"10.596938133239746 m", "val":10.596938133239746}, "y":{"exp":"5.529364585876465 m", "val":5.529364585876465}, "heading":{"exp":"-1.1853205735433847 rad", "val":-1.1853205735433847}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"10.399354934692383 m", "val":10.399354934692385}, "y":{"exp":"3.262010097503662 m", "val":3.262010097503662}, "heading":{"exp":"-2.998884946210841 rad", "val":-2.998884946210841}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.633565902709961 m", "val":7.633565902709961}, "y":{"exp":"4.615322113037109 m", "val":4.615322113037109}, "heading":{"exp":"2.4102064162028483 rad", "val":2.4102064162028483}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.1281585693359375 m", "val":6.1281585693359375}, "y":{"exp":"7.472915172576904 m", "val":7.472915172576904}, "heading":{"exp":"-1.3374351627371275 rad", "val":-1.3374351627371277}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"shootPos.x", "val":4.036591053009033}, "y":{"exp":"shootPos.y", "val":7.649001598358154}, "heading":{"exp":"shootPos.heading", "val":0.0}, "intervals":25, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.925092697143555 m", "val":7.925092697143555}, "y":{"exp":"7.378946304321289 m", "val":7.378946304321289}, "heading":{"exp":"-1.5707966850768345 rad", "val":-1.5707966850768345}, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.809670448303223 m", "val":7.809670448303223}, "y":{"exp":"2.0913589000701904 m", "val":2.0913589000701904}, "heading":{"exp":"-2.4676511874322324 rad", "val":-2.4676511874322324}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.394168853759766 m", "val":6.394168853759766}, "y":{"exp":"2.0913589000701904 m", "val":2.0913589000701904}, "heading":{"exp":"1.815774798656562 rad", "val":1.815774798656562}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.336783409118652 m", "val":6.336783409118652}, "y":{"exp":"7.2082061767578125 m", "val":7.2082061767578125}, "heading":{"exp":"1.1406287746226669 rad", "val":1.1406287746226669}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"8.618081092834473 m", "val":8.618081092834473}, "y":{"exp":"4.6805739402771 m", "val":4.6805739402771}, "heading":{"exp":"-0.8534745074490971 rad", "val":-0.8534745074490971}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":true},
- {"from":2, "to":3, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"12.306512206792831 m", "val":12.306512206792831}, "y":{"exp":"4.034490287303925 m", "val":4.034490287303925}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
- {"from":7, "to":8, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.6257709589078365 m", "val":0.6257709589078365}}}, "enabled":true},
- {"from":7, "to":10, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true},
- {"from":6, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
- "targetDt":{
- "exp":"0.05 s",
- "val":0.05
- }
- },
- "trajectory":{
- "config":{
- "frontLeft":{
- "x":0.52705,
- "y":0.52705
- },
- "backLeft":{
- "x":-0.52705,
- "y":0.52705
- },
- "mass":56.69904625,
- "inertia":7.0,
- "gearing":7.03125,
- "radius":0.0508,
- "vmax":628.3185307179587,
- "tmax":7.0,
- "cof":1.0,
- "bumper":{
- "front":0.4064,
- "side":0.4064,
- "back":0.4064
- },
- "differentialTrackWidth":0.5588
- },
- "sampleType":"Swerve",
- "waypoints":[0.0,0.75975,1.97565,2.76838,3.57985,4.70066,5.494,6.73244,9.42401,10.16269,12.80034,13.99828],
- "samples":[
- {"t":0.0, "x":3.57317, "y":7.65898, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.0757, "ay":-3.20635, "alpha":-7.73704, "fx":[126.15371,137.54875,136.05221,114.82907], "fy":[-57.92473,-18.65375,-27.2757,-77.94288]},
- {"t":0.05065, "x":3.58482, "y":7.65487, "heading":-0.00992, "vx":0.45968, "vy":-0.1624, "omega":-0.39188, "ax":9.17218, "ay":-2.87412, "alpha":-8.03252, "fx":[127.52805,138.09635,137.30463,117.12467], "fy":[-54.79479,-13.88609,-19.87245,-74.40646]},
- {"t":0.1013, "x":3.61986, "y":7.64296, "heading":-0.04008, "vx":0.92425, "vy":-0.30797, "omega":-0.79872, "ax":9.28308, "ay":-2.43738, "alpha":-8.33461, "fx":[129.07461,138.51595,138.35482,120.39664], "fy":[-50.98862,-8.44184,-9.84546,-68.92117]},
- {"t":0.15195, "x":3.67858, "y":7.62423, "heading":-0.09122, "vx":1.39444, "vy":-0.43143, "omega":-1.22087, "ax":9.41087, "ay":-1.8288, "alpha":-8.5422, "fx":[131.04631,138.7335,138.62378,125.18399], "fy":[-45.58949,-1.82277,3.3936,-59.6728]},
- {"t":0.2026, "x":3.76128, "y":7.60004, "heading":-0.16402, "vx":1.87109, "vy":-0.52406, "omega":-1.65353, "ax":9.54873, "ay":-0.92105, "alpha":-8.3244, "fx":[133.83054,138.53228,137.16705,131.87384], "fy":[-36.42881,6.89346,19.9727,-42.65972]},
- {"t":0.25325, "x":3.8683, "y":7.57231, "heading":-0.25844, "vx":2.35473, "vy":-0.57071, "omega":-2.07516, "ax":9.73306, "ay":0.01853, "alpha":-3.91674, "fx":[137.84024,138.34769,137.50032,138.1669], "fy":[-14.42929,8.45684,17.01501,-9.99172]},
- {"t":0.3039, "x":4.00005, "y":7.54343, "heading":-0.36857, "vx":2.84771, "vy":-0.56977, "omega":-2.27354, "ax":9.40506, "ay":0.46356, "alpha":11.15961, "fx":[125.29759,136.67752,134.36645,136.91628], "fy":[58.68464,-20.00532,-33.48443,21.08845]},
- {"t":0.35455, "x":4.15635, "y":7.51516, "heading":-0.46941, "vx":3.32408, "vy":-0.54629, "omega":-1.70831, "ax":9.19245, "ay":0.60889, "alpha":13.63591, "fx":[116.8077,136.34506,131.35388,136.69624], "fy":[73.71922,-17.54266,-43.14341,21.4905]},
- {"t":0.4052, "x":4.33651, "y":7.48828, "heading":-0.53845, "vx":3.78967, "vy":-0.51545, "omega":-1.01765, "ax":9.15522, "ay":0.97263, "alpha":12.90253, "fx":[115.37633,136.06868,131.46148,136.18556], "fy":[74.69351,-0.39171,-40.59497,21.44051]},
- {"t":0.45585, "x":4.5402, "y":7.46342, "heading":-0.57344, "vx":4.25338, "vy":-0.46618, "omega":-0.36414, "ax":5.51347, "ay":6.26826, "alpha":7.12444, "fx":[64.73142,60.83346,95.31567,91.72772], "fy":[104.18203,99.48989,69.50321,82.22938]},
- {"t":0.5065, "x":4.7627, "y":7.44784, "heading":-0.58275, "vx":4.53263, "vy":-0.1487, "omega":-0.00329, "ax":0.05216, "ay":2.77773, "alpha":0.00535, "fx":[0.73662,0.7261,0.74215,0.75267], "fy":[39.38502,39.37141,39.36238,39.37599]},
- {"t":0.55715, "x":4.99234, "y":7.44388, "heading":-0.58291, "vx":4.53528, "vy":-0.00801, "omega":-0.00302, "ax":-0.00001, "ay":0.32587, "alpha":0.00003, "fx":[-0.00015,-0.00021,-0.00012,-0.00006], "fy":[4.6192,4.61911,4.61905,4.61914]},
- {"t":0.6078, "x":5.22205, "y":7.44389, "heading":-0.58306, "vx":4.53528, "vy":0.0085, "omega":-0.00302, "ax":-0.00066, "ay":-0.53703, "alpha":-0.00012, "fx":[-0.0093,-0.00907,-0.00942,-0.00964], "fy":[-7.61251,-7.61217,-7.61194,-7.61228]},
- {"t":0.65845, "x":5.45176, "y":7.44363, "heading":-0.58321, "vx":4.53524, "vy":-0.0187, "omega":-0.00303, "ax":-0.1446, "ay":-4.71629, "alpha":-0.00148, "fx":[-2.04879,-2.04552,-2.0506,-2.05386], "fy":[-66.85493,-66.85182,-66.84968,-66.85279]},
- {"t":0.7091, "x":5.68129, "y":7.43663, "heading":-0.58337, "vx":4.52792, "vy":-0.25758, "omega":-0.0031, "ax":-0.98835, "ay":-8.80123, "alpha":-0.08516, "fx":[-13.90242,-13.66479,-14.11752,-14.35398], "fy":[-124.80259,-124.78252,-124.70829,-124.72789]},
- {"t":0.75975, "x":5.90936, "y":7.4123, "heading":-0.58364, "vx":4.47786, "vy":-0.70336, "omega":-0.00742, "ax":-2.01013, "ay":-8.63103, "alpha":-0.40004, "fx":[-27.84261,-26.95764,-29.16029,-30.01198], "fy":[-122.65681,-122.62427,-122.0305,-122.05977]},
- {"t":0.80478, "x":6.10897, "y":7.37187, "heading":-0.58438, "vx":4.38734, "vy":-1.09205, "omega":-0.02543, "ax":-1.64448, "ay":-5.65279, "alpha":-0.10585, "fx":[-23.19857,-23.0018,-23.42232,-23.61796], "fy":[-80.30584,-80.13971,-79.94792,-80.11445]},
- {"t":0.84981, "x":6.30488, "y":7.31696, "heading":-0.58563, "vx":4.31328, "vy":-1.34661, "omega":-0.0302, "ax":-0.3967, "ay":-1.18511, "alpha":-0.03152, "fx":[-5.60757,-5.54982,-5.63875,-5.69649], "fy":[-16.87039,-16.78487,-16.72691,-16.81245]},
- {"t":0.89485, "x":6.49872, "y":7.25512, "heading":-0.58702, "vx":4.29541, "vy":-1.39998, "omega":-0.03162, "ax":-0.04935, "ay":-0.14278, "alpha":-0.00399, "fx":[-0.6976,-0.69026,-0.7013,-0.70865], "fy":[-2.0331,-2.02206,-2.01472,-2.02575]},
- {"t":0.93988, "x":6.69211, "y":7.19192, "heading":-0.58845, "vx":4.29319, "vy":-1.40641, "omega":-0.0318, "ax":0.00066, "ay":0.00193, "alpha":0.00059, "fx":[0.00901,0.00792,0.00956,0.01065], "fy":[0.02877,0.02713,0.02603,0.02767]},
- {"t":0.98491, "x":6.88545, "y":7.12859, "heading":-0.58988, "vx":4.29322, "vy":-1.40632, "omega":-0.03177, "ax":0.00688, "ay":0.01976, "alpha":0.00123, "fx":[0.0969,0.09464,0.09802,0.10028], "fy":[0.28292,0.27954,0.27727,0.28066]},
- {"t":1.02995, "x":7.07879, "y":7.06528, "heading":-0.59131, "vx":4.29353, "vy":-1.40543, "omega":-0.03171, "ax":0.00712, "ay":0.02037, "alpha":0.00129, "fx":[0.10027,0.09788,0.10144,0.10383], "fy":[0.29165,0.28809,0.2857,0.28926]},
- {"t":1.07498, "x":7.27215, "y":7.00201, "heading":-0.59274, "vx":4.29385, "vy":-1.40452, "omega":-0.03166, "ax":0.00664, "ay":0.01891, "alpha":0.00128, "fx":[0.09349,0.09112,0.09464,0.09702], "fy":[0.27106,0.26753,0.26516,0.26868]},
- {"t":1.12001, "x":7.46553, "y":6.93878, "heading":-0.59416, "vx":4.29415, "vy":-1.40366, "omega":-0.0316, "ax":0.00614, "ay":0.01743, "alpha":0.00126, "fx":[0.0865,0.08415,0.08762,0.08997], "fy":[0.24998,0.24651,0.24416,0.24763]},
- {"t":1.16505, "x":7.65891, "y":6.87558, "heading":-0.59558, "vx":4.29443, "vy":-1.40288, "omega":-0.03154, "ax":0.00571, "ay":0.01613, "alpha":0.00124, "fx":[0.08037,0.07806,0.08147,0.08379], "fy":[0.23154,0.22812,0.2258,0.22922]},
- {"t":1.21008, "x":7.85231, "y":6.81242, "heading":-0.597, "vx":4.29468, "vy":-1.40215, "omega":-0.03149, "ax":0.00533, "ay":0.01501, "alpha":0.00123, "fx":[0.07507,0.07278,0.07615,0.07844], "fy":[0.21555,0.21218,0.20989,0.21326]},
- {"t":1.25511, "x":8.04572, "y":6.74929, "heading":-0.59842, "vx":4.29492, "vy":-1.40148, "omega":-0.03143, "ax":0.00501, "ay":0.01402, "alpha":0.00121, "fx":[0.07043,0.06816,0.07149,0.07376], "fy":[0.20156,0.19823,0.19596,0.19929]},
- {"t":1.30015, "x":8.23914, "y":6.6862, "heading":-0.59983, "vx":4.29515, "vy":-1.40085, "omega":-0.03138, "ax":0.00471, "ay":0.01314, "alpha":0.0012, "fx":[0.06629,0.06404,0.06733,0.06958], "fy":[0.18906,0.18578,0.18353,0.18682]},
- {"t":1.34518, "x":8.43257, "y":6.62312, "heading":-0.60124, "vx":4.29536, "vy":-1.40025, "omega":-0.03132, "ax":0.00443, "ay":0.01229, "alpha":0.00119, "fx":[0.06227,0.06005,0.06329,0.06552], "fy":[0.17694,0.1737,0.17147,0.17471]},
- {"t":1.39021, "x":8.62601, "y":6.56008, "heading":-0.60265, "vx":4.29556, "vy":-1.3997, "omega":-0.03127, "ax":0.004, "ay":0.01103, "alpha":0.00116, "fx":[0.05626,0.05408,0.05725,0.05943], "fy":[0.159,0.15583,0.15366,0.15682]},
- {"t":1.43525, "x":8.81946, "y":6.49706, "heading":-0.60406, "vx":4.29574, "vy":-1.3992, "omega":-0.03122, "ax":0.0024, "ay":0.00635, "alpha":0.00103, "fx":[0.03365,0.03172,0.03452,0.03646], "fy":[0.09237,0.08957,0.08763,0.09044]},
- {"t":1.48028, "x":9.01291, "y":6.43405, "heading":-0.60546, "vx":4.29585, "vy":-1.39892, "omega":-0.03117, "ax":-0.00774, "ay":-0.02319, "alpha":0.00015, "fx":[-0.10976,-0.11004,-0.10963,-0.10935], "fy":[-0.32831,-0.32871,-0.329,-0.32859]},
- {"t":1.52531, "x":9.20636, "y":6.37103, "heading":-0.60687, "vx":4.2955, "vy":-1.39996, "omega":-0.03116, "ax":-0.08017, "ay":-0.23028, "alpha":-0.00738, "fx":[-1.13337,-1.11939,-1.13954,-1.15351], "fy":[-3.28118,-3.26106,-3.24708,-3.2672]},
- {"t":1.57035, "x":9.39972, "y":6.30775, "heading":-0.60828, "vx":4.29189, "vy":-1.41033, "omega":-0.0315, "ax":-0.69093, "ay":-1.61386, "alpha":-0.21725, "fx":[-9.6905,-9.28239,-9.89754,-10.30467], "fy":[-23.36893,-22.80011,-22.3828,-22.95256]},
- {"t":1.61538, "x":9.5923, "y":6.2426, "heading":-0.60992, "vx":4.26078, "vy":-1.48301, "omega":-0.04128, "ax":-6.3158, "ay":-3.45254, "alpha":-7.34297, "fx":[-80.31613,-78.25812,-99.63089,-99.89484], "fy":[-70.72513,-54.47209,-24.29457,-46.26378]},
- {"t":1.66042, "x":9.77777, "y":6.17232, "heading":-0.61922, "vx":3.97635, "vy":-1.63849, "omega":-0.37196, "ax":-8.60205, "ay":-1.78131, "alpha":-11.20336, "fx":[-109.20605,-120.6819,-128.04562,-129.79462], "fy":[-71.28128,-27.9809,23.5784,-25.31491]},
- {"t":1.70545, "x":9.94812, "y":6.09672, "heading":-0.64733, "vx":3.58897, "vy":-1.71871, "omega":-0.87649, "ax":-8.92961, "ay":-1.68327, "alpha":-11.01281, "fx":[-114.08641,-127.52785,-131.45809,-133.22818], "fy":[-70.68898,-27.93345,26.28741,-23.10469]},
- {"t":1.75048, "x":10.10069, "y":6.01762, "heading":-0.69797, "vx":3.18684, "vy":-1.79451, "omega":-1.37243, "ax":-9.03811, "ay":-2.06071, "alpha":-9.96075, "fx":[-116.24712,-127.8914,-134.36731,-133.94629], "fy":[-70.11007,-38.71282,17.32314,-25.34053]},
- {"t":1.79552, "x":10.23504, "y":5.93471, "heading":-0.76988, "vx":2.77982, "vy":-1.88731, "omega":-1.821, "ax":-8.97382, "ay":-2.90535, "alpha":-8.15733, "fx":[-116.29841,-123.61825,-136.17513,-132.71521], "fy":[-71.67329,-55.3878,-4.12168,-33.54774]},
- {"t":1.84055, "x":10.35113, "y":5.84678, "heading":-0.86015, "vx":2.3757, "vy":-2.01815, "omega":-2.18835, "ax":-8.62792, "ay":-4.17612, "alpha":-5.3537, "fx":[-113.87779,-116.07831,-131.42228,-127.81628], "fy":[-76.47633,-72.13637,-38.13611,-50.03333]},
- {"t":1.88558, "x":10.44936, "y":5.75166, "heading":-0.96413, "vx":1.98716, "vy":-2.20622, "omega":-2.42945, "ax":-7.94692, "ay":-5.55321, "alpha":-1.57988, "fx":[-109.84455,-109.50556,-115.66908,-115.56337], "fy":[-82.829,-83.10447,-74.28581,-74.64244]},
- {"t":1.93062, "x":10.53079, "y":5.64667, "heading":-1.07514, "vx":1.62928, "vy":-2.4563, "omega":-2.50059, "ax":-7.12793, "ay":-6.6006, "alpha":2.39626, "fx":[-105.18559,-107.25341,-97.57362,-94.13405], "fy":[-89.11273,-86.79227,-97.58114,-100.76163]},
- {"t":1.97565, "x":10.59694, "y":5.52936, "heading":-1.18532, "vx":1.30829, "vy":-2.75354, "omega":-2.39268, "ax":-6.78933, "ay":-6.86477, "alpha":4.95931, "fx":[-103.66538,-110.12096,-91.60625,-79.55602], "fy":[-90.54205,-83.01505,-103.18157,-112.4872]},
- {"t":2.01737, "x":10.64561, "y":5.4085, "heading":-1.28083, "vx":1.02502, "vy":-3.03996, "omega":-2.18576, "ax":-6.66895, "ay":-6.8357, "alpha":6.68957, "fx":[-102.84367,-113.68509,-90.77883,-70.81571], "fy":[-90.00709,-76.96458,-103.23057,-117.37567]},
- {"t":2.05909, "x":10.68258, "y":5.27572, "heading":-1.36621, "vx":0.74677, "vy":-3.32517, "omega":-1.90666, "ax":-5.99432, "ay":-7.14461, "alpha":9.02836, "fx":[-91.32885,-113.59505,-84.52602,-50.42208], "fy":[-98.00821,-74.33643,-106.93445,-125.8135]},
- {"t":2.10082, "x":10.70852, "y":5.13076, "heading":-1.4379, "vx":0.49667, "vy":-3.62326, "omega":-1.52997, "ax":-4.33839, "ay":-7.70005, "alpha":11.79954, "fx":[-51.39196,-105.31894,-70.47347,-18.79795], "fy":[-114.69967,-78.24442,-113.096,-130.5456]},
- {"t":2.14254, "x":10.72546, "y":4.97289, "heading":-1.49146, "vx":0.31566, "vy":-3.94453, "omega":-1.03766, "ax":-2.89713, "ay":-7.31303, "alpha":12.3746, "fx":[-17.31903,-84.83937,-56.75053,-5.35548], "fy":[-104.59017,-79.91638,-109.43594,-120.69959]},
- {"t":2.18426, "x":10.73611, "y":4.80195, "heading":-1.52399, "vx":0.19478, "vy":-4.24965, "omega":-0.52136, "ax":-1.75949, "ay":-3.98701, "alpha":7.12827, "fx":[-13.15368,-41.27304,-35.26784,-10.06664], "fy":[-47.36295,-45.03707,-65.55663,-68.10283]},
- {"t":2.22599, "x":10.74271, "y":4.62117, "heading":-1.53954, "vx":0.12137, "vy":-4.416, "omega":-0.22395, "ax":-0.99349, "ay":0.92804, "alpha":-1.75109, "fx":[-16.96264,-11.13219,-11.22552,-17.0097], "fy":[10.11123,10.38262,16.22004,15.9049]},
- {"t":2.26771, "x":10.74691, "y":4.43773, "heading":-1.5504, "vx":0.07992, "vy":-4.37728, "omega":-0.29701, "ax":-2.22966, "ay":6.16566, "alpha":-11.04376, "fx":[-63.91988,-7.47065,-6.08815,-48.94072], "fy":[68.60489,82.54904,103.54363,94.88924]},
- {"t":2.30943, "x":10.7483, "y":4.26047, "heading":-1.57241, "vx":-0.01311, "vy":-4.12003, "omega":-0.75778, "ax":-3.82824, "ay":7.59372, "alpha":-12.70292, "fx":[-100.34154,-30.35002,-16.2969,-70.06893], "fy":[77.00415,115.78924,127.85162,109.91192]},
- {"t":2.35115, "x":10.74442, "y":4.09518, "heading":-1.61508, "vx":-0.17283, "vy":-3.8032, "omega":-1.28778, "ax":-4.77672, "ay":7.67658, "alpha":-11.70335, "fx":[-110.76576,-55.39553,-26.73687,-77.93724], "fy":[75.04302,118.01493,131.70353,110.49351]},
- {"t":2.39288, "x":10.73305, "y":3.94318, "heading":-1.679, "vx":-0.37213, "vy":-3.48291, "omega":-1.77608, "ax":-3.8913, "ay":8.35179, "alpha":-11.19003, "fx":[-100.55168,-39.09099,-14.66275,-66.32766], "fy":[90.97681,127.92124,135.28996,119.35025]},
- {"t":2.4346, "x":10.71414, "y":3.80513, "heading":-1.76284, "vx":-0.53448, "vy":-3.13445, "omega":-2.24296, "ax":-2.42666, "ay":8.98399, "alpha":-10.69508, "fx":[-81.28118,-12.78764,4.0641,-47.58462], "fy":[109.44119,134.63776,136.74345,128.56142]},
- {"t":2.47632, "x":10.68973, "y":3.68217, "heading":-1.86573, "vx":-0.63573, "vy":-2.75961, "omega":-2.68919, "ax":-1.65048, "ay":9.22914, "alpha":-10.0905, "fx":[-69.2712,-3.65903,14.61481,-35.26505], "fy":[118.02888,135.99342,136.42705,132.83433]},
- {"t":2.51805, "x":10.66177, "y":3.57507, "heading":-1.98671, "vx":-0.70459, "vy":-2.37454, "omega":-3.11019, "ax":-1.4748, "ay":9.30271, "alpha":-9.65838, "fx":[-65.74662,-7.70846,18.88352,-29.04801], "fy":[120.4735,136.2664,136.13909,134.57557]},
- {"t":2.55977, "x":10.63108, "y":3.48409, "heading":-2.12489, "vx":-0.76613, "vy":-1.98641, "omega":-3.51317, "ax":-1.89359, "ay":9.26623, "alpha":-9.18277, "fx":[-68.27813,-25.54617,15.08299,-28.62372], "fy":[119.40574,134.40427,136.74257,134.83391]},
- {"t":2.60149, "x":10.59747, "y":3.40928, "heading":-2.27946, "vx":-0.84513, "vy":-1.5998, "omega":-3.8963, "ax":-2.8967, "ay":9.0815, "alpha":-8.00501, "fx":[-72.52792,-52.57235,-3.97196,-35.16778], "fy":[117.15833,126.77421,137.59451,133.38546]},
- {"t":2.64321, "x":10.55969, "y":3.35043, "heading":-2.44899, "vx":-0.96599, "vy":-1.22089, "omega":-4.23029, "ax":-4.31877, "ay":8.63208, "alpha":-5.2182, "fx":[-77.68843,-74.43045,-41.06259,-51.6888], "fy":[114.03521,115.87468,131.54094,127.97961]},
- {"t":2.68494, "x":10.51563, "y":3.30701, "heading":-2.63003, "vx":-1.14618, "vy":-0.86074, "omega":-4.448, "ax":-5.71015, "ay":7.89374, "alpha":-0.62957, "fx":[-82.4056,-82.82113,-79.42943,-79.10379], "fy":[110.85292,110.51322,112.97205,113.2295]},
- {"t":2.72666, "x":10.46283, "y":3.27797, "heading":-2.81616, "vx":-1.38443, "vy":-0.53139, "omega":-4.47427, "ax":-6.56757, "ay":7.13873, "alpha":4.54583, "fx":[-86.88674,-79.14446,-98.50539,-107.83848], "fy":[107.49643,113.4811,97.2073,86.57415]},
- {"t":2.76838, "x":10.39935, "y":3.26201, "heading":-2.99888, "vx":-1.65844, "vy":-0.23354, "omega":-4.28461, "ax":-6.21935, "ay":7.32805, "alpha":7.33429, "fx":[-81.53368,-63.45407,-94.35024,-113.29312], "fy":[111.61754,123.03316,101.38515,79.45762]},
- {"t":2.80896, "x":10.32695, "y":3.25857, "heading":3.1165, "vx":-1.91078, "vy":0.06378, "omega":-3.98703, "ax":-5.68723, "ay":7.6949, "alpha":8.15271, "fx":[-76.69029,-50.15535,-85.38827,-110.22652], "fy":[114.82164,128.94168,108.97571,83.55426]},
- {"t":2.84953, "x":10.24474, "y":3.26749, "heading":2.96144, "vx":-2.14153, "vy":0.37599, "omega":-3.65625, "ax":-5.67357, "ay":7.51854, "alpha":10.60496, "fx":[-85.49852,-37.51354,-81.98087,-116.69323], "fy":[107.86566,132.97727,111.43554,74.01581]},
- {"t":2.8901, "x":10.15318, "y":3.28893, "heading":2.82182, "vx":-2.37173, "vy":0.68104, "omega":-3.22597, "ax":-6.03055, "ay":7.07, "alpha":12.30101, "fx":[-104.50592,-35.71101,-81.17357,-120.53571], "fy":[88.73888,133.12806,111.79761,67.19772]},
- {"t":2.93067, "x":10.05199, "y":3.32238, "heading":2.70106, "vx":-2.6164, "vy":0.96789, "omega":-2.72688, "ax":-6.53126, "ay":6.48564, "alpha":13.38665, "fx":[-119.80967,-44.52185,-83.2684,-122.71612], "fy":[65.53379,129.84647,109.85616,62.49318]},
- {"t":2.97125, "x":9.94046, "y":3.36699, "heading":2.60144, "vx":-2.8814, "vy":1.23104, "omega":-2.18374, "ax":-7.04631, "ay":5.81658, "alpha":13.87985, "fx":[-128.49466,-58.62837,-87.48755,-124.90857], "fy":[44.05681,123.03393,105.8488,56.85523]},
- {"t":3.01182, "x":9.81775, "y":3.42173, "heading":2.52426, "vx":-3.16729, "vy":1.46703, "omega":-1.62059, "ax":-7.50926, "ay":5.05054, "alpha":13.9417, "fx":[-132.29853,-73.85711,-92.56461,-127.04784], "fy":[24.40208,112.30223,100.10896,49.54741]},
- {"t":3.05239, "x":9.68306, "y":3.48541, "heading":2.46999, "vx":-3.47197, "vy":1.67195, "omega":-1.05493, "ax":-7.82429, "ay":4.13872, "alpha":13.64145, "fx":[-131.14394,-87.26968,-97.25981,-127.95645], "fy":[6.23,95.94972,92.02069,40.461]},
- {"t":3.09297, "x":9.53575, "y":3.55665, "heading":2.43841, "vx":-3.78942, "vy":1.83987, "omega":-0.50145, "ax":-7.23606, "ay":2.24232, "alpha":11.54117, "fx":[-110.1094,-87.41429,-95.83316,-116.92108], "fy":[-11.87041,50.20285,66.27423,22.53075]},
- {"t":3.13354, "x":9.37605, "y":3.63314, "heading":2.42757, "vx":-4.08301, "vy":1.93085, "omega":-0.03319, "ax":-0.41708, "ay":-0.5018, "alpha":0.25541, "fx":[-5.86677,-5.31348,-5.95758,-6.51035], "fy":[-7.71066,-7.07294,-6.51499,-7.15318]},
- {"t":3.17411, "x":9.21004, "y":3.71107, "heading":2.42643, "vx":-4.09994, "vy":1.91049, "omega":-0.02283, "ax":-0.04835, "ay":-0.09979, "alpha":0.00324, "fx":[-0.68475,-0.6777,-0.68582,-0.69287], "fy":[-1.42207,-1.41396,-1.40691,-1.41502]},
- {"t":3.21469, "x":9.04366, "y":3.7885, "heading":2.42551, "vx":-4.1019, "vy":1.90644, "omega":-0.0227, "ax":-0.00657, "ay":-0.01352, "alpha":0.00071, "fx":[-0.09305,-0.09149,-0.09328,-0.09483], "fy":[-0.19336,-0.19158,-0.19002,-0.19181]},
- {"t":3.25526, "x":8.87722, "y":3.86584, "heading":2.42459, "vx":-4.10216, "vy":1.90589, "omega":-0.02267, "ax":0.01043, "ay":0.02238, "alpha":0.00016, "fx":[0.1479,0.14824,0.14785,0.14751], "fy":[0.31688,0.31727,0.31762,0.31722]},
- {"t":3.29583, "x":8.71079, "y":3.94319, "heading":2.42367, "vx":-4.10174, "vy":1.9068, "omega":-0.02266, "ax":0.06942, "ay":0.14656, "alpha":-0.00179, "fx":[0.98367,0.97976,0.98423,0.98814], "fy":[2.08164,2.07717,2.07327,2.07774]},
- {"t":3.33641, "x":8.54443, "y":4.02068, "heading":2.42275, "vx":-4.09892, "vy":1.91275, "omega":-0.02273, "ax":0.40071, "ay":0.83205, "alpha":-0.0138, "fx":[5.67755,5.64746,5.68234,5.71243], "fy":[11.82631,11.79223,11.76199,11.79607]},
- {"t":3.37698, "x":8.37845, "y":4.09897, "heading":2.42181, "vx":-4.08267, "vy":1.94651, "omega":-0.02329, "ax":1.96268, "ay":3.80787, "alpha":-0.09241, "fx":[27.77121,27.58217,27.87022,28.05877], "fy":[54.17026,53.99679,53.78082,53.95469]},
- {"t":3.41755, "x":8.21442, "y":4.18108, "heading":2.42079, "vx":-4.00303, "vy":2.101, "omega":-0.02704, "ax":4.27213, "ay":6.93426, "alpha":-0.46567, "fx":[59.80111,59.15965,61.33234,61.93243], "fy":[99.08225,98.92082,97.49085,97.67212]},
- {"t":3.45813, "x":8.05552, "y":4.27203, "heading":2.41931, "vx":-3.8297, "vy":2.38235, "omega":-0.04594, "ax":5.7986, "ay":7.15018, "alpha":-1.41159, "fx":[79.2038,78.35338,85.40603,85.81201], "fy":[104.15424,104.11763,98.38258,98.75406]},
- {"t":3.4987, "x":7.90491, "y":4.37457, "heading":2.41628, "vx":-3.59443, "vy":2.67245, "omega":-0.10321, "ax":6.19654, "ay":7.21691, "alpha":-0.63764, "fx":[86.36366,86.18751,89.35191,89.43467], "fy":[103.64364,103.63164,100.91331,101.0031]},
- {"t":3.53927, "x":7.76417, "y":4.48894, "heading":2.41157, "vx":-3.34302, "vy":2.96527, "omega":-0.12908, "ax":6.10911, "ay":7.37199, "alpha":4.7042, "fx":[98.85744,97.69394,76.91171,72.91757], "fy":[93.83946,95.78491,113.16923,115.19117]},
- {"t":3.57985, "x":7.63357, "y":4.61532, "heading":2.41021, "vx":-3.09515, "vy":3.26437, "omega":0.06178, "ax":9.39955, "ay":0.45133, "alpha":9.62102, "fx":[131.85969,137.43992,127.52097,136.1249], "fy":[-38.12968,6.82167,50.77019,6.12766]},
- {"t":3.62295, "x":7.50887, "y":4.75646, "heading":2.42181, "vx":-2.68995, "vy":3.28383, "omega":0.47653, "ax":9.40028, "ay":-0.20959, "alpha":8.09585, "fx":[130.42354,136.57688,131.42101,134.56538], "fy":[-38.89786,-0.33131,34.87846,-7.53289]},
- {"t":3.66606, "x":7.40165, "y":4.89783, "heading":2.44987, "vx":-2.28473, "vy":3.27479, "omega":0.82552, "ax":9.14725, "ay":-1.35545, "alpha":7.67635, "fx":[124.24217,133.90854,132.3175,128.17236], "fy":[-49.89403,-12.94041,15.93896,-29.95747]},
- {"t":3.70917, "x":7.31166, "y":5.03774, "heading":2.49259, "vx":-1.8904, "vy":3.21636, "omega":1.15644, "ax":8.32731, "ay":-3.12094, "alpha":8.26048, "fx":[109.65894,126.51516,127.18885,108.78748], "fy":[-69.89688,-32.72523,-11.10073,-63.23171]},
- {"t":3.75228, "x":7.2379, "y":5.17349, "heading":2.55012, "vx":-1.53143, "vy":3.08182, "omega":1.51253, "ax":7.02112, "ay":-4.61744, "alpha":8.91083, "fx":[91.24258,114.47634,112.57818,79.79375], "fy":[-85.47559,-50.35173,-38.0614,-87.91572]},
- {"t":3.79539, "x":7.17841, "y":5.30205, "heading":2.6236, "vx":-1.22876, "vy":2.88278, "omega":1.89666, "ax":6.31822, "ay":-4.72282, "alpha":8.71823, "fx":[84.05644,106.61011,99.87875,67.69165], "fy":[-84.28308,-51.50717,-43.97478,-88.01441]},
- {"t":3.8385, "x":7.13131, "y":5.42193, "heading":2.71346, "vx":-0.95639, "vy":2.67918, "omega":2.27249, "ax":6.40073, "ay":-3.36281, "alpha":7.56038, "fx":[88.77064,103.81684,95.07877,75.249], "fy":[-64.49985,-34.38708,-26.46871,-65.3124]},
- {"t":3.8816, "x":7.09603, "y":5.5343, "heading":2.81845, "vx":-0.68047, "vy":2.53422, "omega":2.5984, "ax":6.19379, "ay":-0.37945, "alpha":4.63718, "fx":[90.30197,93.8549,85.38548,81.63984], "fy":[-18.08161,1.28076,8.62543,-13.33898]},
- {"t":3.92471, "x":7.07245, "y":5.6432, "heading":2.93477, "vx":-0.41347, "vy":2.51786, "omega":2.7983, "ax":3.62598, "ay":4.12168, "alpha":-1.41114, "fx":[48.6783,49.04754,54.17189,53.69169], "fy":[61.63633,57.56192,55.18351,59.31331]},
- {"t":3.96782, "x":7.058, "y":5.75557, "heading":3.05409, "vx":-0.25716, "vy":2.69554, "omega":2.73747, "ax":-0.47645, "ay":6.44795, "alpha":-6.20149, "fx":[-18.15236,-24.59176,7.34054,8.38946], "fy":[97.25247,85.22857,85.76495,97.34658]},
- {"t":4.01093, "x":7.04647, "y":5.87776, "heading":-3.11685, "vx":-0.2777, "vy":2.9735, "omega":2.47014, "ax":-3.99591, "ay":6.07688, "alpha":-8.02136, "fx":[-66.151,-80.02929,-45.40593,-34.97814], "fy":[90.27918,67.76804,84.17408,102.33204]},
- {"t":4.05404, "x":7.03078, "y":6.01159, "heading":-3.01782, "vx":-0.44995, "vy":3.23546, "omega":2.12435, "ax":-6.5257, "ay":4.12458, "alpha":-7.6533, "fx":[-97.49408,-107.70574,-89.33452,-75.46685], "fy":[64.51801,34.49071,52.15467,82.69619]},
- {"t":4.09714, "x":7.00532, "y":6.15489, "heading":-2.93335, "vx":-0.73126, "vy":3.41326, "omega":1.79443, "ax":-6.59504, "ay":2.50886, "alpha":-6.37181, "fx":[-98.76559,-102.3804,-89.11339,-83.673], "fy":[42.11067,16.05519,27.78343,56.30077]},
- {"t":4.14025, "x":6.96767, "y":6.30437, "heading":-2.86192, "vx":-1.01556, "vy":3.52142, "omega":1.51975, "ax":-5.55528, "ay":-0.117, "alpha":-2.57013, "fx":[-82.35039,-80.67582,-75.10356,-76.84927], "fy":[2.11112,-8.41916,-5.76831,5.44265]},
- {"t":4.18336, "x":6.91873, "y":6.45606, "heading":-2.79879, "vx":-1.25504, "vy":3.51637, "omega":1.40896, "ax":-4.25399, "ay":-3.86719, "alpha":3.29712, "fx":[-52.26108,-59.63875,-68.05442,-61.24279], "fy":[-60.82157,-48.51926,-49.20081,-60.72441]},
- {"t":4.22647, "x":6.86068, "y":6.60405, "heading":-2.73499, "vx":-1.43842, "vy":3.34967, "omega":1.55109, "ax":-3.43275, "ay":-6.57911, "alpha":7.04462, "fx":[-24.73514,-48.52115,-71.30946,-50.06783], "fy":[-104.36835,-85.9033,-81.81427,-100.94322]},
- {"t":4.26958, "x":6.79548, "y":6.74233, "heading":-2.66158, "vx":-1.5864, "vy":3.06605, "omega":1.85477, "ax":-2.27689, "ay":-7.78428, "alpha":8.26528, "fx":[-0.65125,-30.04591,-63.56459,-34.83594], "fy":[-118.54383,-105.96871,-99.8183,-117.03059]},
- {"t":4.31269, "x":6.72498, "y":6.86727, "heading":-2.57395, "vx":-1.68456, "vy":2.73049, "omega":2.21107, "ax":1.24606, "ay":-7.90063, "alpha":8.97543, "fx":[46.99522,33.16231,-17.78522,8.27794], "fy":[-109.48239,-103.9083,-113.68483,-120.88247]},
- {"t":4.35579, "x":6.65352, "y":6.97764, "heading":-2.47029, "vx":-1.63084, "vy":2.3899, "omega":2.59799, "ax":4.20276, "ay":-6.79208, "alpha":8.18835, "fx":[79.91638,76.80974,33.28768,48.27883], "fy":[-88.36996,-79.85716,-107.34099,-109.53648]},
- {"t":4.3989, "x":6.58712, "y":7.07435, "heading":-2.35069, "vx":-1.44967, "vy":2.09711, "omega":2.95097, "ax":5.83294, "ay":-5.45098, "alpha":7.23597, "fx":[97.17287,95.50022,64.55621,73.4929], "fy":[-68.01024,-57.59254,-90.53244,-92.93012]},
- {"t":4.44201, "x":6.53005, "y":7.15969, "heading":-2.21675, "vx":-1.19822, "vy":1.86213, "omega":3.2629, "ax":5.73804, "ay":-5.00877, "alpha":7.35896, "fx":[96.7177,91.10998,62.46021,75.05353], "fy":[-60.2025,-52.0071,-85.54859,-86.23422]},
- {"t":4.48512, "x":6.48372, "y":7.23531, "heading":-2.06926, "vx":-0.95086, "vy":1.64621, "omega":3.58013, "ax":-2.99454, "ay":-6.53292, "alpha":4.87615, "fx":[-27.99734,-52.26073,-54.98684,-34.54242], "fy":[-95.35893,-83.73357,-90.67342,-100.64437]},
- {"t":4.52823, "x":6.43995, "y":7.3002, "heading":-1.91039, "vx":-1.07995, "vy":1.36459, "omega":3.79034, "ax":-8.44137, "ay":-3.93831, "alpha":-3.71482, "fx":[-120.72356,-112.18977,-119.41859,-126.28556], "fy":[-56.47689,-70.73477,-55.51985,-40.56677]},
- {"t":4.57133, "x":6.38555, "y":7.35537, "heading":-1.75045, "vx":-1.44384, "vy":1.19481, "omega":3.6302, "ax":-8.57259, "ay":-4.17215, "alpha":-6.00669, "fx":[-121.54449,-107.83728,-124.51096,-132.16483], "fy":[-63.16211,-83.78533,-54.70197,-34.90736]},
- {"t":4.61444, "x":6.31535, "y":7.403, "heading":-1.59954, "vx":-1.81339, "vy":1.01496, "omega":3.37126, "ax":-8.36484, "ay":-4.62668, "alpha":-7.42774, "fx":[-117.10652,-99.47144,-125.21384,-132.48663], "fy":[-72.89632,-95.16568,-56.36132,-37.90502]},
- {"t":4.65755, "x":6.2294, "y":7.44245, "heading":-1.46111, "vx":-2.17399, "vy":0.81551, "omega":3.05106, "ax":-8.10132, "ay":-5.05184, "alpha":-8.44586, "fx":[-111.48496,-91.27929,-125.25376,-131.31905], "fy":[-81.88121,-103.65909,-57.67829,-43.21606]},
- {"t":4.70066, "x":6.12816, "y":7.47292, "heading":-1.33744, "vx":-2.52322, "vy":0.59774, "omega":2.68698, "ax":-8.05233, "ay":-5.03866, "alpha":-9.61841, "fx":[-108.46346,-87.977,-128.69455,-131.42453], "fy":[-85.9811,-106.57416,-49.87923,-43.25265]},
- {"t":4.74733, "x":6.00164, "y":7.49532, "heading":-1.22252, "vx":-2.899, "vy":0.3626, "omega":2.23811, "ax":-8.24549, "ay":-4.56017, "alpha":-10.81132, "fx":[-108.92906,-91.90961,-133.88454,-132.78808], "fy":[-85.10574,-102.77464,-32.38069,-38.29642]},
- {"t":4.79399, "x":5.85737, "y":7.50728, "heading":-1.12984, "vx":-3.28379, "vy":0.14979, "omega":1.73358, "ax":-8.42603, "ay":-4.06354, "alpha":-11.55391, "fx":[-110.0385,-97.73099,-136.26638,-133.71209], "fy":[-83.16341,-96.47137,-16.92626,-33.83758]},
- {"t":4.84066, "x":5.69495, "y":7.50984, "heading":-1.06152, "vx":-3.67701, "vy":-0.03985, "omega":1.1944, "ax":-8.55665, "ay":-3.57211, "alpha":-11.97876, "fx":[-111.24699,-103.36601,-136.37424,-134.16646], "fy":[-80.46299,-88.65186,-4.00075,-29.41958]},
- {"t":4.88733, "x":5.51404, "y":7.5041, "heading":-1.01883, "vx":-4.07632, "vy":-0.20654, "omega":0.63538, "ax":-8.51082, "ay":-3.15701, "alpha":-12.09356, "fx":[-110.93018,-105.34682,-133.37566,-132.90294], "fy":[-77.24039,-80.22514,4.36533,-25.89925]},
- {"t":4.93399, "x":5.31454, "y":7.49102, "heading":-1.00234, "vx":-4.4735, "vy":-0.35387, "omega":0.07101, "ax":4.09411, "ay":0.89616, "alpha":5.77115, "fx":[59.7441,46.45901,56.90697,69.02224], "fy":[27.4225,17.60713,-2.92805,8.70956]},
- {"t":4.98066, "x":5.11024, "y":7.47548, "heading":-0.99275, "vx":-4.28244, "vy":-0.31205, "omega":0.34034, "ax":8.62102, "ay":3.07148, "alpha":11.92083, "fx":[111.98119,108.703,134.45985,133.65957], "fy":[76.97917,77.71719,-6.25631,25.71]},
- {"t":5.02733, "x":4.91978, "y":7.46426, "heading":-0.96388, "vx":-3.88012, "vy":-0.16872, "omega":0.89665, "ax":8.64236, "ay":3.47065, "alpha":11.4837, "fx":[110.86366,108.51804,136.78036,133.85156], "fy":[81.19837,82.55706,1.46734,31.55972]},
- {"t":5.074, "x":4.74811, "y":7.46017, "heading":-0.90953, "vx":-3.47681, "vy":-0.00675, "omega":1.43256, "ax":8.57452, "ay":3.79145, "alpha":11.18395, "fx":[108.3996,107.53373,137.35161,132.88213], "fy":[85.28847,85.27071,7.16948,37.24283]},
- {"t":5.12066, "x":4.5952, "y":7.46398, "heading":-0.8305, "vx":-3.07666, "vy":0.17019, "omega":1.95448, "ax":8.46874, "ay":4.03971, "alpha":11.3888, "fx":[104.705,106.23769,137.61995,131.60669], "fy":[90.17321,87.51038,9.02968,42.33443]},
- {"t":5.16733, "x":4.46084, "y":7.47632, "heading":-0.72689, "vx":-2.68145, "vy":0.35871, "omega":2.48596, "ax":8.32448, "ay":4.2064, "alpha":12.37989, "fx":[99.06109,104.61937,138.03425,130.27519], "fy":[96.553,89.71153,5.50969,46.72488]},
- {"t":5.214, "x":4.34477, "y":7.49764, "heading":-0.5974, "vx":-2.29297, "vy":0.55501, "omega":3.06369, "ax":8.33864, "ay":4.21614, "alpha":12.10068, "fx":[95.74418,110.20883,138.22703,128.61278], "fy":[99.95843,82.9644,4.75383,51.37433]},
- {"t":5.26066, "x":4.24684, "y":7.52813, "heading":-0.44125, "vx":-1.90383, "vy":0.75176, "omega":3.62839, "ax":9.41729, "ay":0.88489, "alpha":-10.47736, "fx":[135.36153,136.75203,123.67063,138.1669], "fy":[-29.51152,22.55146,62.30351,-5.17098]},
- {"t":5.30733, "x":4.16825, "y":7.56418, "heading":-0.28333, "vx":-1.46435, "vy":0.79306, "omega":3.13945, "ax":8.60324, "ay":-2.55088, "alpha":-17.74953, "fx":[118.44989,138.64833,134.91831,95.77923], "fy":[-72.15901,-3.71807,31.29093,-100.04615]},
- {"t":5.354, "x":4.10928, "y":7.59841, "heading":-0.15615, "vx":-1.06286, "vy":0.67401, "omega":2.31113, "ax":7.98999, "ay":-3.98466, "alpha":-17.91087, "fx":[110.46413,137.95215,138.41713,66.19118], "fy":[-83.98883,-14.84062,-5.24419,-121.85261]},
- {"t":5.40066, "x":4.06838, "y":7.62553, "heading":-0.0678, "vx":-0.69, "vy":0.48806, "omega":1.47528, "ax":7.57976, "ay":-4.90877, "alpha":-16.287, "fx":[106.70065,137.18501,132.4943,53.38543], "fy":[-88.77714,-20.96951,-40.51144,-128.06424]},
- {"t":5.44733, "x":4.04444, "y":7.64296, "heading":-0.01669, "vx":-0.33627, "vy":0.25899, "omega":0.71522, "ax":7.20575, "ay":-5.54964, "alpha":-15.32596, "fx":[104.24602,136.46958,121.39369,46.45009], "fy":[-91.67994,-25.32497,-66.87209,-130.78232]},
- {"t":5.494, "x":4.03659, "y":7.649, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.78206, "ay":-4.93089, "alpha":-14.15756, "fx":[110.58707,137.0976,128.89947,64.65097], "fy":[-83.92676,-21.72118,-51.11765,-122.81104]},
- {"t":5.54354, "x":4.04614, "y":7.64295, "heading":-0.01737, "vx":0.3855, "vy":-0.24426, "omega":-0.70133, "ax":8.083, "ay":-4.36486, "alpha":-14.61395, "fx":[113.8077,137.86778,134.51473,72.10828], "fy":[-79.47112,-15.95527,-33.50973,-118.54711]},
- {"t":5.59307, "x":4.07515, "y":7.6255, "heading":-0.07004, "vx":0.78592, "vy":-0.46049, "omega":-1.42527, "ax":8.44404, "ay":-3.50979, "alpha":-15.39791, "fx":[117.90037,138.5039,138.4103,83.95435], "fy":[-73.20475,-8.44002,-6.95627,-110.40093]},
- {"t":5.64261, "x":4.12445, "y":7.59838, "heading":-0.15954, "vx":1.20421, "vy":-0.63436, "omega":-2.18805, "ax":8.91868, "ay":-2.14178, "alpha":-15.28702, "fx":[124.5776,138.68511,136.18027,106.23782], "fy":[-61.03149,3.06325,25.51753,-88.98596]},
- {"t":5.69215, "x":4.19504, "y":7.56433, "heading":-0.28669, "vx":1.64602, "vy":-0.74045, "omega":-2.94533, "ax":9.59024, "ay":0.17311, "alpha":-8.13334, "fx":[136.1232,137.6415,132.92851,137.06447], "fy":[-26.09103,16.48394,38.95411,-19.53198]},
- {"t":5.74169, "x":4.28835, "y":7.52786, "heading":-0.44257, "vx":2.1211, "vy":-0.73188, "omega":-3.34824, "ax":9.00527, "ay":2.0599, "alpha":13.38354, "fx":[104.65235,136.78921,135.5862,133.56264], "fy":[90.60179,17.38685,-28.08058,36.88654]},
- {"t":5.79122, "x":4.40448, "y":7.49413, "heading":-0.59202, "vx":2.5672, "vy":-0.62984, "omega":-2.68525, "ax":8.95544, "ay":2.27409, "alpha":13.20609, "fx":[106.34363,131.68239,134.83889,134.89986], "fy":[88.47988,40.00834,-30.81439,31.26463]},
- {"t":5.84076, "x":4.54264, "y":7.46572, "heading":-0.70883, "vx":3.01083, "vy":-0.51718, "omega":-2.03105, "ax":9.02167, "ay":2.28084, "alpha":12.25381, "fx":[112.03146,128.27197,135.40708,135.80966], "fy":[80.86446,49.26097,-26.99338,26.18938]},
- {"t":5.8903, "x":4.70286, "y":7.4429, "heading":-0.79441, "vx":3.45775, "vy":-0.4042, "omega":-1.42402, "ax":9.03585, "ay":2.22379, "alpha":11.911, "fx":[114.90897,126.03068,135.21436,136.17033], "fy":[76.08056,53.18514,-25.55079,22.37208]},
- {"t":5.93984, "x":4.88523, "y":7.4256, "heading":-0.85034, "vx":3.90536, "vy":-0.29403, "omega":-0.83398, "ax":8.94861, "ay":2.25509, "alpha":11.80465, "fx":[115.18729,122.45234,134.25881,135.47937], "fy":[73.72273,56.55485,-23.26505,20.84912]},
- {"t":5.98937, "x":5.08967, "y":7.4138, "heading":-0.87717, "vx":4.34865, "vy":-0.18232, "omega":-0.24921, "ax":3.67662, "ay":6.31676, "alpha":4.88251, "fx":[48.635,36.30148,57.1635,66.36093], "fy":[97.03659,96.07285,81.40827,83.63637]},
- {"t":6.03891, "x":5.30961, "y":7.41252, "heading":-0.88352, "vx":4.53078, "vy":0.13059, "omega":-0.00734, "ax":-0.05895, "ay":1.66711, "alpha":0.00536, "fx":[-0.83425,-0.84844,-0.83684,-0.82266], "fy":[23.64311,23.63211,23.61876,23.62976]},
- {"t":6.08845, "x":5.53398, "y":7.42104, "heading":-0.88388, "vx":4.52786, "vy":0.21318, "omega":-0.00707, "ax":-0.01284, "ay":0.26384, "alpha":-0.00011, "fx":[-0.18199,-0.1817,-0.18194,-0.18223], "fy":[3.73954,3.73978,3.74007,3.73983]},
- {"t":6.13799, "x":5.75826, "y":7.43192, "heading":-0.88423, "vx":4.52723, "vy":0.22625, "omega":-0.00708, "ax":-0.00569, "ay":0.11238, "alpha":-0.00004, "fx":[-0.08066,-0.08057,-0.08065,-0.08074], "fy":[1.59286,1.59294,1.59304,1.59296]},
- {"t":6.18753, "x":5.98252, "y":7.44327, "heading":-0.88458, "vx":4.52695, "vy":0.23182, "omega":-0.00708, "ax":-0.00575, "ay":0.11097, "alpha":-0.00003, "fx":[-0.08146,-0.0814,-0.08145,-0.08152], "fy":[1.57291,1.57296,1.57303,1.57298]},
- {"t":6.23706, "x":6.20677, "y":7.45489, "heading":-0.88493, "vx":4.52666, "vy":0.23731, "omega":-0.00708, "ax":-0.00666, "ay":0.12558, "alpha":-0.00002, "fx":[-0.09436,-0.09432,-0.09435,-0.0944], "fy":[1.78003,1.78006,1.7801,1.78007]},
- {"t":6.2866, "x":6.431, "y":7.4668, "heading":-0.88528, "vx":4.52633, "vy":0.24353, "omega":-0.00708, "ax":-0.00259, "ay":0.04723, "alpha":-0.00006, "fx":[-0.03675,-0.03659,-0.03672,-0.03688], "fy":[0.66929,0.66942,0.66958,0.66945]},
- {"t":6.33614, "x":6.65522, "y":7.47892, "heading":-0.88563, "vx":4.5262, "vy":0.24587, "omega":-0.00709, "ax":-0.1379, "ay":-1.1262, "alpha":-0.25845, "fx":[-2.01426,-1.34295,-1.89515,-2.56655], "fy":[-16.55905,-16.02582,-15.36765,-15.90206]},
- {"t":6.38568, "x":6.87927, "y":7.48972, "heading":-0.8863, "vx":4.51937, "vy":0.19008, "omega":-0.01989, "ax":-8.98219, "ay":-1.2271, "alpha":-12.2232, "fx":[-119.26492,-126.04209,-128.39862,-135.57614], "fy":[-63.63599,-37.93083,40.11702,-8.1255]},
- {"t":6.43521, "x":7.09213, "y":7.49763, "heading":-0.90229, "vx":4.07442, "vy":0.1293, "omega":-0.6254, "ax":-9.08544, "ay":-1.7354, "alpha":-12.41639, "fx":[-118.93613,-126.22614,-132.8052,-137.1681], "fy":[-69.06946,-51.20674,34.49409,-12.61319]},
- {"t":6.48475, "x":7.28282, "y":7.5019, "heading":-0.9485, "vx":3.62434, "vy":0.04333, "omega":-1.24048, "ax":-8.78349, "ay":-3.1884, "alpha":-11.96317, "fx":[-112.60493,-112.39321,-137.68316,-135.33443], "fy":[-80.02679,-79.2894,6.58952,-28.05261]},
- {"t":6.53429, "x":7.45158, "y":7.50014, "heading":-1.02463, "vx":3.18923, "vy":-0.11462, "omega":-1.8331, "ax":-8.32377, "ay":-4.45027, "alpha":-10.87212, "fx":[-106.39369,-97.68775,-136.08926,-131.77931], "fy":[-88.54116,-97.63876,-23.771,-42.37529]},
- {"t":6.58383, "x":7.59936, "y":7.489, "heading":-1.12878, "vx":2.77689, "vy":-0.33507, "omega":-2.37168, "ax":-7.98923, "ay":-5.19509, "alpha":-9.36707, "fx":[-103.87953,-90.13996,-130.22821,-128.73384], "fy":[-91.68554,-105.00282,-46.67324,-51.19517]},
- {"t":6.63336, "x":7.72711, "y":7.46603, "heading":-1.25776, "vx":2.38112, "vy":-0.59242, "omega":-2.8357, "ax":-7.75687, "ay":-5.70547, "alpha":-7.27103, "fx":[-103.88301,-89.0259,-121.64027,-125.25811], "fy":[-91.80094,-106.15044,-66.18694,-59.35638]},
- {"t":6.6829, "x":7.83555, "y":7.42968, "heading":-1.40715, "vx":1.99687, "vy":-0.87506, "omega":-3.19589, "ax":-7.6431, "ay":-6.01846, "alpha":-4.34103, "fx":[-105.7966,-95.2357,-112.84275,-119.48152], "fy":[-89.65851,-100.74793,-80.47804,-70.35667]},
- {"t":6.73244, "x":7.92509, "y":7.37895, "heading":-1.5708, "vx":1.61825, "vy":-1.1732, "omega":-3.41094, "ax":-6.59045, "ay":-7.21203, "alpha":1.54877, "fx":[-93.21509,-98.71632,-93.72262,-88.01828], "fy":[-102.51771,-97.2576,-102.10149,-107.03816]},
- {"t":6.77885, "x":7.99309, "y":7.31674, "heading":-1.72742, "vx":1.31241, "vy":-1.50788, "omega":-3.33907, "ax":-8.02861, "ay":-5.53501, "alpha":1.52891, "fx":[-113.96131,-117.78063,-113.80659,-109.66612], "fy":[-78.3353,-72.53049,-78.6678,-84.2963]},
- {"t":6.82525, "x":8.04535, "y":7.2408, "heading":-1.88073, "vx":0.93983, "vy":-1.76475, "omega":-3.26811, "ax":-9.01237, "ay":-3.56732, "alpha":1.95701, "fx":[-128.15033,-130.93733,-127.65563,-124.24963], "fy":[-49.69317,-42.15431,-51.43529,-58.98089]},
- {"t":6.87166, "x":8.07926, "y":7.15506, "heading":-2.03028, "vx":0.5216, "vy":-1.93029, "omega":-3.1773, "ax":-9.21691, "ay":-1.4452, "alpha":4.221, "fx":[-130.93073,-133.12284,-131.59163,-126.94503], "fy":[-16.751,-2.42847,-23.52939,-39.23268]},
- {"t":6.91806, "x":8.09354, "y":7.06393, "heading":-2.17318, "vx":0.09387, "vy":-1.99736, "omega":-2.98141, "ax":-3.33149, "ay":-0.02776, "alpha":23.93327, "fx":[9.19807,-61.51797,-92.66466,-43.90793], "fy":[14.8844,56.11099,-9.78289,-62.78619]},
- {"t":6.96447, "x":8.09431, "y":6.97121, "heading":-2.28577, "vx":-0.06073, "vy":-1.99865, "omega":-1.87076, "ax":-0.17211, "ay":0.00557, "alpha":18.60952, "fx":[41.37245,-5.74954,-45.77639,0.39482], "fy":[3.19749,43.63119,-2.95626,-43.5565]},
- {"t":7.01088, "x":8.09131, "y":6.87847, "heading":-2.35255, "vx":-0.06872, "vy":-1.99839, "omega":-1.00716, "ax":-0.00585, "ay":0.0002, "alpha":11.31336, "fx":[26.48208,-0.18284,-26.64181,0.01099], "fy":[0.09991,26.5647,-0.09393,-26.55923]},
- {"t":7.05728, "x":8.08811, "y":6.78573, "heading":-2.3871, "vx":-0.06899, "vy":-1.99838, "omega":-0.48214, "ax":0.00049, "ay":-0.00002, "alpha":6.66901, "fx":[15.6573,0.49096,-15.64349,-0.47679], "fy":[-0.4841,15.65016,0.48364,-15.65063]},
- {"t":7.10369, "x":8.08491, "y":6.69299, "heading":-2.4023, "vx":-0.06897, "vy":-1.99838, "omega":-0.17266, "ax":0.00071, "ay":-0.00002, "alpha":3.87555, "fx":[9.09957,0.42943,-9.07955,-0.40924], "fy":[-0.41967,9.08922,0.419,-9.0899]},
- {"t":7.1501, "x":8.08171, "y":6.60025, "heading":-2.40613, "vx":-0.06893, "vy":-1.99838, "omega":0.00719, "ax":0.00072, "ay":-0.00002, "alpha":2.23876, "fx":[5.25988,0.27257,-5.23958,-0.25221], "fy":[-0.26274,5.24938,0.26205,-5.25007]},
- {"t":7.1965, "x":8.07851, "y":6.50751, "heading":-2.40339, "vx":-0.0689, "vy":-1.99838, "omega":0.11109, "ax":0.00072, "ay":-0.00002, "alpha":1.28999, "fx":[3.0355,0.15307,-3.01516,-0.13271], "fy":[-0.14323,3.02499,0.14255,-3.02568]},
- {"t":7.24291, "x":8.07532, "y":6.41478, "heading":-2.39685, "vx":-0.06887, "vy":-1.99838, "omega":0.17095, "ax":0.00072, "ay":-0.00002, "alpha":0.74199, "fx":[1.75082,0.08097,-1.73049,-0.06063], "fy":[-0.07114,1.74031,0.07046,-1.741]},
- {"t":7.28932, "x":8.07212, "y":6.32204, "heading":-2.38811, "vx":-0.06883, "vy":-1.99838, "omega":0.20538, "ax":0.00072, "ay":-0.00002, "alpha":0.42692, "fx":[1.01198,0.04214,-0.99168,-0.02184], "fy":[-0.03233,1.00149,0.03165,-1.00217]},
- {"t":7.33572, "x":8.06893, "y":6.2293, "heading":-2.37812, "vx":-0.0688, "vy":-1.99839, "omega":0.2252, "ax":0.00071, "ay":-0.00002, "alpha":0.24513, "fx":[0.58552,0.02274,-0.56527,-0.0025], "fy":[-0.01296,0.57505,0.01228,-0.57574]},
- {"t":7.38213, "x":8.06574, "y":6.13656, "heading":-2.36741, "vx":-0.06877, "vy":-1.99839, "omega":0.23657, "ax":0.00071, "ay":-0.00002, "alpha":0.14057, "fx":[0.3401,0.01379,-0.31991,0.00639], "fy":[-0.00404,0.32966,0.00336,-0.33035]},
- {"t":7.42854, "x":8.06255, "y":6.04382, "heading":-2.35628, "vx":-0.06874, "vy":-1.99839, "omega":0.24309, "ax":0.00071, "ay":-0.00002, "alpha":0.08036, "fx":[0.19874,0.01007,-0.17863,0.01004], "fy":[-0.00036,0.18834,-0.00033,-0.18902]},
- {"t":7.47494, "x":8.05936, "y":5.95109, "heading":-2.34491, "vx":-0.0687, "vy":-1.99839, "omega":0.24682, "ax":0.00071, "ay":-0.00002, "alpha":0.04526, "fx":[0.11627,0.00882,-0.09624,0.01121], "fy":[0.00086,0.10592,-0.00154,-0.1066]},
- {"t":7.52135, "x":8.05617, "y":5.85835, "heading":-2.33341, "vx":-0.06867, "vy":-1.99839, "omega":0.24892, "ax":0.0007, "ay":-0.00002, "alpha":0.02647, "fx":[0.0721,0.00855,-0.05216,0.01138], "fy":[0.00108,0.06179,-0.00175,-0.06247]},
- {"t":7.56775, "x":8.05298, "y":5.76561, "heading":-2.32183, "vx":-0.06864, "vy":-1.99839, "omega":0.25015, "ax":0.0007, "ay":-0.00002, "alpha":0.0147, "fx":[0.04441,0.00873,-0.02457,0.01111], "fy":[0.00085,0.03415,-0.00152,-0.03483]},
- {"t":7.61416, "x":8.0498, "y":5.67287, "heading":-2.3102, "vx":-0.0686, "vy":-1.99839, "omega":0.25083, "ax":0.0007, "ay":-0.00002, "alpha":0.00808, "fx":[0.02883,0.009,-0.00909,0.01074], "fy":[0.00054,0.01862,-0.00121,-0.01929]},
- {"t":7.66057, "x":8.04662, "y":5.58013, "heading":-2.29855, "vx":-0.06857, "vy":-1.99839, "omega":0.25121, "ax":0.00069, "ay":-0.00002, "alpha":0.00416, "fx":[0.01956,0.00925,0.00007,0.01038], "fy":[0.00023,0.00941,-0.0009,-0.01008]},
- {"t":7.70697, "x":8.04343, "y":5.4874, "heading":-2.28689, "vx":-0.06854, "vy":-1.99839, "omega":0.2514, "ax":0.00069, "ay":-0.00002, "alpha":0.00181, "fx":[0.01401,0.00947,0.00551,0.01006], "fy":[-0.00004,0.00391,-0.00063,-0.00458]},
- {"t":7.75338, "x":8.04025, "y":5.39466, "heading":-2.27522, "vx":-0.06851, "vy":-1.9984, "omega":0.25149, "ax":0.00068, "ay":-0.00002, "alpha":0.00051, "fx":[0.01089,0.00961,0.00852,0.0098], "fy":[-0.00023,0.00085,-0.00043,-0.00151]},
- {"t":7.79979, "x":8.03708, "y":5.30192, "heading":-2.26355, "vx":-0.06848, "vy":-1.9984, "omega":0.25151, "ax":0.00068, "ay":-0.00002, "alpha":-0.00015, "fx":[0.00929,0.00968,0.01,0.00961], "fy":[-0.00036,-0.00068,-0.0003,0.00003]},
- {"t":7.84619, "x":8.0339, "y":5.20918, "heading":-2.25188, "vx":-0.06844, "vy":-1.9984, "omega":0.2515, "ax":0.00068, "ay":-0.00002, "alpha":-0.00042, "fx":[0.00859,0.00969,0.01058,0.00948], "fy":[-0.00043,-0.00132,-0.00022,0.00067]},
- {"t":7.8926, "x":8.03072, "y":5.11644, "heading":-2.24021, "vx":-0.06841, "vy":-1.9984, "omega":0.25148, "ax":0.00067, "ay":-0.00002, "alpha":-0.00051, "fx":[0.00835,0.00966,0.0107,0.00939], "fy":[-0.00046,-0.0015,-0.00019,0.00085]},
- {"t":7.93901, "x":8.02755, "y":5.0237, "heading":-2.22854, "vx":-0.06838, "vy":-1.9984, "omega":0.25146, "ax":0.00067, "ay":-0.00002, "alpha":0.00027, "fx":[0.0101,0.00938,0.00882,0.00954], "fy":[-0.00024,0.00032,-0.0004,-0.00096]},
- {"t":7.98541, "x":8.02438, "y":4.93096, "heading":-2.21687, "vx":-0.06835, "vy":-1.9984, "omega":0.25147, "ax":0.00066, "ay":-0.00002, "alpha":-0.00145, "fx":[0.00604,0.00987,0.01276,0.00893], "fy":[-0.00079,-0.00368,0.00015,0.00304]},
- {"t":8.03182, "x":8.02121, "y":4.83823, "heading":-2.2052, "vx":-0.06832, "vy":-1.9984, "omega":0.25141, "ax":0.00066, "ay":-0.00002, "alpha":-0.00141, "fx":[0.00605,0.00984,0.01262,0.00884], "fy":[-0.00082,-0.0036,0.00018,0.00296]},
- {"t":8.07823, "x":8.01804, "y":4.74549, "heading":-2.19354, "vx":-0.06829, "vy":-1.9984, "omega":0.25134, "ax":0.00065, "ay":-0.00002, "alpha":-0.00114, "fx":[0.00664,0.00971,0.01191,0.00884], "fy":[-0.00075,-0.00295,0.00012,0.00232]},
- {"t":8.12463, "x":8.01487, "y":4.65275, "heading":-2.18187, "vx":-0.06826, "vy":-1.9984, "omega":0.25129, "ax":0.00065, "ay":-0.00002, "alpha":-0.00111, "fx":[0.00665,0.00966,0.01176,0.00876], "fy":[-0.00076,-0.00287,0.00014,0.00224]},
- {"t":8.17104, "x":8.0117, "y":4.56001, "heading":-2.17021, "vx":-0.06823, "vy":-1.9984, "omega":0.25124, "ax":0.00065, "ay":-0.00002, "alpha":-0.00099, "fx":[0.00685,0.00958,0.01144,0.00871], "fy":[-0.00074,-0.0026,0.00012,0.00198]},
- {"t":8.21745, "x":8.00853, "y":4.46727, "heading":-2.15856, "vx":-0.0682, "vy":-1.99841, "omega":0.25119, "ax":0.00064, "ay":-0.00002, "alpha":-0.00129, "fx":[0.00612,0.00967,0.01204,0.00849], "fy":[-0.0009,-0.00327,0.00028,0.00265]},
- {"t":8.26385, "x":8.00537, "y":4.37453, "heading":-2.1469, "vx":-0.06817, "vy":-1.99841, "omega":0.25113, "ax":0.00064, "ay":-0.00002, "alpha":-0.0014, "fx":[0.0058,0.0097,0.01223,0.00833], "fy":[-0.00099,-0.00353,0.00038,0.00291]},
- {"t":8.31026, "x":8.00221, "y":4.28179, "heading":-2.13525, "vx":-0.06814, "vy":-1.99841, "omega":0.25106, "ax":0.00063, "ay":-0.00002, "alpha":-0.00133, "fx":[0.00591,0.00963,0.01199,0.00827], "fy":[-0.00099,-0.00334,0.00038,0.00273]},
- {"t":8.35666, "x":7.99905, "y":4.18905, "heading":-2.1236, "vx":-0.06811, "vy":-1.99841, "omega":0.251, "ax":0.00063, "ay":-0.00002, "alpha":-0.00214, "fx":[0.004,0.01004,0.01377,0.00773], "fy":[-0.00146,-0.00519,0.00085,0.00458]},
- {"t":8.40307, "x":7.99589, "y":4.09631, "heading":-2.11195, "vx":-0.06808, "vy":-1.99841, "omega":0.2509, "ax":0.00062, "ay":-0.00002, "alpha":-0.00252, "fx":[0.00309,0.01025,0.01455,0.00739], "fy":[-0.00173,-0.00603,0.00113,0.00543]},
- {"t":8.44948, "x":7.99273, "y":4.00358, "heading":-2.10031, "vx":-0.06805, "vy":-1.99841, "omega":0.25079, "ax":0.00062, "ay":-0.00002, "alpha":-0.00406, "fx":[-0.00047,0.01117,0.01798,0.00635], "fy":[-0.00271,-0.00952,0.00212,0.00893]},
- {"t":8.49588, "x":7.98957, "y":3.91084, "heading":-2.08868, "vx":-0.06802, "vy":-1.99841, "omega":0.2506, "ax":0.00061, "ay":-0.00002, "alpha":-0.00522, "fx":[-0.00313,0.01194,0.02052,0.00545], "fy":[-0.00354,-0.01212,0.00294,0.01153]},
- {"t":8.54229, "x":7.98641, "y":3.8181, "heading":-2.07705, "vx":-0.068, "vy":-1.99841, "omega":0.25036, "ax":0.00061, "ay":-0.00002, "alpha":-0.00804, "fx":[-0.00951,0.01383,0.02677,0.00343], "fy":[-0.00549,-0.01843,0.00491,0.01785]},
- {"t":8.5887, "x":7.98326, "y":3.72536, "heading":-2.06545, "vx":-0.06797, "vy":-1.99841, "omega":0.24998, "ax":0.0006, "ay":-0.00002, "alpha":-0.01313, "fx":[-0.02097,0.01741,0.03811,-0.00027], "fy":[-0.00913,-0.02983,0.00855,0.02925]},
- {"t":8.6351, "x":7.98011, "y":3.63262, "heading":-2.05386, "vx":-0.06794, "vy":-1.99841, "omega":0.24937, "ax":0.0006, "ay":-0.00002, "alpha":-0.02188, "fx":[-0.04053,0.0238,0.05754,-0.00679], "fy":[-0.01558,-0.04932,0.015,0.04874]},
- {"t":8.68151, "x":7.97695, "y":3.53988, "heading":-2.04231, "vx":-0.06791, "vy":-1.99842, "omega":0.24836, "ax":0.0006, "ay":-0.00002, "alpha":-0.03735, "fx":[-0.07497,0.03552,0.09186,-0.01863], "fy":[-0.02737,-0.0837,0.02679,0.08313]},
- {"t":8.72792, "x":7.9738, "y":3.44714, "heading":-2.03082, "vx":-0.06788, "vy":-1.99842, "omega":0.24663, "ax":0.00059, "ay":-0.00002, "alpha":-0.0643, "fx":[-0.13467,0.05665,0.15144,-0.03987], "fy":[-0.04855,-0.14334,0.04797,0.14277]},
- {"t":8.77432, "x":7.97065, "y":3.3544, "heading":-2.01945, "vx":-0.06786, "vy":-1.99842, "omega":0.24364, "ax":0.00059, "ay":-0.00002, "alpha":-0.11132, "fx":[-0.23836,0.09469,0.25501,-0.07803], "fy":[-0.08664,-0.24697,0.08608,0.2464]},
- {"t":8.82073, "x":7.9675, "y":3.26166, "heading":-2.00826, "vx":-0.06783, "vy":-1.99842, "omega":0.23848, "ax":0.00058, "ay":-0.00002, "alpha":-0.19311, "fx":[-0.41797,0.16286,0.4345,-0.14632], "fy":[-0.15487,-0.42652,0.15431,0.42595]},
- {"t":8.86714, "x":7.96436, "y":3.16892, "heading":-1.9974, "vx":-0.0678, "vy":-1.99842, "omega":0.22951, "ax":0.00058, "ay":-0.00002, "alpha":-0.33501, "fx":[-0.72826,0.2844,0.74468,-0.26799], "fy":[-0.27648,-0.73675,0.27591,0.73619]},
- {"t":8.91354, "x":7.96121, "y":3.07618, "heading":-1.98711, "vx":-0.06778, "vy":-1.99842, "omega":0.21397, "ax":0.00058, "ay":-0.00002, "alpha":-0.58163, "fx":[-1.26546,0.5008,1.28177,-0.48449], "fy":[-0.49292,-1.27389,0.49236,1.27334]},
- {"t":8.95995, "x":7.95807, "y":2.98344, "heading":-1.97781, "vx":-0.06775, "vy":-1.99842, "omega":0.18698, "ax":0.00057, "ay":-0.00002, "alpha":-1.01044, "fx":[-2.19646,0.8845,2.21265,-0.8683], "fy":[-0.87668,-2.20483,0.87612,2.20428]},
- {"t":9.00635, "x":7.95492, "y":2.8907, "heading":-1.97022, "vx":-0.06772, "vy":-1.99842, "omega":0.14008, "ax":0.00057, "ay":-0.00002, "alpha":-1.75401, "fx":[-3.80715,1.55837,3.82323,-1.54228], "fy":[-1.55061,-3.81546,1.55005,3.81492]},
- {"t":9.05276, "x":7.95178, "y":2.79796, "heading":-1.96561, "vx":-0.0677, "vy":-1.99842, "omega":0.05869, "ax":0.00056, "ay":-0.00002, "alpha":-3.04153, "fx":[-6.59537,2.72674,6.61114,-2.71091], "fy":[-2.71911,-6.60351,2.71854,6.603]},
- {"t":9.09917, "x":7.94864, "y":2.70522, "heading":-1.96616, "vx":-0.06767, "vy":-1.99842, "omega":-0.08246, "ax":0.00035, "ay":-0.00001, "alpha":-5.2527, "fx":[-11.40145,4.69404,11.41125,-4.68414], "fy":[-4.68929,-11.40649,4.6889,11.40621]},
- {"t":9.14557, "x":7.9455, "y":2.61248, "heading":-1.97564, "vx":-0.06765, "vy":-1.99842, "omega":-0.32622, "ax":-0.00596, "ay":0.0002, "alpha":-8.9837, "fx":[-19.6666,7.74853,19.5003,-7.92029], "fy":[-7.83016,-19.58199,7.83867,19.58494]},
- {"t":9.19198, "x":7.94235, "y":2.51974, "heading":-2.00045, "vx":-0.06793, "vy":-1.99841, "omega":-0.74312, "ax":-0.18312, "ay":0.00662, "alpha":-15.01333, "fx":[-35.50537,9.55232,30.55916,-14.98867], "fy":[-12.07537,-33.072,12.49043,33.03209]},
- {"t":9.23839, "x":7.93901, "y":2.42701, "heading":-2.05111, "vx":-0.07643, "vy":-1.99811, "omega":-1.43984, "ax":-3.93655, "ay":0.33196, "alpha":-18.01085, "fx":[-88.11782,-48.99808,-18.3019,-67.78093], "fy":[-8.18311,-44.74291,25.48896,46.25881]},
- {"t":9.28479, "x":7.93122, "y":2.33464, "heading":-2.13732, "vx":-0.25911, "vy":-1.9827, "omega":-2.27566, "ax":-9.15922, "ay":2.23835, "alpha":-1.99031, "fx":[-131.1032,-131.56107,-128.60496,-128.04978], "fy":[28.16471,23.61543,35.77858,39.35333]},
- {"t":9.3312, "x":7.90933, "y":2.24504, "heading":-2.24507, "vx":-0.68416, "vy":-1.87883, "omega":-2.36802, "ax":-8.68943, "ay":4.33136, "alpha":-0.72474, "fx":[-124.00138,-124.42742,-122.32139,-121.93234], "fy":[59.8072,58.81691,63.05894,63.90103]},
- {"t":9.37761, "x":7.86823, "y":2.16252, "heading":-2.35574, "vx":-1.0874, "vy":-1.67783, "omega":-2.40165, "ax":-7.51674, "ay":6.22503, "alpha":-0.42829, "fx":[-107.3602,-107.5354,-105.71982,-105.57673], "fy":[87.26979,87.03565,89.23048,89.41753]},
- {"t":9.42401, "x":7.80967, "y":2.09136, "heading":-2.46765, "vx":-1.43623, "vy":-1.38894, "omega":-2.42153, "ax":-6.23124, "ay":7.49627, "alpha":-0.39386, "fx":[-89.30229,-89.35091,-87.33211,-87.32032], "fy":[105.45615,105.39696,107.07535,107.1027]},
- {"t":9.45613, "x":7.76033, "y":2.05062, "heading":-2.54562, "vx":-1.63635, "vy":-1.14819, "omega":-2.43418, "ax":-4.94832, "ay":8.36092, "alpha":-0.51255, "fx":[-71.66865,-71.51133,-68.57764,-68.80747], "fy":[117.62476,117.68657,119.422,119.32303]},
- {"t":9.48825, "x":7.70523, "y":2.01805, "heading":-2.62407, "vx":-1.79527, "vy":-0.87967, "omega":-2.45064, "ax":-3.56111, "ay":8.95625, "alpha":-0.74369, "fx":[-52.99841,-52.42341,-47.87745,-48.61244], "fy":[125.98207,126.13596,127.94311,127.74984]},
- {"t":9.52036, "x":7.64573, "y":1.99442, "heading":-2.70315, "vx":-1.90964, "vy":-0.59203, "omega":-2.47452, "ax":-2.09606, "ay":9.14179, "alpha":-1.34472, "fx":[-34.57495,-32.9784,-24.60298,-26.68804], "fy":[128.59238,128.62976,130.57842,130.53045]},
- {"t":9.55248, "x":7.58332, "y":1.98012, "heading":-2.78332, "vx":-1.97696, "vy":-0.29843, "omega":-2.51771, "ax":-0.67416, "ay":7.57345, "alpha":-4.32701, "fx":[-22.99534,-18.0929,5.47007,-2.60608], "fy":[108.08734,103.16772,106.55037,111.60194]},
- {"t":9.58459, "x":7.51948, "y":1.97444, "heading":-2.86641, "vx":-1.99861, "vy":-0.0552, "omega":-2.65668, "ax":-0.02372, "ay":1.63615, "alpha":-6.97458, "fx":[-14.72717,-8.86213,14.6246,7.62], "fy":[31.0983,9.13732,15.5893,36.94298]},
- {"t":9.61671, "x":7.45528, "y":1.97351, "heading":-2.95533, "vx":-1.99937, "vy":-0.00265, "omega":-2.88067, "ax":-0.00002, "ay":0.145, "alpha":-2.91746, "fx":[-5.65358,-3.8686,5.66227,3.85866], "fy":[5.91903,-3.60199,-1.80483,7.70892]},
- {"t":9.64883, "x":7.39107, "y":1.9735, "heading":-3.04935, "vx":-1.99937, "vy":0.002, "omega":-2.97437, "ax":0.00001, "ay":0.01246, "alpha":-1.01847, "fx":[-1.83916,-1.52777,1.83967,1.52808], "fy":[1.70452,-1.66283,-1.35132,2.01599]},
- {"t":9.68094, "x":7.32685, "y":1.97357, "heading":3.13778, "vx":-1.99937, "vy":0.0024, "omega":-3.00708, "ax":0.0, "ay":0.00142, "alpha":-0.06864, "fx":[-0.11349,-0.11436,0.11355,0.11442], "fy":[0.13452,-0.09339,-0.09426,0.13365]},
- {"t":9.71306, "x":7.26264, "y":1.97365, "heading":3.04117, "vx":-1.99937, "vy":0.00245, "omega":-3.00928, "ax":0.0, "ay":-0.00008, "alpha":0.47242, "fx":[0.70173,0.85899,-0.70172,-0.85898], "fy":[-0.86018,0.70053,0.85779,-0.70292]},
- {"t":9.74518, "x":7.19843, "y":1.97373, "heading":2.94477, "vx":-1.99937, "vy":0.00245, "omega":-2.99411, "ax":0.0, "ay":-0.00113, "alpha":0.75066, "fx":[0.97845,1.46587,-0.97848,-1.46589], "fy":[-1.48188,0.96247,1.44989,-0.99447]},
- {"t":9.77729, "x":7.13422, "y":1.97381, "heading":2.849, "vx":-1.99937, "vy":0.00241, "omega":-2.97, "ax":0.0, "ay":-0.00213, "alpha":0.83145, "fx":[0.92351,1.71982,-0.92358,-1.71987], "fy":[-1.75002,0.89336,1.68966,-0.95373]},
- {"t":9.80941, "x":7.07001, "y":1.97389, "heading":2.75404, "vx":-1.99937, "vy":0.00234, "omega":-2.9433, "ax":0.0, "ay":-0.00295, "alpha":0.7786, "fx":[0.70819,1.68522,-0.70829,-1.6853], "fy":[-1.72702,0.66647,1.6435,-0.75001]},
- {"t":9.84152, "x":7.00579, "y":1.97396, "heading":2.65991, "vx":-1.99937, "vy":0.00225, "omega":-2.9183, "ax":0.0, "ay":-0.00347, "alpha":0.66254, "fx":[0.46517,1.48431,-0.46528,-1.48441], "fy":[-1.53358,0.416,1.43515,-0.51445]},
- {"t":9.87364, "x":6.94158, "y":1.97403, "heading":2.56653, "vx":-1.99937, "vy":0.00214, "omega":-2.89702, "ax":0.0, "ay":-0.00298, "alpha":0.58496, "fx":[0.2867,1.3431,-0.2868,-1.34319], "fy":[-1.38542,0.24447,1.30087,-0.32904]},
- {"t":9.90576, "x":6.87737, "y":1.9741, "heading":2.47379, "vx":-1.99937, "vy":0.00204, "omega":-2.87823, "ax":0.00001, "ay":0.00721, "alpha":0.78943, "fx":[0.21756,1.84076,-0.21736,-1.84058], "fy":[-1.73849,0.31967,1.94284,-0.11525]},
- {"t":9.93787, "x":6.81316, "y":1.97417, "heading":2.38176, "vx":-1.99937, "vy":0.00227, "omega":-2.85288, "ax":0.00028, "ay":0.12926, "alpha":2.00863, "fx":[0.12464,4.71908,-0.11652,-4.71141], "fy":[-2.88354,1.95481,6.54368,1.71375]},
- {"t":9.96999, "x":6.74894, "y":1.97431, "heading":2.29117, "vx":-1.99936, "vy":0.00642, "omega":-2.78837, "ax":0.02301, "ay":1.50301, "alpha":5.90882, "fx":[-0.61205,14.51153,1.2152,-13.80999], "fy":[7.58148,20.61222,34.63487,22.39093]},
- {"t":10.00211, "x":6.68474, "y":1.97529, "heading":2.20467, "vx":-1.99863, "vy":0.05469, "omega":-2.5986, "ax":0.64724, "ay":7.40631, "alpha":4.40354, "fx":[7.62439,25.44259,10.5178,-6.88707], "fy":[100.89824,103.09117,109.44112,106.49999]},
- {"t":10.03422, "x":6.62089, "y":1.98086, "heading":2.12348, "vx":-1.97784, "vy":0.29256, "omega":-2.45717, "ax":2.06349, "ay":9.13052, "alpha":1.37756, "fx":[29.13533,35.27308,29.38565,23.20406], "fy":[129.22487,127.9945,129.74422,130.72836]},
- {"t":10.06634, "x":6.55843, "y":1.99497, "heading":2.04528, "vx":-1.91157, "vy":0.58579, "omega":-2.41293, "ax":3.52984, "ay":8.96383, "alpha":0.76074, "fx":[50.23585,53.28458,49.85949,46.75841], "fy":[126.93992,125.76179,127.21588,128.32319]},
- {"t":10.09845, "x":6.49886, "y":2.0184, "heading":1.96818, "vx":-1.7982, "vy":0.87368, "omega":-2.3885, "ax":4.91929, "ay":8.37609, "alpha":0.52396, "fx":[70.02918,71.80259,69.45086,67.63617], "fy":[118.54039,117.50364,118.9291,119.94328]},
- {"t":10.13057, "x":6.44365, "y":2.05078, "heading":1.89174, "vx":-1.64021, "vy":1.14269, "omega":-2.37167, "ax":6.20456, "ay":7.51733, "alpha":0.403, "fx":[88.27454,89.35662,87.6376,86.52391], "fy":[106.28154,105.38951,106.83281,107.72149]},
- {"t":10.16269, "x":6.39417, "y":2.09136, "heading":1.81577, "vx":-1.44095, "vy":1.38412, "omega":-2.35873, "ax":7.50675, "ay":6.23661, "alpha":0.43996, "fx":[106.84588,107.63874,105.98818,105.15284], "fy":[87.87015,86.91442,88.92755,89.89747]},
- {"t":10.20979, "x":6.33463, "y":2.16347, "heading":1.70516, "vx":-1.08737, "vy":1.67787, "omega":-2.33801, "ax":8.69375, "ay":4.31511, "alpha":0.75858, "fx":[123.92769,124.62408,122.59164,121.78419], "fy":[59.72528,58.36597,62.55405,64.01713]},
- {"t":10.25689, "x":6.29305, "y":2.24729, "heading":1.59588, "vx":-0.67789, "vy":1.88111, "omega":-2.30228, "ax":9.1185, "ay":2.18613, "alpha":2.27595, "fx":[130.33046,131.35487,128.4697,126.85504], "fy":[25.15933,23.02765,36.18286,39.58164]},
- {"t":10.30399, "x":6.27124, "y":2.33831, "heading":1.48997, "vx":-0.2484, "vy":1.98408, "omega":-2.19508, "ax":3.32823, "ay":0.28435, "alpha":19.81137, "fx":[15.64994,74.87004,77.15016,21.03749], "fy":[-35.1194,-30.32808,32.12717,49.4429]},
- {"t":10.35109, "x":6.26323, "y":2.43208, "heading":1.40855, "vx":-0.09163, "vy":1.99747, "omega":-1.26194, "ax":0.14464, "ay":0.00639, "alpha":15.24536, "fx":[-27.05848,22.98386,31.06068,-18.78539], "fy":[-20.93061,-28.85491,20.85751,29.2903]},
- {"t":10.39819, "x":6.25908, "y":2.52617, "heading":1.36603, "vx":-0.08482, "vy":1.99778, "omega":-0.54387, "ax":0.00465, "ay":0.0002, "alpha":9.1122, "fx":[-17.82283,11.80228,17.9532,-11.66918], "fy":[-11.73435,-17.88382,11.73712,17.89222]},
- {"t":10.44529, "x":6.25509, "y":2.62027, "heading":1.35052, "vx":-0.0846, "vy":1.99778, "omega":-0.11468, "ax":-0.00015, "ay":-0.00001, "alpha":5.28771, "fx":[-10.48667,6.64622,10.48251,-6.65042], "fy":[-6.6484,-10.4847,6.64824,10.48449]},
- {"t":10.49239, "x":6.2511, "y":2.71437, "heading":1.35098, "vx":-0.08461, "vy":1.99778, "omega":0.13438, "ax":-0.0003, "ay":-0.00001, "alpha":3.02704, "fx":[-6.0045,3.80453,5.99612,-3.81292], "fy":[-3.8089,-6.0005,3.80856,6.00012]},
- {"t":10.53949, "x":6.24711, "y":2.80846, "heading":1.36067, "vx":-0.08462, "vy":1.99778, "omega":0.27696, "ax":-0.0003, "ay":-0.00001, "alpha":1.72184, "fx":[-3.39617,2.19522,3.38773,-2.20366], "fy":[-2.19962,-3.39213,2.19926,3.39176]},
- {"t":10.5866, "x":6.24313, "y":2.90256, "heading":1.37562, "vx":-0.08464, "vy":1.99778, "omega":0.35806, "ax":-0.0003, "ay":-0.00001, "alpha":0.97616, "fx":[-1.90832,1.27135,1.89993,-1.27974], "fy":[-1.27572,-1.90431,1.27536,1.90395]},
- {"t":10.6337, "x":6.23914, "y":2.99666, "heading":1.39357, "vx":-0.08465, "vy":1.99778, "omega":0.40404, "ax":-0.00029, "ay":-0.00001, "alpha":0.55212, "fx":[-1.06803,0.7365,1.0597,-0.74483], "fy":[-0.74084,-1.06404,0.74049,1.06368]},
- {"t":10.6808, "x":6.23515, "y":3.09076, "heading":1.41321, "vx":-0.08466, "vy":1.99778, "omega":0.43004, "ax":-0.00029, "ay":-0.00001, "alpha":0.31217, "fx":[-0.5973,0.42636,0.58902,-0.43464], "fy":[-0.43068,-0.59334,0.43032,0.59298]},
- {"t":10.7279, "x":6.23117, "y":3.18485, "heading":1.43382, "vx":-0.08468, "vy":1.99778, "omega":0.44475, "ax":-0.00029, "ay":-0.00001, "alpha":0.17606, "fx":[-0.33358,0.24553,0.32535,-0.25375], "fy":[-0.24982,-0.32964,0.24946,0.32929]},
- {"t":10.775, "x":6.22718, "y":3.27895, "heading":1.45496, "vx":-0.08469, "vy":1.99778, "omega":0.45304, "ax":-0.00029, "ay":-0.00001, "alpha":0.09965, "fx":[-0.18754,0.14112,0.17937,-0.1493], "fy":[-0.14539,-0.18363,0.14504,0.18328]},
- {"t":10.8221, "x":6.22319, "y":3.37305, "heading":1.47641, "vx":-0.0847, "vy":1.99778, "omega":0.45773, "ax":-0.00029, "ay":-0.00001, "alpha":0.05658, "fx":[-0.10644,0.0806,0.09831,-0.08873], "fy":[-0.08484,-0.10255,0.08449,0.1022]},
- {"t":10.8692, "x":6.2192, "y":3.46715, "heading":1.49803, "vx":-0.08472, "vy":1.99778, "omega":0.4604, "ax":-0.00028, "ay":-0.00001, "alpha":0.03174, "fx":[-0.06043,0.04469,0.05235,-0.05277], "fy":[-0.0489,-0.05656,0.04855,0.05622]},
- {"t":10.9163, "x":6.21521, "y":3.56124, "heading":1.51975, "vx":-0.08473, "vy":1.99778, "omega":0.46189, "ax":-0.00028, "ay":-0.00001, "alpha":0.01772, "fx":[-0.03489,0.02386,0.02686,-0.03189], "fy":[-0.02805,-0.03105,0.0277,0.0307]},
- {"t":10.9634, "x":6.21122, "y":3.65534, "heading":1.54153, "vx":-0.08475, "vy":1.99778, "omega":0.46273, "ax":-0.00028, "ay":-0.00001, "alpha":0.00988, "fx":[-0.02086,0.01191,0.01287,-0.0199], "fy":[-0.01608,-0.01704,0.01574,0.0167]},
- {"t":11.0105, "x":6.20722, "y":3.74944, "heading":1.56333, "vx":-0.08476, "vy":1.99778, "omega":0.46319, "ax":-0.00028, "ay":-0.00001, "alpha":0.00533, "fx":[-0.01288,0.0048,0.00493,-0.01275], "fy":[-0.00894,-0.00908,0.00861,0.00874]},
- {"t":11.05761, "x":6.20323, "y":3.84354, "heading":1.58515, "vx":-0.08477, "vy":1.99778, "omega":0.46344, "ax":-0.00028, "ay":-0.00001, "alpha":0.00305, "fx":[-0.00893,0.00118,0.00103,-0.00908], "fy":[-0.0053,-0.00515,0.00496,0.00482]},
- {"t":11.10471, "x":6.19924, "y":3.93763, "heading":1.60699, "vx":-0.08478, "vy":1.99778, "omega":0.46359, "ax":-0.00028, "ay":-0.00001, "alpha":0.00241, "fx":[-0.00779,0.00022,-0.00007,-0.00808], "fy":[-0.00432,-0.00403,0.00398,0.00369]},
- {"t":11.15181, "x":6.19525, "y":4.03173, "heading":1.62882, "vx":-0.0848, "vy":1.99778, "omega":0.4637, "ax":-0.00028, "ay":-0.00001, "alpha":0.0014, "fx":[-0.00609,-0.00145,-0.00172,-0.00636], "fy":[-0.00262,-0.00235,0.00229,0.00202]},
- {"t":11.19891, "x":6.19125, "y":4.12583, "heading":1.65067, "vx":-0.08481, "vy":1.99778, "omega":0.46377, "ax":-0.00027, "ay":-0.00001, "alpha":0.00116, "fx":[-0.00565,-0.00182,-0.00212,-0.00595], "fy":[-0.00223,-0.00193,0.0019,0.0016]},
- {"t":11.24601, "x":6.18726, "y":4.21993, "heading":1.67251, "vx":-0.08482, "vy":1.99778, "omega":0.46382, "ax":-0.00027, "ay":-0.00001, "alpha":0.00077, "fx":[-0.00501,-0.00246,-0.00272,-0.00527], "fy":[-0.00157,-0.00131,0.00124,0.00098]},
- {"t":11.29311, "x":6.18326, "y":4.31402, "heading":1.69436, "vx":-0.08484, "vy":1.99777, "omega":0.46386, "ax":-0.00027, "ay":-0.00001, "alpha":0.00089, "fx":[-0.00513,-0.00219,-0.00255,-0.0055], "fy":[-0.00182,-0.00145,0.00149,0.00113]},
- {"t":11.34021, "x":6.17926, "y":4.40812, "heading":1.71621, "vx":-0.08485, "vy":1.99777, "omega":0.4639, "ax":-0.00027, "ay":-0.00001, "alpha":0.0008, "fx":[-0.00493,-0.00232,-0.0027,-0.00532], "fy":[-0.00166,-0.00128,0.00134,0.00095]},
- {"t":11.38731, "x":6.17527, "y":4.50222, "heading":1.73806, "vx":-0.08486, "vy":1.99777, "omega":0.46394, "ax":-0.00027, "ay":-0.00001, "alpha":0.00109, "fx":[-0.00528,-0.00171,-0.00231,-0.00588], "fy":[-0.00225,-0.00165,0.00193,0.00133]},
- {"t":11.43441, "x":6.17127, "y":4.59631, "heading":1.75991, "vx":-0.08487, "vy":1.99777, "omega":0.46399, "ax":-0.00027, "ay":-0.00001, "alpha":0.00029, "fx":[-0.00416,-0.0032,-0.00339,-0.00434], "fy":[-0.00073,-0.00054,0.00041,0.00023]},
- {"t":11.48151, "x":6.16727, "y":4.69041, "heading":1.78177, "vx":-0.08489, "vy":1.99777, "omega":0.464, "ax":-0.00026, "ay":-0.00001, "alpha":0.00244, "fx":[-0.00686,0.00107,-0.00063,-0.00856], "fy":[-0.00497,-0.00327,0.00466,0.00296]},
- {"t":11.52862, "x":6.16327, "y":4.78451, "heading":1.80362, "vx":-0.0849, "vy":1.99777, "omega":0.46412, "ax":-0.00026, "ay":-0.00001, "alpha":0.00027, "fx":[-0.00406,-0.00318,-0.00339,-0.00427], "fy":[-0.0007,-0.00049,0.00039,0.00018]},
- {"t":11.57572, "x":6.15927, "y":4.87861, "heading":1.82549, "vx":-0.08491, "vy":1.99777, "omega":0.46413, "ax":-0.00026, "ay":-0.00001, "alpha":0.00071, "fx":[-0.00454,-0.00225,-0.00285,-0.00514], "fy":[-0.0016,-0.001,0.00129,0.00069]},
- {"t":11.62282, "x":6.15527, "y":4.9727, "heading":1.84735, "vx":-0.08492, "vy":1.99777, "omega":0.46416, "ax":-0.00026, "ay":-0.00001, "alpha":-0.00016, "fx":[-0.00349,-0.00399,-0.00385,-0.00335], "fy":[0.00017,0.00003,-0.00047,-0.00033]},
- {"t":11.66992, "x":6.15127, "y":5.0668, "heading":1.86921, "vx":-0.08494, "vy":1.99777, "omega":0.46415, "ax":-0.00026, "ay":-0.00001, "alpha":0.003, "fx":[-0.00693,0.00258,-0.00035,-0.00986], "fy":[-0.00637,-0.00344,0.00607,0.00314]},
- {"t":11.71702, "x":6.14727, "y":5.1609, "heading":1.89107, "vx":-0.08495, "vy":1.99777, "omega":0.4643, "ax":-0.00025, "ay":-0.00001, "alpha":-0.00207, "fx":[-0.00143,-0.00795,-0.00578,0.00073], "fy":[0.00419,0.00202,-0.00449,-0.00233]},
- {"t":11.76412, "x":6.14327, "y":5.25499, "heading":1.91294, "vx":-0.08496, "vy":1.99777, "omega":0.4642, "ax":-0.00025, "ay":-0.00001, "alpha":0.0, "fx":[-0.00358,-0.00357,-0.00357,-0.00358], "fy":[-0.00015,-0.00015,-0.00015,-0.00015]},
- {"t":11.81122, "x":6.13927, "y":5.34909, "heading":1.93481, "vx":-0.08497, "vy":1.99777, "omega":0.4642, "ax":-0.00025, "ay":-0.00001, "alpha":-0.00616, "fx":[0.00237,-0.01673,-0.00945,0.00965], "fy":[0.01304,0.00576,-0.01334,-0.00606]},
- {"t":11.85832, "x":6.13527, "y":5.44319, "heading":1.95666, "vx":-0.08498, "vy":1.99777, "omega":0.46391, "ax":-0.00025, "ay":-0.00001, "alpha":-0.00933, "fx":[0.00502,-0.02368,-0.01203,0.01667], "fy":[0.02003,0.00837,-0.02033,-0.00867]},
- {"t":11.90542, "x":6.13126, "y":5.53728, "heading":1.9785, "vx":-0.085, "vy":1.99777, "omega":0.46347, "ax":-0.00024, "ay":-0.00001, "alpha":-0.02227, "fx":[0.01582,-0.05208,-0.02275,0.04515], "fy":[0.04847,0.01914,-0.04876,-0.01943]},
- {"t":11.95252, "x":6.12726, "y":5.63138, "heading":2.00031, "vx":-0.08501, "vy":1.99777, "omega":0.46242, "ax":-0.00024, "ay":-0.00001, "alpha":-0.04142, "fx":[0.03046,-0.09457,-0.0373,0.08772], "fy":[0.091,0.03374,-0.09129,-0.03402]},
- {"t":11.99963, "x":6.12326, "y":5.72548, "heading":2.02204, "vx":-0.08502, "vy":1.99777, "omega":0.46047, "ax":-0.00024, "ay":-0.00001, "alpha":-0.07688, "fx":[0.05582,-0.17389,-0.06257,0.16713], "fy":[0.17037,0.05906,-0.17065,-0.05934]},
- {"t":12.04673, "x":6.11925, "y":5.81957, "heading":2.04365, "vx":-0.08503, "vy":1.99777, "omega":0.45685, "ax":-0.00023, "ay":-0.00001, "alpha":-0.13953, "fx":[0.0974,-0.31505,-0.10406,0.30839], "fy":[0.31158,0.10059,-0.31186,-0.10087]},
- {"t":12.09383, "x":6.11525, "y":5.91367, "heading":2.06501, "vx":-0.08504, "vy":1.99777, "omega":0.45028, "ax":-0.00023, "ay":-0.00001, "alpha":-0.25114, "fx":[0.16601,-0.56809,-0.17255,0.56155], "fy":[0.56469,0.16914,-0.56496,-0.16941]},
- {"t":12.14093, "x":6.11124, "y":6.00777, "heading":2.08594, "vx":-0.08505, "vy":1.99777, "omega":0.43845, "ax":-0.00023, "ay":-0.00001, "alpha":-0.44964, "fx":[0.27863,-1.02058,-0.28505,1.01416], "fy":[1.01724,0.28171,-1.0175,-0.28198]},
- {"t":12.18803, "x":6.10723, "y":6.10186, "heading":2.10609, "vx":-0.08506, "vy":1.99777, "omega":0.41727, "ax":-0.00022, "ay":-0.00001, "alpha":-0.80052, "fx":[0.46204,-1.82417,-0.46833,1.81789], "fy":[1.8209,0.46505,-1.82116,-0.46531]},
- {"t":12.23513, "x":6.10323, "y":6.19596, "heading":2.12486, "vx":-0.08507, "vy":1.99776, "omega":0.37956, "ax":-0.00022, "ay":-0.00001, "alpha":-1.41976, "fx":[0.76121,-3.24767,-0.76735,3.24154], "fy":[3.24448,0.76415,-3.24473,-0.76441]},
- {"t":12.28223, "x":6.09922, "y":6.29006, "heading":2.14116, "vx":-0.08508, "vy":1.99776, "omega":0.31269, "ax":-0.00021, "ay":-0.00001, "alpha":-2.50756, "fx":[1.25327,-5.75476,-1.25924,5.74882], "fy":[5.75167,1.25613,-5.75191,-1.25638]},
- {"t":12.32933, "x":6.09521, "y":6.38416, "heading":2.15311, "vx":-0.08509, "vy":1.99776, "omega":0.19458, "ax":-0.00019, "ay":-0.00001, "alpha":-4.40142, "fx":[2.08152,-10.12426,-2.08706,10.11878], "fy":[10.12141,2.08417,-10.12162,-2.0844]},
- {"t":12.37643, "x":6.0912, "y":6.47825, "heading":2.15739, "vx":-0.0851, "vy":1.99776, "omega":-0.01273, "ax":0.0001, "ay":0.0, "alpha":-7.63856, "fx":[3.54341,-17.57958,-3.54052,17.58238], "fy":[17.58104,3.54204,-17.58092,-3.54189]},
- {"t":12.42353, "x":6.0872, "y":6.57235, "heading":2.14832, "vx":-0.0851, "vy":1.99776, "omega":-0.37251, "ax":0.00881, "ay":0.00037, "alpha":-12.94916, "fx":[6.40483,-29.6287,-6.14439,29.86767], "fy":[29.75089,6.28258,-29.74557,-6.26667]},
- {"t":12.47064, "x":6.0832, "y":6.66645, "heading":2.11641, "vx":-0.08468, "vy":1.99778, "omega":-0.98243, "ax":0.23427, "ay":0.00928, "alpha":-20.9627, "fx":[15.35877,-44.83112,-7.9938,50.74907], "fy":[47.75273,12.04014,-47.90391,-11.36293]},
- {"t":12.51774, "x":6.07947, "y":6.76055, "heading":2.04688, "vx":-0.07365, "vy":1.99822, "omega":-1.96979, "ax":4.26243, "ay":-0.05724, "alpha":-23.25612, "fx":[78.36709,11.90517,51.44689,99.95663], "fy":[52.37137,27.28834,-66.20678,-16.69837]},
- {"t":12.56484, "x":6.08073, "y":6.85461, "heading":1.92831, "vx":0.12712, "vy":1.99552, "omega":-3.06518, "ax":9.30605, "ay":-1.64795, "alpha":-3.52999, "fx":[134.34291,132.54999,128.58204,132.16916], "fy":[-8.51097,-18.88218,-38.96099,-27.08281]},
- {"t":12.61194, "x":6.09704, "y":6.94677, "heading":1.78002, "vx":0.56544, "vy":1.9179, "omega":-3.23145, "ax":8.9366, "ay":-3.79557, "alpha":-1.78867, "fx":[129.75575,127.31741,123.31341,126.31004], "fy":[-46.29475,-52.40269,-61.37515,-55.13258]},
- {"t":12.65904, "x":6.13358, "y":7.0329, "heading":1.62583, "vx":0.98636, "vy":1.73913, "omega":-3.3157, "ax":7.82424, "ay":-5.82891, "alpha":-1.49643, "fx":[114.98677,111.35104,106.6507,110.63841], "fy":[-77.00922,-82.12676,-88.18555,-83.17229]},
- {"t":12.70614, "x":6.18872, "y":7.10834, "heading":1.468, "vx":1.35489, "vy":1.46458, "omega":-3.38618, "ax":4.98023, "ay":-8.40462, "alpha":-1.89808, "fx":[78.15784,69.44931,63.03393,71.73324], "fy":[-114.48427,-119.94674,-123.46471,-118.63838]},
- {"t":12.75324, "x":6.25806, "y":7.16801, "heading":1.3064, "vx":1.58947, "vy":1.06871, "omega":-3.47558, "ax":3.47541, "ay":-9.13825, "alpha":-1.86191, "fx":[57.3509,47.93778,41.24226,50.52172], "fy":[-126.30972,-130.16202,-132.45146,-129.20665]},
- {"t":12.80034, "x":6.33678, "y":7.20821, "heading":1.14063, "vx":1.75316, "vy":0.63829, "omega":-3.56328, "ax":2.93285, "ay":-9.33724, "alpha":0.57208, "fx":[39.01478,41.70506,44.12744,41.44253], "fy":[-133.14324,-132.3284,-131.53688,-132.40393]},
- {"t":12.84826, "x":6.42416, "y":7.22807, "heading":0.97054, "vx":1.8937, "vy":0.19088, "omega":-3.53587, "ax":2.84204, "ay":-9.32308, "alpha":3.73856, "fx":[23.23,38.79,56.55677,42.56445], "fy":[-136.7528,-133.20229,-126.66418,-131.99075]},
- {"t":12.89618, "x":6.51816, "y":7.22652, "heading":0.80541, "vx":2.02988, "vy":-0.25586, "omega":-3.35672, "ax":2.82484, "ay":-9.25266, "alpha":6.23068, "fx":[11.43363,34.0296,64.8169,49.88558], "fy":[-138.19514,-134.47759,-122.61539,-129.32872]},
- {"t":12.94409, "x":6.61867, "y":7.20363, "heading":0.65171, "vx":2.16524, "vy":-0.69922, "omega":-3.05817, "ax":2.87459, "ay":-9.15436, "alpha":8.16066, "fx":[4.41247,29.03039,68.85793,60.68567], "fy":[-138.5324,-135.61245,-120.35789,-124.54075]},
- {"t":12.99201, "x":6.72572, "y":7.15962, "heading":0.51454, "vx":2.30298, "vy":-1.13788, "omega":-2.66713, "ax":2.95506, "ay":-9.05892, "alpha":9.50688, "fx":[2.14716,24.78521,69.8827,70.73427], "fy":[-138.49287,-136.40221,-119.7154,-119.02141]},
- {"t":13.03993, "x":6.83947, "y":7.09469, "heading":0.39766, "vx":2.44458, "vy":-1.57195, "omega":-2.21158, "ax":3.02024, "ay":-8.98472, "alpha":10.36735, "fx":[2.56516,21.25906,69.38576,78.03453], "fy":[-138.34751,-136.91899,-119.92585,-114.23248]},
- {"t":13.08785, "x":6.96007, "y":7.00906, "heading":0.30358, "vx":2.5893, "vy":-2.00248, "omega":-1.71481, "ax":3.03278, "ay":-8.9389, "alpha":10.88675, "fx":[3.50276,18.02097,68.0329,82.39896], "fy":[-138.10409,-137.25515,-120.5662,-110.90177]},
- {"t":13.13576, "x":7.08763, "y":6.90284, "heading":0.23391, "vx":2.73462, "vy":-2.43081, "omega":-1.19314, "ax":2.92043, "ay":-8.9363, "alpha":11.16424, "fx":[2.63829,14.22816,65.46265,83.25628], "fy":[-137.7023,-137.45189,-121.71748,-109.80829]},
- {"t":13.18368, "x":7.22202, "y":6.7761, "heading":0.18956, "vx":2.87456, "vy":-2.85901, "omega":-0.65818, "ax":2.34248, "ay":-9.04551, "alpha":11.10066, "fx":[-6.30845,6.21856,57.86039,75.04569], "fy":[-136.46974,-137.35298,-124.75695,-114.29203]},
- {"t":13.2316, "x":7.36245, "y":6.62872, "heading":0.17076, "vx":2.98681, "vy":-3.29245, "omega":-0.12627, "ax":-5.68357, "ay":-7.08861, "alpha":2.54292, "fx":[-89.09316,-80.70265,-71.71544,-80.74197], "fy":[-93.47113,-101.66337,-107.26471,-99.51795]},
- {"t":13.27952, "x":7.49904, "y":6.46282, "heading":0.16763, "vx":2.71447, "vy":-3.63211, "omega":-0.00442, "ax":-5.38759, "ay":-3.74814, "alpha":0.0045, "fx":[-76.37769,-76.3694,-76.35802,-76.36631], "fy":[-53.11825,-53.13631,-53.13962,-53.12156]},
- {"t":13.32743, "x":7.62293, "y":6.28448, "heading":0.16743, "vx":2.45631, "vy":-3.81171, "omega":-0.00421, "ax":-1.20597, "ay":-0.76428, "alpha":-0.00044, "fx":[-17.09344,-17.09371,-17.09514,-17.09487], "fy":[-10.83406,-10.8326,-10.83282,-10.83428]},
- {"t":13.37535, "x":7.73924, "y":6.10095, "heading":0.16722, "vx":2.39852, "vy":-3.84834, "omega":-0.00423, "ax":-0.16107, "ay":-0.10013, "alpha":-0.00009, "fx":[-2.28295,-2.28299,-2.28327,-2.28323], "fy":[-1.41944,-1.41916,-1.41921,-1.41949]},
- {"t":13.42327, "x":7.85399, "y":5.91643, "heading":0.16702, "vx":2.3908, "vy":-3.85313, "omega":-0.00423, "ax":-0.13445, "ay":-0.08184, "alpha":-0.00167, "fx":[-1.9026,-1.90352,-1.909,-1.90808], "fy":[-1.16229,-1.15682,-1.15774,-1.16322]},
- {"t":13.47119, "x":7.96839, "y":5.73171, "heading":0.16682, "vx":2.38436, "vy":-3.85706, "omega":-0.00431, "ax":-2.71106, "ay":2.54498, "alpha":-5.20741, "fx":[-29.28915,-30.25005,-47.04787,-47.12759], "fy":[30.26772,47.19478,41.73511,25.10048]},
- {"t":13.5191, "x":8.07953, "y":5.54981, "heading":0.16063, "vx":2.25445, "vy":-3.73511, "omega":-0.25384, "ax":-4.77373, "ay":7.84982, "alpha":-13.02045, "fx":[-39.10116,-30.94993,-85.63372,-114.9809], "fy":[129.8968,133.71136,107.52193,73.947]},
- {"t":13.56702, "x":8.18208, "y":5.37985, "heading":0.13352, "vx":2.02571, "vy":-3.35896, "omega":-0.87774, "ax":-4.70724, "ay":8.01168, "alpha":-12.54507, "fx":[-39.88263,-29.73486,-83.70181,-113.5768], "fy":[131.39293,134.83878,109.95011,78.07292]},
- {"t":13.61494, "x":8.27374, "y":5.22809, "heading":0.07706, "vx":1.80015, "vy":-2.97507, "omega":-1.47887, "ax":-4.6458, "ay":8.10587, "alpha":-12.10225, "fx":[-42.61569,-27.58839,-80.98425,-112.22434], "fy":[131.09273,135.57288,112.2691,80.66052]},
- {"t":13.66285, "x":8.35467, "y":5.09484, "heading":-0.0077, "vx":1.57754, "vy":-2.58665, "omega":-2.05878, "ax":-4.59965, "ay":8.14781, "alpha":-11.98795, "fx":[-47.00583,-23.77723,-77.86625,-112.14651], "fy":[129.83725,136.42835,114.60485,81.10289]},
- {"t":13.71077, "x":8.42498, "y":4.98025, "heading":-0.12011, "vx":1.35713, "vy":-2.19623, "omega":-2.63321, "ax":-4.59007, "ay":8.12622, "alpha":-12.30168, "fx":[-54.70207,-17.74846,-74.26579,-113.53618], "fy":[126.90817,137.42006,117.06174,79.35874]},
- {"t":13.75869, "x":8.48474, "y":4.88434, "heading":-0.26041, "vx":1.13719, "vy":-1.80685, "omega":-3.22267, "ax":-4.87461, "ay":8.33755, "alpha":-6.48851, "fx":[-70.04219,-41.98726,-69.88906,-94.46717], "fy":[119.48094,132.0855,119.74679,101.41802]},
- {"t":13.80661, "x":8.53364, "y":4.80733, "heading":-0.42228, "vx":0.90361, "vy":-1.40733, "omega":-3.53358, "ax":-4.93704, "ay":8.32403, "alpha":6.08144, "fx":[-67.15161,-92.57542,-75.93785,-44.26047], "fy":[121.36612,103.25055,115.94304,131.40485]},
- {"t":13.85452, "x":8.57127, "y":4.74945, "heading":-0.58462, "vx":0.66704, "vy":-1.00847, "omega":-3.24218, "ax":-4.85052, "ay":7.8169, "alpha":14.50012, "fx":[-57.68984,-109.93273,-102.01376,-5.38342], "fy":[126.21341,84.6519,93.75186,138.59385]},
- {"t":13.90244, "x":8.59766, "y":4.7101, "heading":-0.72333, "vx":0.43462, "vy":-0.6339, "omega":-2.54737, "ax":-4.71139, "ay":6.98305, "alpha":23.06073, "fx":[-47.49856,-114.43137,-129.11334,23.9121], "fy":[130.42639,78.54157,50.31793,136.64631]},
- {"t":13.95036, "x":8.61308, "y":4.68774, "heading":-0.81892, "vx":0.20886, "vy":-0.29929, "omega":-1.44236, "ax":-4.35878, "ay":6.24604, "alpha":30.101, "fx":[-39.2603,-115.4412,-138.04045,45.60319], "fy":[133.15884,77.0962,12.85689,131.03277]},
- {"t":13.99828, "x":8.61808, "y":4.68057, "heading":-0.85347, "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":[0,124]
- },
- "events":[
- {"name":"Marker", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"hoodDown"}}},
- {"name":"Marker", "from":{"target":1, "targetTimestamp":0.75975, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"hoodUp"}}},
- {"name":"Marker", "from":{"target":4, "targetTimestamp":3.57985, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"hoodDown"}}},
- {"name":"Marker", "from":{"target":6, "targetTimestamp":5.494, "offset":{"exp":"-0.2 s", "val":-0.2}}, "event":{"type":"named", "data":{"name":"hoodUp"}}}]
-}
+++ /dev/null
-{
- "name":"superShuttling",
- "version":3,
- "snapshot":{
- "waypoints":[
- {"x":3.601878881454468, "y":7.661683082580566, "heading":-1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":8.518824577331543, "y":6.778850555419922, "heading":-2.067219187672958, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":8.495003700256348, "y":1.8715722560882568, "heading":-2.1521774178641575, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.613085746765137, "y":1.38322651386261, "heading":1.8896315430431432, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.779325008392334, "y":2.9435503482818604, "heading":1.5707963267948966, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.767414093017578, "y":5.9808220863342285, "heading":1.5707963267948966, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.898946285247803, "y":6.469167709350586, "heading":-1.403364447950369, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":6.910857200622559, "y":2.657689332962036, "heading":-1.283220421161046, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.86372709274292, "y":2.657689332962036, "heading":1.7191242488688685, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":7.875637531280518, "y":6.385791778564453, "heading":1.9055326915376485, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":5.554238796234131, "y":7.590708255767822, "heading":-1.6058694574950845, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":3.601878881454468, "y":7.661683082580566, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
- {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01867918256759085}}, "enabled":true},
- {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
- {"from":9, "to":11, "data":{"type":"KeepOutCircle", "props":{"x":4.883889600634575, "y":5.9670998603105545, "r":1.0}}, "enabled":true},
- {"from":1, "to":9, "data":{"type":"MaxVelocity", "props":{"max":2.5}}, "enabled":true}],
- "targetDt":0.05
- },
- "params":{
- "waypoints":[
- {"x":{"exp":"3.6018788814544678 m", "val":3.601878881454468}, "y":{"exp":"7.661683082580566 m", "val":7.661683082580566}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"8.518824577331543 m", "val":8.518824577331543}, "y":{"exp":"6.778850555419922 m", "val":6.778850555419922}, "heading":{"exp":"-2.067219187672958 rad", "val":-2.067219187672958}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"8.495003700256348 m", "val":8.495003700256348}, "y":{"exp":"1.8715722560882568 m", "val":1.8715722560882568}, "heading":{"exp":"-2.1521774178641575 rad", "val":-2.1521774178641575}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.613085746765137 m", "val":6.613085746765137}, "y":{"exp":"1.3832265138626099 m", "val":1.38322651386261}, "heading":{"exp":"1.8896315430431434 rad", "val":1.8896315430431432}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.779325008392334 m", "val":5.779325008392334}, "y":{"exp":"2.9435503482818604 m", "val":2.9435503482818604}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.767414093017578 m", "val":5.767414093017578}, "y":{"exp":"5.9808220863342285 m", "val":5.9808220863342285}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.898946285247803 m", "val":6.898946285247803}, "y":{"exp":"6.469167709350586 m", "val":6.469167709350586}, "heading":{"exp":"-1.403364447950369 rad", "val":-1.403364447950369}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"6.910857200622559 m", "val":6.910857200622559}, "y":{"exp":"2.657689332962036 m", "val":2.657689332962036}, "heading":{"exp":"-1.283220421161046 rad", "val":-1.283220421161046}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.86372709274292 m", "val":7.86372709274292}, "y":{"exp":"2.657689332962036 m", "val":2.657689332962036}, "heading":{"exp":"1.7191242488688683 rad", "val":1.7191242488688685}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"7.875637531280518 m", "val":7.875637531280518}, "y":{"exp":"6.385791778564453 m", "val":6.385791778564453}, "heading":{"exp":"1.9055326915376483 rad", "val":1.9055326915376485}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"5.554238796234131 m", "val":5.554238796234131}, "y":{"exp":"7.590708255767822 m", "val":7.590708255767822}, "heading":{"exp":"-1.6058694574950843 rad", "val":-1.6058694574950845}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
- {"x":{"exp":"3.6018788814544678 m", "val":3.601878881454468}, "y":{"exp":"7.661683082580566 m", "val":7.661683082580566}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
- "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":true},
- {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"18.679182567590846 mm", "val":0.01867918256759085}}}, "enabled":true},
- {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
- {"from":9, "to":11, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.883889600634575 m", "val":4.883889600634575}, "y":{"exp":"5.9670998603105545 m", "val":5.9670998603105545}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
- {"from":1, "to":9, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2.5 m / s", "val":2.5}}}, "enabled":true}],
- "targetDt":{
- "exp":"0.05 s",
- "val":0.05
- }
- },
- "trajectory":{
- "config":{
- "frontLeft":{
- "x":0.52705,
- "y":0.52705
- },
- "backLeft":{
- "x":-0.52705,
- "y":0.52705
- },
- "mass":56.69904625,
- "inertia":7.0,
- "gearing":7.03125,
- "radius":0.0508,
- "vmax":628.3185307179587,
- "tmax":7.0,
- "cof":1.0,
- "bumper":{
- "front":0.4064,
- "side":0.4064,
- "back":0.4064
- },
- "differentialTrackWidth":0.5588
- },
- "sampleType":"Swerve",
- "waypoints":[0.0,1.51517,3.48043,4.34395,5.06092,6.27815,7.05683,8.60318,9.32403,10.82661,11.82002,12.48424],
- "samples":[
- {"t":0.0, "x":3.60188, "y":7.66168, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.78552, "ay":-0.37604, "alpha":-0.00905, "fx":[138.70618,138.70632,138.70862,138.70849], "fy":[-5.36144,-5.35912,-5.29914,-5.30143]},
- {"t":0.05612, "x":3.61729, "y":7.66109, "heading":-1.57081, "vx":0.54914, "vy":-0.0211, "omega":-0.00051, "ax":9.78773, "ay":-0.27884, "alpha":-0.01423, "fx":[138.73728,138.73744,138.74012,138.73996], "fy":[-4.00105,-3.99833,-3.90403,-3.90668]},
- {"t":0.11223, "x":3.66351, "y":7.65947, "heading":-1.57086, "vx":1.0984, "vy":-0.03675, "omega":-0.00131, "ax":9.78794, "ay":-0.21547, "alpha":-0.01874, "fx":[138.7402,138.74039,138.74312,138.74294], "fy":[-3.11769,-3.11491,-2.99073,-2.9934]},
- {"t":0.16835, "x":3.74057, "y":7.65707, "heading":-1.57096, "vx":1.64767, "vy":-0.04884, "omega":-0.00236, "ax":9.78689, "ay":-0.16956, "alpha":-0.02213, "fx":[138.72546,138.72568,138.72822,138.728], "fy":[-2.47809,-2.4755,-2.32886,-2.3313]},
- {"t":0.22447, "x":3.84844, "y":7.65406, "heading":-1.57113, "vx":2.19689, "vy":-0.05836, "omega":-0.0036, "ax":9.78452, "ay":-0.13348, "alpha":-0.02408, "fx":[138.69207,138.69234,138.69451,138.69425], "fy":[-1.97292,-1.9707,-1.81115,-1.81318]},
- {"t":0.28059, "x":3.98713, "y":7.65057, "heading":-1.57137, "vx":2.74597, "vy":-0.06585, "omega":-0.00495, "ax":9.78, "ay":-0.10325, "alpha":-0.02378, "fx":[138.62824,138.62857,138.63023,138.6299], "fy":[-1.54317,-1.54151,-1.38403,-1.38551]},
- {"t":0.3367, "x":4.15663, "y":7.64672, "heading":-1.57169, "vx":3.2948, "vy":-0.07164, "omega":-0.00629, "ax":9.77046, "ay":-0.07601, "alpha":-0.01861, "fx":[138.49322,138.49359,138.49455,138.49418], "fy":[-1.13944,-1.13854,-1.01536,-1.01615]},
- {"t":0.39282, "x":4.35691, "y":7.64258, "heading":-1.57207, "vx":3.84309, "vy":-0.07591, "omega":-0.00733, "ax":9.74107, "ay":-0.04636, "alpha":0.00365, "fx":[138.07752,138.07738,138.07726,138.07741], "fy":[-0.6451,-0.64518,-0.66927,-0.66918]},
- {"t":0.44894, "x":4.58791, "y":7.63824, "heading":-1.57247, "vx":4.38974, "vy":-0.07851, "omega":-0.00713, "ax":2.61058, "ay":1.09236, "alpha":0.1269, "fx":[37.19051,36.79385,36.81813,37.21494], "fy":[15.69384,15.71995,15.27364,15.2482]},
- {"t":0.50506, "x":4.83836, "y":7.63556, "heading":-1.57267, "vx":4.53624, "vy":-0.01721, "omega":0.0, "ax":0.00076, "ay":0.35937, "alpha":-0.00001, "fx":[0.01079,0.01081,0.01081,0.01079], "fy":[5.09397,5.09397,5.09398,5.09398]},
- {"t":0.56117, "x":5.09292, "y":7.63516, "heading":-1.57267, "vx":4.53628, "vy":0.00296, "omega":0.0, "ax":-0.00072, "ay":0.29211, "alpha":-0.00001, "fx":[-0.01021,-0.01018,-0.01018,-0.01021], "fy":[4.14051,4.14051,4.14053,4.14053]},
- {"t":0.61729, "x":5.34749, "y":7.63578, "heading":-1.57267, "vx":4.53624, "vy":0.01935, "omega":0.0, "ax":-0.00182, "ay":0.29825, "alpha":-0.00001, "fx":[-0.02585,-0.02582,-0.02582,-0.02585], "fy":[4.22761,4.22761,4.22763,4.22763]},
- {"t":0.67341, "x":5.60205, "y":7.63734, "heading":-1.57268, "vx":4.53614, "vy":0.03609, "omega":-0.00001, "ax":-0.00322, "ay":0.32319, "alpha":-0.00001, "fx":[-0.04561,-0.04557,-0.04557,-0.04561], "fy":[4.58118,4.58118,4.58122,4.58122]},
- {"t":0.72953, "x":5.8566, "y":7.63987, "heading":-1.57268, "vx":4.53596, "vy":0.05422, "omega":-0.00001, "ax":-0.0053, "ay":0.3719, "alpha":-0.00001, "fx":[-0.07513,-0.07509,-0.07509,-0.07513], "fy":[5.27161,5.27161,5.27166,5.27166]},
- {"t":0.78564, "x":6.11114, "y":7.6435, "heading":-1.57268, "vx":4.53566, "vy":0.0751, "omega":-0.00001, "ax":-0.00908, "ay":0.46726, "alpha":-0.00002, "fx":[-0.12877,-0.1287,-0.1287,-0.12877], "fy":[6.6233,6.6233,6.62337,6.62337]},
- {"t":0.84176, "x":6.36565, "y":7.64845, "heading":-1.57268, "vx":4.53515, "vy":0.10132, "omega":-0.00001, "ax":-0.01548, "ay":0.59534, "alpha":-0.00006, "fx":[-0.21954,-0.21933,-0.21933,-0.21954], "fy":[8.43864,8.43864,8.43885,8.43885]},
- {"t":0.89788, "x":6.62013, "y":7.65507, "heading":-1.57268, "vx":4.53428, "vy":0.13473, "omega":-0.00001, "ax":0.02149, "ay":-0.89586, "alpha":-0.00161, "fx":[0.30193,0.30731,0.30732,0.30194], "fy":[-12.70128,-12.70128,-12.69599,-12.69599]},
- {"t":0.954, "x":6.87461, "y":7.66122, "heading":-1.57268, "vx":4.53549, "vy":0.08445, "omega":-0.0001, "ax":-0.32217, "ay":-8.84728, "alpha":-0.00182, "fx":[-4.57195,-4.56096,-4.5613,-4.57229], "fy":[-125.40851,-125.40887,-125.40774,-125.40738]},
- {"t":1.01011, "x":7.12863, "y":7.65203, "heading":-1.57269, "vx":4.51741, "vy":-0.41204, "omega":-0.0002, "ax":-1.46943, "ay":-9.47187, "alpha":-0.01789, "fx":[-20.87708,-20.76351,-20.78047,-20.89413], "fy":[-134.25548,-134.27269,-134.26749,-134.25025]},
- {"t":1.06623, "x":7.37982, "y":7.614, "heading":-1.57273, "vx":4.43495, "vy":-0.94357, "omega":-0.00121, "ax":-6.19187, "ay":-7.3539, "alpha":-5.97726, "fx":[-90.40346,-66.18932,-86.11528,-108.36501], "fy":[-104.14046,-120.79987,-107.05165,-84.96724]},
- {"t":1.12235, "x":7.61895, "y":7.54947, "heading":-1.58221, "vx":4.08748, "vy":-1.35625, "omega":-0.33664, "ax":-8.53247, "ay":-4.30373, "alpha":-8.54153, "fx":[-118.96642,-99.89646,-129.82143,-135.09834], "fy":[-70.88642,-95.69815,-47.2726,-30.16024]},
- {"t":1.17847, "x":7.83489, "y":7.46658, "heading":-1.61455, "vx":3.60866, "vy":-1.59777, "omega":-0.81597, "ax":-9.13573, "ay":-3.22877, "alpha":-5.57638, "fx":[-127.54733,-119.94869,-134.14267,-136.34854], "fy":[-54.30605,-69.35634,-34.50304,-24.9029]},
- {"t":1.23458, "x":8.02301, "y":7.37183, "heading":-1.66912, "vx":3.09598, "vy":-1.77896, "omega":-1.1289, "ax":-9.3751, "ay":-2.68548, "alpha":-3.32859, "fx":[-131.68139,-128.43595,-135.01461,-136.42743], "fy":[-43.55009,-52.26735,-31.52606,-24.92084]},
- {"t":1.2907, "x":8.18199, "y":7.26777, "heading":-1.73771, "vx":2.56988, "vy":-1.92966, "omega":-1.31569, "ax":-9.48393, "ay":-2.37017, "alpha":-2.01034, "fx":[-133.77777,-132.1246,-135.41841,-136.40889], "fy":[-36.76756,-42.27491,-30.06126,-25.28292]},
- {"t":1.34682, "x":8.31127, "y":7.15575, "heading":-1.81471, "vx":2.03766, "vy":-2.06267, "omega":-1.4285, "ax":-9.5427, "ay":-2.16662, "alpha":-1.15962, "fx":[-134.95007,-134.06245,-135.69224,-136.35731], "fy":[-32.32238,-35.79831,-28.99566,-25.72877]},
- {"t":1.40294, "x":8.4106, "y":7.03659, "heading":-1.8967, "vx":1.50215, "vy":-2.18425, "omega":-1.49358, "ax":-9.57838, "ay":-2.02502, "alpha":-0.56741, "fx":[-135.65014,-135.22364,-135.91916,-136.29185], "fy":[-29.3424,-31.23612,-28.04641,-26.19152]},
- {"t":1.45905, "x":8.47981, "y":6.91083, "heading":-1.98141, "vx":0.96464, "vy":-2.29789, "omega":-1.52542, "ax":-9.60187, "ay":-1.9211, "alpha":-0.13236, "fx":[-136.08389,-135.98342,-136.12592,-136.22345], "fy":[-27.33833,-27.8309,-27.12331,-26.63212]},
- {"t":1.51517, "x":8.51882, "y":6.77885, "heading":-2.06722, "vx":0.4258, "vy":-2.4057, "omega":-1.53285, "ax":-9.57846, "ay":-1.98796, "alpha":0.07064, "fx":[-135.7777,-135.8393,-135.76752,-135.7051], "fy":[-28.15134,-27.85576,-28.2062,-28.50187]},
- {"t":1.56196, "x":8.52826, "y":6.66411, "heading":-2.13887, "vx":-0.02239, "vy":-2.49872, "omega":-1.52954, "ax":-0.99682, "ay":0.00447, "alpha":17.27848, "fx":[26.22153,-23.81255,-52.35571,-6.57198], "fy":[9.45715,39.48347,-8.29645,-40.39045]},
- {"t":1.60875, "x":8.52612, "y":6.54719, "heading":-2.19152, "vx":-0.06903, "vy":-2.49851, "omega":-0.72105, "ax":0.428, "ay":-0.01011, "alpha":9.76033, "fx":[28.47891,2.47455,-16.65349,9.96742], "fy":[3.56627,22.55939,-3.96724,-22.7315]},
- {"t":1.65555, "x":8.52336, "y":6.43027, "heading":-2.21458, "vx":-0.04901, "vy":-2.49898, "omega":-0.26435, "ax":0.22494, "ay":-0.00394, "alpha":5.25568, "fx":[15.37425,1.47195,-9.04532,4.95296], "fy":[1.67961,12.17397,-1.80611,-12.27065]},
- {"t":1.70234, "x":8.52132, "y":6.31334, "heading":-2.22119, "vx":-0.03848, "vy":-2.49917, "omega":-0.01843, "ax":0.14096, "ay":-0.00198, "alpha":2.7821, "fx":[8.46508,1.12343,-4.47731,2.8813], "fy":[0.85002,6.44697,-0.90873,-6.50072]},
- {"t":1.74913, "x":8.51967, "y":6.19639, "heading":-2.21901, "vx":-0.03189, "vy":-2.49926, "omega":0.11175, "ax":0.09913, "ay":-0.00117, "alpha":1.46256, "fx":[4.80557,0.9364,-1.99697,1.8755], "fy":[0.45281,3.38559,-0.48652,-3.41833]},
- {"t":1.79592, "x":8.51829, "y":6.07945, "heading":-2.21218, "vx":-0.02725, "vy":-2.49932, "omega":0.18019, "ax":0.07335, "ay":-0.00075, "alpha":0.76608, "fx":[2.81948,0.78176,-0.74039,1.29801], "fy":[0.24749,1.76957,-0.26882,-1.79069]},
- {"t":1.84271, "x":8.51709, "y":5.9625, "heading":-2.20291, "vx":-0.02381, "vy":-2.49935, "omega":0.21604, "ax":0.05566, "ay":-0.0005, "alpha":0.40015, "fx":[1.71738,0.64556,-0.1395,0.93245], "fy":[0.13634,0.92141,-0.15056,-0.93559]},
- {"t":1.88951, "x":8.51604, "y":5.84555, "heading":-2.19236, "vx":-0.02121, "vy":-2.49937, "omega":0.23476, "ax":0.04283, "ay":-0.00035, "alpha":0.20833, "fx":[1.08966,0.52733,0.12451,0.68688], "fy":[0.07488,0.47769,-0.08469,-0.48749]},
- {"t":1.9363, "x":8.51509, "y":5.7286, "heading":-2.18115, "vx":-0.01921, "vy":-2.49939, "omega":0.24451, "ax":0.03323, "ay":-0.00024, "alpha":0.10801, "fx":[0.72076,0.4269,0.22135,0.51522], "fy":[0.0407,0.24625,-0.04763,-0.25318]},
- {"t":1.98309, "x":8.51423, "y":5.61165, "heading":-2.16959, "vx":-0.01765, "vy":-2.4994, "omega":0.24956, "ax":0.02593, "ay":-0.00018, "alpha":0.05559, "fx":[0.49575,0.3433,0.23927,0.39173], "fy":[0.02171,0.12574,-0.02671,-0.13074]},
- {"t":2.02988, "x":8.51343, "y":5.49469, "heading":-2.15785, "vx":-0.01644, "vy":-2.49941, "omega":0.25216, "ax":0.02031, "ay":-0.00013, "alpha":0.02824, "fx":[0.35294,0.27487,0.22293,0.301], "fy":[0.01123,0.06317,-0.0149,-0.06684]},
- {"t":2.07667, "x":8.51269, "y":5.37774, "heading":-2.14602, "vx":-0.01549, "vy":-2.49942, "omega":0.25348, "ax":0.01598, "ay":-0.0001, "alpha":0.01402, "fx":[0.25867,0.21963,0.19431,0.23336], "fy":[0.0055,0.03082,-0.00823,-0.03355]},
- {"t":2.12346, "x":8.51198, "y":5.26079, "heading":-2.13414, "vx":-0.01474, "vy":-2.49942, "omega":0.25414, "ax":0.01263, "ay":-0.00007, "alpha":0.00664, "fx":[0.1942,0.17557,0.16381,0.18244], "fy":[0.0024,0.01417,-0.00446,-0.01623]},
- {"t":2.17026, "x":8.5113, "y":5.14384, "heading":-2.12224, "vx":-0.01415, "vy":-2.49942, "omega":0.25445, "ax":0.01005, "ay":-0.00006, "alpha":0.00284, "fx":[0.14889,0.14087,0.13593,0.14395], "fy":[0.00075,0.00569,-0.00233,-0.00727]},
- {"t":2.21705, "x":8.51065, "y":5.02688, "heading":-2.11034, "vx":-0.01368, "vy":-2.49943, "omega":0.25458, "ax":0.00807, "ay":-0.00004, "alpha":0.0009, "fx":[0.11646,0.11389,0.11235,0.11492], "fy":[-0.0001,0.00144,-0.00113,-0.00267]},
- {"t":2.26384, "x":8.51002, "y":4.90993, "heading":-2.09842, "vx":-0.0133, "vy":-2.49943, "omega":0.25463, "ax":0.00658, "ay":-0.00003, "alpha":-0.00007, "fx":[0.09311,0.09331,0.09343,0.09323], "fy":[-0.00053,-0.00065,-0.00045,-0.00033]},
- {"t":2.31063, "x":8.5094, "y":4.79298, "heading":-2.08651, "vx":-0.01299, "vy":-2.49943, "omega":0.25462, "ax":0.00548, "ay":-0.00003, "alpha":-0.00054, "fx":[0.0765,0.07805,0.07893,0.07738], "fy":[-0.00073,-0.00161,-0.00006,0.00081]},
- {"t":2.35742, "x":8.5088, "y":4.67603, "heading":-2.07459, "vx":-0.01274, "vy":-2.49943, "omega":0.2546, "ax":0.00471, "ay":-0.00002, "alpha":-0.00077, "fx":[0.06508,0.0673,0.06853,0.06631], "fy":[-0.00084,-0.00206,0.00016,0.00139]},
- {"t":2.40422, "x":8.50821, "y":4.55907, "heading":-2.06268, "vx":-0.01252, "vy":-2.49943, "omega":0.25456, "ax":0.00422, "ay":-0.00002, "alpha":-0.00082, "fx":[0.05804,0.06044,0.06173,0.05932], "fy":[-0.00085,-0.00214,0.00026,0.00155]},
- {"t":2.45101, "x":8.50763, "y":4.44212, "heading":-2.05077, "vx":-0.01232, "vy":-2.49943, "omega":0.25452, "ax":0.00399, "ay":-0.00002, "alpha":-0.00099, "fx":[0.05432,0.05723,0.05874,0.05583], "fy":[-0.00097,-0.00249,0.00042,0.00194]},
- {"t":2.4978, "x":8.50706, "y":4.32517, "heading":-2.03886, "vx":-0.01213, "vy":-2.49944, "omega":0.25448, "ax":0.00399, "ay":-0.00002, "alpha":-0.00105, "fx":[0.05422,0.05732,0.05888,0.05578], "fy":[-0.00104,-0.0026,0.00049,0.00206]},
- {"t":2.54459, "x":8.5065, "y":4.20821, "heading":-2.02696, "vx":-0.01195, "vy":-2.49944, "omega":0.25443, "ax":0.00423, "ay":-0.00002, "alpha":-0.0012, "fx":[0.05729,0.06085,0.0626,0.05903], "fy":[-0.00119,-0.00294,0.00062,0.00237]},
- {"t":2.59138, "x":8.50594, "y":4.09126, "heading":-2.01505, "vx":-0.01175, "vy":-2.49944, "omega":0.25437, "ax":0.00472, "ay":-0.00002, "alpha":-0.00146, "fx":[0.06368,0.06806,0.07014,0.06576], "fy":[-0.00146,-0.00354,0.00084,0.00292]},
- {"t":2.63817, "x":8.5054, "y":3.97431, "heading":-2.00315, "vx":-0.01153, "vy":-2.49944, "omega":0.2543, "ax":0.00549, "ay":-0.00003, "alpha":-0.00204, "fx":[0.07337,0.07953,0.08237,0.07621], "fy":[-0.00201,-0.00486,0.0013,0.00415]},
- {"t":2.68497, "x":8.50486, "y":3.85735, "heading":-1.99125, "vx":-0.01127, "vy":-2.49944, "omega":0.25421, "ax":0.0066, "ay":-0.00003, "alpha":-0.00304, "fx":[0.08682,0.09603,0.10015,0.09094], "fy":[-0.00296,-0.00708,0.00213,0.00625]},
- {"t":2.73176, "x":8.50434, "y":3.7404, "heading":-1.97936, "vx":-0.01096, "vy":-2.49944, "omega":0.25407, "ax":0.00809, "ay":-0.00003, "alpha":-0.00499, "fx":[0.1038,0.11901,0.1256,0.11039], "fy":[-0.00481,-0.0114,0.00382,0.0104]},
- {"t":2.77855, "x":8.50384, "y":3.62345, "heading":-1.96748, "vx":-0.01058, "vy":-2.49944, "omega":0.25383, "ax":0.01007, "ay":-0.00004, "alpha":-0.00851, "fx":[0.12432,0.15037,0.16128,0.13523], "fy":[-0.00816,-0.01907,0.00698,0.01789]},
- {"t":2.82534, "x":8.50335, "y":3.50649, "heading":-1.95561, "vx":-0.01011, "vy":-2.49944, "omega":0.25343, "ax":0.01266, "ay":-0.00005, "alpha":-0.01526, "fx":[0.14652,0.19349,0.21251,0.16555], "fy":[-0.01468,-0.0337,0.01327,0.03229]},
- {"t":2.87213, "x":8.5029, "y":3.38954, "heading":-1.94377, "vx":-0.00952, "vy":-2.49945, "omega":0.25272, "ax":0.01603, "ay":-0.00006, "alpha":-0.02829, "fx":[0.16631,0.25378,0.28801,0.20054], "fy":[-0.02746,-0.06168,0.02579,0.06002]},
- {"t":2.91893, "x":8.50247, "y":3.27259, "heading":-1.93198, "vx":-0.00877, "vy":-2.49945, "omega":0.2514, "ax":0.02038, "ay":-0.00007, "alpha":-0.05299, "fx":[0.17544,0.34002,0.40219,0.23761], "fy":[-0.05217,-0.11434,0.05025,0.11242]},
- {"t":2.96572, "x":8.50208, "y":3.15563, "heading":-1.92027, "vx":-0.00782, "vy":-2.49945, "omega":0.24892, "ax":0.02601, "ay":-0.00008, "alpha":-0.10005, "fx":[0.15572,0.46786,0.58161,0.26948], "fy":[-0.10026,-0.21401,0.09812,0.21188]},
- {"t":3.01251, "x":8.50174, "y":3.03868, "heading":-1.90873, "vx":-0.0066, "vy":-2.49946, "omega":0.24424, "ax":0.03334, "ay":-0.00008, "alpha":-0.18968, "fx":[0.07109,0.66527,0.87406,0.2799], "fy":[-0.1938,-0.40259,0.19158,0.4004]},
- {"t":3.0593, "x":8.50147, "y":2.92172, "heading":-1.89751, "vx":-0.00504, "vy":-2.49946, "omega":0.23536, "ax":0.04297, "ay":-0.00007, "alpha":-0.36051, "fx":[-0.14979,0.98391,1.36804,0.2344], "fy":[-0.37578,-0.75991,0.37377,0.75798]},
- {"t":3.10609, "x":8.50128, "y":2.80477, "heading":-1.88689, "vx":-0.00303, "vy":-2.49946, "omega":0.21849, "ax":0.05586, "ay":-0.00004, "alpha":-0.6859, "fx":[-0.6445,1.52014,2.22796,0.06356], "fy":[-0.72898,-1.43679,0.7277,1.43586]},
- {"t":3.15288, "x":8.5012, "y":2.68782, "heading":-1.87742, "vx":-0.00041, "vy":-2.49946, "omega":0.1864, "ax":0.07364, "ay":0.00004, "alpha":-1.30478, "fx":[-1.67532,2.45532,3.76236,-0.36711], "fy":[-1.41125,-2.71819,1.4115,2.7201]},
- {"t":3.19968, "x":8.50126, "y":2.57086, "heading":-1.87013, "vx":0.00303, "vy":-2.49946, "omega":0.12534, "ax":0.0996, "ay":0.00021, "alpha":-2.4779, "fx":[-3.73294,4.13074,6.55384,-1.30424], "fy":[-2.71707,-5.13939,2.71903,5.14952]},
- {"t":3.24647, "x":8.50151, "y":2.45391, "heading":-1.86698, "vx":0.00769, "vy":-2.49945, "omega":0.0094, "ax":0.14196, "ay":0.00062, "alpha":-4.68307, "fx":[-7.69827,7.18525,11.70856,-3.14664], "fy":[-5.16969,-9.68818,5.16655,9.72676]},
- {"t":3.29326, "x":8.50203, "y":2.33695, "heading":-1.87166, "vx":0.01434, "vy":-2.49942, "omega":-0.20973, "ax":0.22726, "ay":0.00179, "alpha":-8.74009, "fx":[-14.9677,12.81449,21.33001,-6.29144], "fy":[-9.59601,-18.08501,9.53132,18.25098]},
- {"t":3.34005, "x":8.50295, "y":2.22, "heading":-1.89104, "vx":0.02497, "vy":-2.49934, "omega":-0.6187, "ax":0.41546, "ay":0.00577, "alpha":-15.80217, "fx":[-27.4703,22.75016,38.73927,-10.46321], "fy":[-16.92948,-32.79834,16.42529,33.62945]},
- {"t":3.38684, "x":8.50457, "y":2.10306, "heading":-1.93729, "vx":0.04441, "vy":-2.49907, "omega":-1.35811, "ax":-1.00116, "ay":0.00109, "alpha":-26.62315, "fx":[-68.98609,8.91036,44.36828,-41.05714], "fy":[-23.71327,-59.65747,28.04433,55.38818]},
- {"t":3.43364, "x":8.50555, "y":1.98613, "heading":-2.02999, "vx":-0.00244, "vy":-2.49902, "omega":-2.60385, "ax":-9.53276, "ay":2.17454, "alpha":-0.32066, "fx":[-135.30241,-135.40738,-134.94714,-134.84148], "fy":[30.06556,29.56752,31.59666,32.06483]},
- {"t":3.48043, "x":8.495, "y":1.87157, "heading":-2.15218, "vx":-0.44849, "vy":-2.39727, "omega":-2.61886, "ax":-9.45267, "ay":2.52274, "alpha":-0.21352, "fx":[-134.10675,-134.21898,-133.87244,-133.75904], "fy":[35.32922,34.89154,36.19551,36.62091]},
- {"t":3.51497, "x":8.47387, "y":1.79027, "heading":-2.24276, "vx":-0.775, "vy":-2.31013, "omega":-2.62623, "ax":-9.23851, "ay":3.20871, "alpha":-0.23061, "fx":[-131.10916,-131.27214,-130.7984,-130.63478], "fy":[45.04496,44.55867,45.92753,46.3997]},
- {"t":3.54951, "x":8.44159, "y":1.71239, "heading":-2.33361, "vx":-1.0941, "vy":-2.1993, "omega":-2.6342, "ax":-8.81433, "ay":4.2246, "alpha":-0.25627, "fx":[-125.17779,-125.40272,-124.7033,-124.48011], "fy":[59.39857,58.91242,60.37563,60.84405]},
- {"t":3.58405, "x":8.39854, "y":1.63895, "heading":-2.42475, "vx":-1.39856, "vy":-2.05338, "omega":-2.64305, "ax":-7.91421, "ay":5.72189, "alpha":-0.30002, "fx":[-112.61813,-112.88047,-111.74109,-111.48865], "fy":[80.51303,80.13335,81.71196,82.06736]},
- {"t":3.61859, "x":8.34551, "y":1.57143, "heading":-2.51623, "vx":-1.67193, "vy":-1.85574, "omega":-2.65341, "ax":-6.80903, "ay":6.98212, "alpha":-0.35998, "fx":[-97.23229,-97.48639,-95.78868,-95.55839], "fy":[98.28305,98.01511,99.67251,99.90905]},
- {"t":3.65313, "x":8.2837, "y":1.5115, "heading":-2.60809, "vx":-1.90712, "vy":-1.61457, "omega":-2.66585, "ax":-5.77848, "ay":7.82714, "alpha":-0.43609, "fx":[-82.93671,-83.18241,-80.85869,-80.65631], "fy":[110.20496,109.99387,111.71049,111.88219]},
- {"t":3.68767, "x":8.21438, "y":1.4604, "heading":-2.70043, "vx":-2.10671, "vy":-1.34421, "omega":-2.68091, "ax":-4.65323, "ay":8.4902, "alpha":-0.541, "fx":[-67.41019,-67.61475,-64.46849,-64.34031], "fy":[119.57854,119.41404,121.13854,121.25513]},
- {"t":3.72221, "x":8.13884, "y":1.41904, "heading":-2.79336, "vx":-2.26744, "vy":-1.05095, "omega":-2.6996, "ax":-3.44166, "ay":8.92386, "alpha":-0.70189, "fx":[-50.85067,-50.9638,-46.64984,-46.67454], "fy":[125.75837,125.59407,127.25702,127.36516]},
- {"t":3.75676, "x":8.05847, "y":1.38806, "heading":-2.88702, "vx":-2.38632, "vy":-0.74271, "omega":-2.72384, "ax":-2.16159, "ay":8.88694, "alpha":-0.99218, "fx":[-33.66455,-33.60113,-27.48266,-27.81164], "fy":[125.44953,125.02829,126.5215,126.88197]},
- {"t":3.7913, "x":7.97475, "y":1.36771, "heading":-2.9817, "vx":-2.46098, "vy":-0.43575, "omega":-2.75811, "ax":-0.83376, "ay":6.31579, "alpha":-1.39154, "fx":[-15.26753,-14.87275,-8.22847,-8.90438], "fy":[90.37593,87.73812,88.69215,91.29304]},
- {"t":3.82584, "x":7.88925, "y":1.35642, "heading":-3.0778, "vx":-2.48978, "vy":-0.21759, "omega":-2.80618, "ax":-0.09013, "ay":1.13375, "alpha":0.37884, "fx":[-0.60146,-0.68139,-1.95226,-1.87501], "fy":[15.49227,16.73069,16.64895,15.41041]},
- {"t":3.86038, "x":7.80319, "y":1.34958, "heading":3.10868, "vx":-2.49289, "vy":-0.17843, "omega":-2.79309, "ax":-0.00859, "ay":0.12148, "alpha":1.5212, "fx":[2.32069,2.48475,-2.56196,-2.73054], "fy":[-0.88492,4.16282,4.32856,-0.71856]},
- {"t":3.89492, "x":7.71708, "y":1.34349, "heading":3.01312, "vx":-2.49319, "vy":-0.17423, "omega":-2.74055, "ax":-0.00058, "ay":0.00833, "alpha":1.68676, "fx":[2.41034,3.12774,-2.42659,-3.14435], "fy":[-3.01804,2.53652,3.25403,-2.30041]},
- {"t":3.92946, "x":7.63096, "y":1.33748, "heading":2.91946, "vx":-2.49321, "vy":-0.17395, "omega":-2.68229, "ax":0.00054, "ay":-0.00771, "alpha":1.49383, "fx":[1.88031,2.97319,-1.86513,-2.95776], "fy":[-3.07476,1.76336,2.85618,-1.98208]},
- {"t":3.964, "x":7.54485, "y":1.33147, "heading":2.8277, "vx":-2.49319, "vy":-0.17421, "omega":-2.63069, "ax":0.00082, "ay":-0.01167, "alpha":1.20366, "fx":[1.2952,2.5293,-1.27213,-2.50602], "fy":[-2.68308,1.11815,2.35223,-1.44918]},
- {"t":3.99854, "x":7.45873, "y":1.32544, "heading":2.73755, "vx":-2.49316, "vy":-0.17462, "omega":-2.58911, "ax":0.00093, "ay":-0.01327, "alpha":0.89685, "fx":[0.79687,1.96764,-0.77052,-1.94117], "fy":[-2.14253,0.59549,1.76626,-0.9719]},
- {"t":4.03308, "x":7.37261, "y":1.3194, "heading":2.64866, "vx":-2.49313, "vy":-0.17508, "omega":-2.55813, "ax":0.00095, "ay":-0.01347, "alpha":0.59448, "fx":[0.41583,1.34993,-0.38899,-1.32305], "fy":[-1.5274,0.21146,1.14556,-0.59337]},
- {"t":4.06762, "x":7.2865, "y":1.31335, "heading":2.56065, "vx":-2.4931, "vy":-0.17554, "omega":-2.5376, "ax":0.00051, "ay":-0.0073, "alpha":0.30107, "fx":[0.15081,0.69944,-0.13623,-0.68486], "fy":[-0.79557,0.0401,0.58873,-0.24694]},
- {"t":4.10217, "x":7.20039, "y":1.30728, "heading":2.47318, "vx":-2.49308, "vy":-0.17579, "omega":-2.5272, "ax":-0.00402, "ay":0.0573, "alpha":0.0357, "fx":[-0.04718,0.02629,-0.06674,-0.14021], "fy":[0.72904,0.82207,0.89553,0.8025]},
- {"t":4.13671, "x":7.11427, "y":1.30124, "heading":2.38591, "vx":-2.49322, "vy":-0.17381, "omega":-2.52597, "ax":-0.04459, "ay":0.68671, "alpha":0.06588, "fx":[-0.6275,-0.47666,-0.63654,-0.78739], "fy":[9.58008,9.73862,9.88777,9.72928]},
- {"t":4.17125, "x":7.02813, "y":1.29565, "heading":2.2987, "vx":-2.49476, "vy":-0.15009, "omega":-2.52369, "ax":-0.12718, "ay":5.03128, "alpha":1.96942, "fx":[-2.21654,4.03964,-1.4206,-7.61347], "fy":[67.88587,71.20815,74.69771,71.47679]},
- {"t":4.20579, "x":6.94188, "y":1.29346, "heading":2.2127, "vx":-2.49915, "vy":0.02369, "omega":-2.45567, "ax":0.63492, "ay":8.89679, "alpha":2.1324, "fx":[8.24065,18.14251,9.6895,-0.07321], "fy":[125.43112,125.27293,127.03389,126.70146]},
- {"t":4.24033, "x":6.85593, "y":1.29959, "heading":2.12915, "vx":-2.47722, "vy":0.331, "omega":-2.38201, "ax":1.87865, "ay":9.32517, "alpha":1.52982, "fx":[26.40177,33.46123,26.87011,19.78446], "fy":[132.10417,130.71533,132.42535,133.48338]},
- {"t":4.27487, "x":6.77149, "y":1.31659, "heading":2.04779, "vx":-2.41233, "vy":0.6531, "omega":-2.32917, "ax":3.14526, "ay":9.13598, "alpha":1.20021, "fx":[44.70284,49.81652,44.50864,39.3051], "fy":[129.43533,127.64359,129.66411,131.25819]},
- {"t":4.30941, "x":6.69004, "y":1.34459, "heading":1.96805, "vx":-2.30369, "vy":0.96866, "omega":-2.28771, "ax":4.38714, "ay":8.67298, "alpha":1.00065, "fx":[62.5319,66.30612,61.89806,58.01064], "fy":[122.76382,120.8149,123.16761,125.00348]},
- {"t":4.34395, "x":6.61309, "y":1.38323, "heading":1.88963, "vx":-2.15215, "vy":1.26824, "omega":-2.25315, "ax":5.54884, "ay":7.98851, "alpha":1.05829, "fx":[79.24549,82.62506,78.14867,74.59455], "fy":[112.8314,110.43309,113.67936,115.99689]},
- {"t":4.38378, "x":6.53176, "y":1.44008, "heading":1.80072, "vx":-1.93113, "vy":1.58643, "omega":-2.211, "ax":6.68451, "ay":6.97005, "alpha":1.5026, "fx":[95.83455,99.57396,93.87745,89.71955], "fy":[97.73364,94.09954,99.87767,103.48453]},
- {"t":4.42362, "x":6.46015, "y":1.5088, "heading":1.71385, "vx":-1.66488, "vy":1.86406, "omega":-2.15114, "ax":7.47107, "ay":5.72749, "alpha":2.72529, "fx":[107.92659,112.88246,104.5613,98.232], "fy":[78.13634,71.97562,84.04315,90.5882]},
- {"t":4.46345, "x":6.39976, "y":1.58759, "heading":1.63033, "vx":-1.36729, "vy":2.0922, "omega":-2.04259, "ax":6.45537, "ay":3.69267, "alpha":9.90994, "fx":[91.69604,109.61248,95.35041,69.35428], "fy":[34.67085,26.38877,65.76693,82.54423]},
- {"t":4.50328, "x":6.35042, "y":1.67386, "heading":1.55683, "vx":-1.11016, "vy":2.23928, "omega":-1.64786, "ax":1.24178, "ay":0.59877, "alpha":19.09112, "fx":[-14.61027,49.64858,48.10098,-12.7313], "fy":[-24.62369,-22.62296,38.01651,43.17985]},
- {"t":4.54311, "x":6.30718, "y":1.76353, "heading":1.50634, "vx":-1.0607, "vy":2.26313, "omega":-0.88743, "ax":0.1093, "ay":0.0511, "alpha":12.14154, "fx":[-19.89911,20.40507,22.92046,-17.22927], "fy":[-18.15303,-20.63268,19.48014,22.20288]},
- {"t":4.58294, "x":6.26502, "y":1.85371, "heading":1.48062, "vx":-1.05635, "vy":2.26517, "omega":-0.40381, "ax":0.00698, "ay":0.00325, "alpha":7.21239, "fx":[-12.90558,10.94677,13.1015,-10.7471], "fy":[-10.80215,-12.95613,10.89172,13.05099]},
- {"t":4.62278, "x":6.22295, "y":1.94394, "heading":1.47026, "vx":-1.05607, "vy":2.2653, "omega":-0.11653, "ax":-0.00086, "ay":-0.0004, "alpha":4.21312, "fx":[-7.67349,6.2449,7.64909,-6.26947], "fy":[-6.26285,-7.66706,6.25153,7.65552]},
- {"t":4.66261, "x":6.18088, "y":2.03417, "heading":1.46896, "vx":-1.0561, "vy":2.26528, "omega":0.05129, "ax":-0.00137, "ay":-0.00064, "alpha":2.44522, "fx":[-4.47062,3.60631,4.43176,-3.64525], "fy":[-3.63483,-4.46029,3.61673,4.44208]},
- {"t":4.70244, "x":6.13882, "y":2.1244, "heading":1.47294, "vx":-1.05616, "vy":2.26526, "omega":0.14869, "ax":-0.00135, "ay":-0.00063, "alpha":1.42061, "fx":[-2.59674,2.09763,2.5585,-2.1359], "fy":[-2.12568,-2.58655,2.10785,2.56868]},
- {"t":4.74227, "x":6.09675, "y":2.21463, "heading":1.47999, "vx":-1.05621, "vy":2.26523, "omega":0.20527, "ax":-0.00129, "ay":-0.0006, "alpha":0.83557, "fx":[-1.52561,1.23735,1.48895,-1.27403], "fy":[-1.26424,-1.51584,1.24714,1.49872]},
- {"t":4.7821, "x":6.05467, "y":2.30486, "heading":1.48883, "vx":-1.05626, "vy":2.26521, "omega":0.23855, "ax":-0.00123, "ay":-0.00057, "alpha":0.51211, "fx":[-0.9344,0.76029,0.89951,-0.79518], "fy":[-0.78587,-0.9251,0.76959,0.90881]},
- {"t":4.82193, "x":6.0126, "y":2.39508, "heading":1.49874, "vx":-1.05631, "vy":2.26519, "omega":0.25895, "ax":-0.00105, "ay":-0.00049, "alpha":0.34921, "fx":[-0.63484,0.52166,0.60515,-0.55136], "fy":[-0.54344,-0.62693,0.52958,0.61306]},
- {"t":4.86177, "x":5.97052, "y":2.48531, "heading":1.50933, "vx":-1.05635, "vy":2.26517, "omega":0.27286, "ax":0.00088, "ay":0.00041, "alpha":0.29642, "fx":[-0.50892,0.47346,0.53392,-0.44846], "fy":[-0.45514,-0.5156,0.46678,0.52724]},
- {"t":4.9016, "x":5.92845, "y":2.57554, "heading":1.52043, "vx":-1.05632, "vy":2.26518, "omega":0.28467, "ax":0.02743, "ay":0.01278, "alpha":0.33725, "fx":[-0.19855,0.91983,0.97618,-0.14217], "fy":[-0.34981,-0.40617,0.71219,0.76859]},
- {"t":4.94143, "x":5.8864, "y":2.66577, "heading":1.53204, "vx":-1.05523, "vy":2.26569, "omega":0.2981, "ax":0.40028, "ay":0.18471, "alpha":0.48238, "fx":[4.84474,6.44361,6.50273,4.90466], "fy":[1.84898,1.7851,3.38686,3.45219]},
- {"t":4.98126, "x":5.84468, "y":2.75616, "heading":1.54429, "vx":-1.03928, "vy":2.27305, "omega":0.31732, "ax":4.3983, "ay":1.81253, "alpha":0.48507, "fx":[61.78708,63.13449,62.90323,61.55485], "fy":[24.91061,24.60149,26.46577,26.79076]},
- {"t":5.02109, "x":5.80677, "y":2.84814, "heading":1.55732, "vx":-0.86409, "vy":2.34525, "omega":0.33664, "ax":8.78483, "ay":2.51264, "alpha":0.08655, "fx":[124.55009,124.62674,124.49614,124.41855], "fy":[35.43626,35.29821,35.79502,35.93459]},
- {"t":5.06092, "x":5.77933, "y":2.94355, "heading":1.5708, "vx":-0.51417, "vy":2.44533, "omega":0.34009, "ax":9.00693, "ay":1.11974, "alpha":0.10651, "fx":[127.67864,127.73784,127.6639,127.60402], "fy":[15.58455,15.51174,16.15806,16.23381]},
- {"t":5.10774, "x":5.76512, "y":3.05926, "heading":1.58683, "vx":-0.0925, "vy":2.49775, "omega":0.34507, "ax":2.6642, "ay":0.03221, "alpha":0.6451, "fx":[36.79062,38.7738,38.73833,36.7548], "fy":[-0.71473,-0.67203,1.61837,1.59495]},
- {"t":5.15456, "x":5.76371, "y":3.17623, "heading":1.6037, "vx":0.03223, "vy":2.49926, "omega":0.37527, "ax":-0.09363, "ay":0.00112, "alpha":0.38922, "fx":[-1.95169,-0.66015,-0.70267,-1.99418], "fy":[-0.65114,-0.60873,0.68314,0.64051]},
- {"t":5.20137, "x":5.76512, "y":3.29324, "heading":1.62169, "vx":0.02784, "vy":2.49931, "omega":0.39349, "ax":-0.15598, "ay":0.00151, "alpha":0.20236, "fx":[-2.52927,-1.85839,-1.89256,-2.56344], "fy":[-0.33129,-0.29715,0.37412,0.33988]},
- {"t":5.24819, "x":5.76625, "y":3.41025, "heading":1.64034, "vx":0.02054, "vy":2.49938, "omega":0.40297, "ax":-0.12166, "ay":0.00086, "alpha":0.10519, "fx":[-1.88659,-1.53822,-1.56248,-1.91085], "fy":[-0.17417,-0.1499,0.19858,0.1743]},
- {"t":5.29501, "x":5.76708, "y":3.52726, "heading":1.65932, "vx":0.01484, "vy":2.49942, "omega":0.40789, "ax":-0.09822, "ay":0.00049, "alpha":0.05456, "fx":[-1.47438,-1.29396,-1.30997,-1.4904], "fy":[-0.09125,-0.07524,0.10522,0.08921]},
- {"t":5.34182, "x":5.76767, "y":3.64428, "heading":1.67847, "vx":0.01025, "vy":2.49944, "omega":0.41045, "ax":-0.08276, "ay":0.00027, "alpha":0.02812, "fx":[-1.21454,-1.12171,-1.13175,-1.22458], "fy":[-0.04754,-0.03751,0.05534,0.0453]},
- {"t":5.38864, "x":5.76806, "y":3.76129, "heading":1.69772, "vx":0.00637, "vy":2.49946, "omega":0.41176, "ax":-0.07204, "ay":0.00013, "alpha":0.01396, "fx":[-1.04122,-0.99524,-1.00111,-1.04709], "fy":[-0.02401,-0.01814,0.02784,0.02197]},
- {"t":5.43546, "x":5.76828, "y":3.87831, "heading":1.71701, "vx":0.003, "vy":2.49946, "omega":0.41242, "ax":-0.06441, "ay":0.00004, "alpha":0.00655, "fx":[-0.92211,-0.9006,-0.90377,-0.92528], "fy":[-0.0118,-0.00863,0.01289,0.00972]},
- {"t":5.48227, "x":5.76835, "y":3.99532, "heading":1.73633, "vx":-0.00002, "vy":2.49947, "omega":0.41272, "ax":-0.05899, "ay":-0.00003, "alpha":0.00134, "fx":[-0.83793,-0.83355,-0.83428,-0.83866], "fy":[-0.00302,-0.00229,0.00209,0.00136]},
- {"t":5.52909, "x":5.76828, "y":4.11234, "heading":1.75565, "vx":-0.00278, "vy":2.49946, "omega":0.41279, "ax":-0.05529, "ay":-0.00009, "alpha":-0.0035, "fx":[-0.77902,-0.79045,-0.78831,-0.77689], "fy":[0.0055,0.00337,-0.00806,-0.00592]},
- {"t":5.57591, "x":5.76809, "y":4.22935, "heading":1.77497, "vx":-0.00537, "vy":2.49946, "omega":0.41262, "ax":-0.05302, "ay":-0.00014, "alpha":-0.01003, "fx":[-0.73868,-0.77128,-0.76453,-0.73193], "fy":[0.01769,0.01094,-0.02166,-0.01491]},
- {"t":5.62272, "x":5.76778, "y":4.34637, "heading":1.79428, "vx":-0.00785, "vy":2.49945, "omega":0.41215, "ax":-0.05204, "ay":-0.00019, "alpha":-0.02134, "fx":[-0.71102,-0.78012,-0.76441,-0.69532], "fy":[0.03973,0.02402,-0.04508,-0.02937]},
- {"t":5.66954, "x":5.76736, "y":4.46339, "heading":1.81355, "vx":-0.01029, "vy":2.49944, "omega":0.41115, "ax":-0.05228, "ay":-0.00024, "alpha":-0.04238, "fx":[-0.68973,-0.82633,-0.7925,-0.65591], "fy":[0.0818,0.04797,-0.08862,-0.0548]},
- {"t":5.71635, "x":5.76682, "y":4.5804, "heading":1.83275, "vx":-0.01273, "vy":2.49943, "omega":0.40917, "ax":-0.05376, "ay":-0.0003, "alpha":-0.08263, "fx":[-0.66505,-0.93004,-0.85899,-0.594], "fy":[0.16377,0.09271,-0.1723,-0.10124]},
- {"t":5.76317, "x":5.76616, "y":4.69741, "heading":1.85182, "vx":-0.01525, "vy":2.49942, "omega":0.4053, "ax":-0.05656, "ay":-0.00037, "alpha":-0.15998, "fx":[-0.62028,-1.13062,-0.98331,-0.47296], "fy":[0.32354,0.17621,-0.33416,-0.18685]},
- {"t":5.80999, "x":5.76539, "y":4.81443, "heading":1.87062, "vx":-0.0179, "vy":2.4994, "omega":0.39781, "ax":-0.0609, "ay":-0.00047, "alpha":-0.30871, "fx":[-0.52501,-1.50427,-1.20156,-0.22225], "fy":[0.6344,0.33161,-0.64771,-0.34499]},
- {"t":5.8568, "x":5.76448, "y":4.93144, "heading":1.8889, "vx":-0.02075, "vy":2.49938, "omega":0.38336, "ax":-0.06713, "ay":-0.0006, "alpha":-0.59487, "fx":[-0.32242,-2.1983,-1.58066,0.29544], "fy":[1.23857,0.62061,-1.2554,-0.63775]},
- {"t":5.90362, "x":5.76344, "y":5.04845, "heading":1.9062, "vx":-0.02389, "vy":2.49935, "omega":0.35551, "ax":-0.07585, "ay":-0.00078, "alpha":-1.14419, "fx":[0.09295,-3.49377,-2.24385,1.34385], "fy":[2.40838,1.15719,-2.42982,-1.1799]},
- {"t":5.95044, "x":5.76223, "y":5.16546, "heading":1.92159, "vx":-0.02744, "vy":2.49932, "omega":0.30194, "ax":-0.08823, "ay":-0.00104, "alpha":-2.19336, "fx":[0.91633,-5.92016,-3.41988,3.42099], "fy":[4.65789,2.15239,-4.68476,-2.18456]},
- {"t":5.99725, "x":5.76085, "y":5.28247, "heading":1.93332, "vx":-0.03157, "vy":2.49927, "omega":0.19926, "ax":-0.10685, "ay":-0.00146, "alpha":-4.17811, "fx":[2.50572,-10.45404,-5.54461,7.43486], "fy":[8.93162,3.99983,-8.96146,-4.05256]},
- {"t":6.04407, "x":5.75926, "y":5.39947, "heading":1.93807, "vx":-0.03658, "vy":2.4992, "omega":0.00365, "ax":-0.14313, "ay":-0.00229, "alpha":-7.84649, "fx":[5.42618,-18.83734,-9.53091,14.82653], "fy":[16.83328,7.42289,-16.84435,-7.54145]},
- {"t":6.09089, "x":5.75739, "y":5.51648, "heading":1.92964, "vx":-0.04328, "vy":2.49909, "omega":-0.36369, "ax":-0.32347, "ay":-0.00658, "alpha":-14.25083, "fx":[9.06808,-34.84585,-18.57905,26.0164], "fy":[30.60149,13.56511,-30.37979,-14.16004]},
- {"t":6.1377, "x":5.75501, "y":5.63347, "heading":1.897, "vx":-0.05842, "vy":2.49878, "omega":-1.03086, "ax":-2.22604, "ay":-0.09854, "alpha":-22.29898, "fx":[-12.45483,-74.1875,-55.23344,15.66171], "fy":[51.29842,19.94207,-46.43039,-30.39731]},
- {"t":6.18452, "x":5.74983, "y":5.75034, "heading":1.8243, "vx":-0.16264, "vy":2.49417, "omega":-2.07482, "ax":6.92518, "ay":0.00047, "alpha":-16.62965, "fx":[108.65324,81.93454,86.73568,115.32744], "fy":[39.2192,41.43377,-58.00916,-22.61718]},
- {"t":6.23134, "x":5.74981, "y":5.86711, "heading":1.70894, "vx":0.16158, "vy":2.49419, "omega":-2.85336, "ax":9.16241, "ay":-2.79098, "alpha":-4.16102, "fx":[134.6027,132.18424,123.73368,128.97916], "fy":[-23.18177,-32.36077,-57.29198,-45.4115]},
- {"t":6.27815, "x":5.76741, "y":5.98082, "heading":1.5708, "vx":0.59053, "vy":2.36353, "omega":-3.04817, "ax":5.26186, "ay":-7.90422, "alpha":-8.09435, "fx":[104.9592,67.09586,45.05782,81.22948], "fy":[-88.35882,-118.98697,-129.76426,-111.05147]},
- {"t":6.31355, "x":5.79161, "y":6.05953, "heading":1.45784, "vx":0.77677, "vy":2.08376, "omega":-3.33466, "ax":5.28904, "ay":-7.86294, "alpha":-6.34216, "fx":[98.54036,72.91199,50.62213,77.80885], "fy":[-93.66852,-113.7596,-126.2836,-112.10953]},
- {"t":6.34894, "x":5.82242, "y":6.12835, "heading":1.33584, "vx":0.96397, "vy":1.80546, "omega":-3.55914, "ax":5.76043, "ay":-7.31852, "alpha":-3.39691, "fx":[93.20926,82.99052,69.34017,81.07073], "fy":[-94.31118,-102.21858,-112.83047,-105.59274]},
- {"t":6.38433, "x":5.86014, "y":6.18767, "heading":1.20774, "vx":1.16786, "vy":1.54643, "omega":-3.67937, "ax":7.30163, "ay":-4.36612, "alpha":2.51961, "fx":[98.19261,101.69718,108.35852,105.7474], "fy":[-69.02745,-67.32244,-55.31786,-55.88684]},
- {"t":6.41973, "x":5.90605, "y":6.23967, "heading":1.07909, "vx":1.42629, "vy":1.39189, "omega":-3.59019, "ax":6.74995, "ay":2.19147, "alpha":6.84779, "fx":[88.45638,102.83805,103.38471,88.03663], "fy":[29.3537,7.57261,33.10886,54.21937]},
- {"t":6.45512, "x":5.96076, "y":6.29031, "heading":0.9563, "vx":1.6652, "vy":1.46946, "omega":-3.34782, "ax":4.13129, "ay":4.1596, "alpha":4.36009, "fx":[48.63412,64.32326,67.64414,53.63845], "fy":[61.24579,47.8924,57.46346,69.24386]},
- {"t":6.49052, "x":6.02229, "y":6.34493, "heading":0.84054, "vx":1.81143, "vy":1.61668, "omega":-3.19349, "ax":2.14328, "ay":-0.06804, "alpha":-1.09505, "fx":[32.81658,30.26223,27.92659,30.51647], "fy":[-0.80983,1.72633,-1.1224,-3.65214]},
- {"t":6.52591, "x":6.08775, "y":6.40211, "heading":0.72682, "vx":1.88729, "vy":1.61427, "omega":-3.23225, "ax":4.38548, "ay":-5.35343, "alpha":-0.33764, "fx":[63.00576,62.60472,61.31307,61.72899], "fy":[-75.54161,-75.14429,-76.2317,-76.61704]},
- {"t":6.56131, "x":6.15729, "y":6.45589, "heading":0.61221, "vx":2.04251, "vy":1.42479, "omega":-3.2442, "ax":4.19942, "ay":-6.70752, "alpha":0.00361, "fx":[59.51593,59.51903,59.53567,59.53257], "fy":[-95.08137,-95.08435,-95.07367,-95.07069]},
- {"t":6.5967, "x":6.23222, "y":6.50212, "heading":0.49738, "vx":2.19114, "vy":1.18739, "omega":-3.24407, "ax":3.41206, "ay":-7.23805, "alpha":0.0027, "fx":[48.35742,48.35946,48.37287,48.37084], "fy":[-102.59974,-102.60208,-102.59557,-102.59323]},
- {"t":6.63209, "x":6.31191, "y":6.53961, "heading":0.38256, "vx":2.31191, "vy":0.9312, "omega":-3.24398, "ax":2.50095, "ay":-7.58299, "alpha":-0.05538, "fx":[35.61347,35.57589,35.28685,35.32507], "fy":[-107.46371,-107.41117,-107.51064,-107.563]},
- {"t":6.66749, "x":6.3953, "y":6.56782, "heading":0.26771, "vx":2.40043, "vy":0.6628, "omega":-3.24594, "ax":-0.08157, "ay":-7.941, "alpha":-2.2062, "fx":[6.10766,3.25749,-8.85917,-5.13116], "fy":[-113.46907,-111.09037,-111.57598,-114.11177]},
- {"t":6.70288, "x":6.48021, "y":6.5863, "heading":0.15144, "vx":2.39754, "vy":0.38174, "omega":-3.32403, "ax":-7.18345, "ay":-4.39596, "alpha":-7.67956, "fx":[-83.0338,-106.64849,-116.63279,-100.97972], "fy":[-87.39857,-47.85647,-40.51737,-73.47412]},
- {"t":6.73828, "x":6.56057, "y":6.59706, "heading":0.02898, "vx":2.14329, "vy":0.22615, "omega":-3.59584, "ax":-8.80913, "ay":-1.03214, "alpha":-7.71901, "fx":[-118.92039,-125.37669,-129.46557,-125.70652], "fy":[-42.65531,10.27633,6.24931,-32.39157]},
- {"t":6.77367, "x":6.63092, "y":6.60442, "heading":-0.10313, "vx":1.8315, "vy":0.18961, "omega":-3.86905, "ax":-9.01048, "ay":-0.37865, "alpha":-8.4523, "fx":[-123.52104,-126.81197,-130.48448,-130.06824], "fy":[-38.36476,21.0994,19.00143,-23.20524]},
- {"t":6.80907, "x":6.6901, "y":6.61089, "heading":-0.24536, "vx":1.51258, "vy":0.17621, "omega":-4.16821, "ax":-8.89022, "ay":-1.43497, "alpha":-9.9353, "fx":[-114.83049,-128.51512,-131.81517,-128.90622], "fy":[-63.05588,1.53976,13.96664,-33.81205]},
- {"t":6.84446, "x":6.73806, "y":6.61623, "heading":-0.39912, "vx":1.19791, "vy":0.12542, "omega":-4.51986, "ax":-7.71951, "ay":-4.69471, "alpha":-10.20896, "fx":[-86.07843,-104.0967,-130.0716,-117.4423], "fy":[-101.32591,-75.93725,-24.41315,-64.50928]},
- {"t":6.87985, "x":6.77563, "y":6.61773, "heading":-0.56549, "vx":0.92469, "vy":-0.04074, "omega":-4.8812, "ax":-4.46978, "ay":-8.2934, "alpha":-5.07841, "fx":[-52.17362,-46.22638,-77.85752,-77.17491], "fy":[-124.57524,-125.85249,-109.02433,-110.77577]},
- {"t":6.91525, "x":6.80556, "y":6.61109, "heading":-0.74144, "vx":0.76648, "vy":-0.33428, "omega":-5.06095, "ax":-1.97282, "ay":-9.42231, "alpha":1.87468, "fx":[-30.1934,-36.02566,-26.03561,-19.6026], "fy":[-133.06191,-131.7994,-134.22624,-135.14822]},
- {"t":6.95064, "x":6.83145, "y":6.59336, "heading":-0.91939, "vx":0.69665, "vy":-0.66778, "omega":-4.9946, "ax":-1.18315, "ay":-9.50644, "alpha":6.67173, "fx":[-16.53234,-47.3945,-17.28789,14.1311], "fy":[-136.18246,-129.19261,-136.74117,-136.88997]},
- {"t":6.98604, "x":6.85537, "y":6.56377, "heading":-1.09199, "vx":0.65478, "vy":-1.00425, "omega":-4.75846, "ax":-1.082, "ay":-9.40946, "alpha":9.70144, "fx":[-3.0117,-61.17432,-22.72735,25.56527], "fy":[-137.6033,-123.75666,-136.38979,-135.7579]},
- {"t":7.02143, "x":6.87786, "y":6.52233, "heading":-1.25434, "vx":0.61648, "vy":-1.33729, "omega":-4.41508, "ax":-1.17861, "ay":-9.30933, "alpha":11.56435, "fx":[9.38472,-70.2275,-31.10981,25.12671], "fy":[-137.66553,-119.11926,-134.93696,-136.10829]},
- {"t":7.05683, "x":6.89895, "y":6.46917, "heading":-1.40336, "vx":0.57476, "vy":-1.66679, "omega":-4.00577, "ax":-1.5387, "ay":-9.2029, "alpha":12.55189, "fx":[13.23051,-77.27055,-41.06487,17.86188], "fy":[-137.45914,-114.72156,-132.29576,-137.319]},
- {"t":7.10369, "x":6.92419, "y":6.38096, "heading":-1.57729, "vx":0.50266, "vy":-2.09803, "omega":-3.4176, "ax":-4.42516, "ay":-8.18912, "alpha":10.9017, "fx":[-44.66302,-105.37019,-75.16041,-25.70849], "fy":[-127.9457,-86.93203,-114.87205,-134.56536]},
- {"t":7.15054, "x":6.94289, "y":6.27366, "heading":-1.72547, "vx":0.2953, "vy":-2.48177, "omega":-2.90675, "ax":-6.84067, "ay":-0.37499, "alpha":16.63656, "fx":[-83.05716,-110.40959,-112.56625,-81.82669], "fy":[38.60856,31.58487,-30.21329,-61.24174]},
- {"t":7.1974, "x":6.94921, "y":6.15695, "heading":-1.84341, "vx":-0.02525, "vy":-2.49934, "omega":-2.12717, "ax":-0.82735, "ay":0.01475, "alpha":22.07113, "fx":[33.95824,-37.69647,-55.79533,12.62339], "fy":[27.31574,44.22277,-24.06189,-46.64013]},
- {"t":7.24426, "x":6.94712, "y":6.03985, "heading":-1.91886, "vx":-0.06401, "vy":-2.49865, "omega":-1.09294, "ax":-0.05058, "ay":0.00132, "alpha":12.6519, "fx":[26.21185,-13.31775,-27.60501,11.84313], "fy":[12.62569,26.90273,-12.53689,-26.91674]},
- {"t":7.29112, "x":6.94407, "y":5.92277, "heading":-1.95618, "vx":-0.06638, "vy":-2.49859, "omega":-0.50008, "ax":-0.00284, "ay":0.00008, "alpha":6.84988, "fx":[14.77298,-6.30367,-14.8528,6.22239], "fy":[6.26451,14.81357,-6.26156,-14.81222]},
- {"t":7.33798, "x":6.94095, "y":5.80569, "heading":-1.97209, "vx":-0.06652, "vy":-2.49858, "omega":-0.1791, "ax":-0.00043, "ay":0.00001, "alpha":3.63778, "fx":[7.91252,-3.20669,-7.92478,3.19436], "fy":[3.20071,7.9188,-3.20034,-7.91849]},
- {"t":7.38484, "x":6.93784, "y":5.6886, "heading":-1.97649, "vx":-0.06654, "vy":-2.49858, "omega":-0.00864, "ax":-0.00032, "ay":0.00001, "alpha":1.91736, "fx":[4.17658,-1.67301,-4.18554,1.66404], "fy":[1.66865,4.18118,-1.6684,-4.18094]},
- {"t":7.4317, "x":6.93472, "y":5.57152, "heading":-1.97479, "vx":-0.06655, "vy":-2.49858, "omega":0.08121, "ax":-0.00031, "ay":0.00001, "alpha":1.00717, "fx":[2.1904,-0.88454,-2.19911,0.87583], "fy":[0.88031,2.19488,-0.88007,-2.19464]},
- {"t":7.47856, "x":6.9316, "y":5.45444, "heading":-1.96988, "vx":-0.06657, "vy":-2.49858, "omega":0.12841, "ax":-0.0003, "ay":0.00001, "alpha":0.52802, "fx":[1.14405,-0.4714,-1.15266,0.46279], "fy":[0.46721,1.14847,-0.46698,-1.14823]},
- {"t":7.52542, "x":6.92848, "y":5.33736, "heading":-1.96328, "vx":-0.06658, "vy":-2.49858, "omega":0.15315, "ax":-0.0003, "ay":0.00001, "alpha":0.27631, "fx":[0.59504,-0.25265,-0.60357,0.24413], "fy":[0.24851,0.59942,-0.24827,-0.59919]},
- {"t":7.57228, "x":6.92536, "y":5.22028, "heading":-1.9558, "vx":-0.0666, "vy":-2.49858, "omega":0.1661, "ax":-0.0003, "ay":0.00001, "alpha":0.14424, "fx":[0.30765,-0.13623,-0.3161,0.12778], "fy":[0.13212,0.31199,-0.13189,-0.31176]},
- {"t":7.61914, "x":6.92224, "y":5.1032, "heading":-1.94786, "vx":-0.06661, "vy":-2.49858, "omega":0.17285, "ax":-0.0003, "ay":0.00001, "alpha":0.07516, "fx":[0.15777,-0.07426,-0.16615,0.06589], "fy":[0.07019,0.16207,-0.06996,-0.16185]},
- {"t":7.666, "x":6.91912, "y":4.98611, "heading":-1.93968, "vx":-0.06662, "vy":-2.49858, "omega":0.17638, "ax":-0.00029, "ay":0.00001, "alpha":0.03913, "fx":[0.07988,-0.04132,-0.08818,0.03302], "fy":[0.03729,0.08414,-0.03706,-0.08391]},
- {"t":7.71286, "x":6.91599, "y":4.86903, "heading":-1.93137, "vx":-0.06664, "vy":-2.49858, "omega":0.17821, "ax":-0.00029, "ay":0.00001, "alpha":0.02065, "fx":[0.04005,-0.0241,-0.04829,0.01586], "fy":[0.02009,0.04428,-0.01987,-0.04406]},
- {"t":7.75971, "x":6.91287, "y":4.75195, "heading":-1.923, "vx":-0.06665, "vy":-2.49858, "omega":0.17918, "ax":-0.00029, "ay":0.00001, "alpha":0.01163, "fx":[0.02071,-0.01555,-0.02888,0.00738], "fy":[0.01158,0.0249,-0.01136,-0.02468]},
- {"t":7.80657, "x":6.90975, "y":4.63487, "heading":-1.91459, "vx":-0.06666, "vy":-2.49858, "omega":0.17972, "ax":-0.00029, "ay":0.00001, "alpha":0.00811, "fx":[0.01316,-0.0122,-0.02127,0.00408], "fy":[0.00825,0.01733,-0.00803,-0.01711]},
- {"t":7.85343, "x":6.90662, "y":4.51779, "heading":-1.90616, "vx":-0.06668, "vy":-2.49858, "omega":0.1801, "ax":-0.00028, "ay":0.00001, "alpha":0.00863, "fx":[0.01422,-0.01284,-0.02228,0.00479], "fy":[0.00893,0.01836,-0.00871,-0.01814]},
- {"t":7.90029, "x":6.9035, "y":4.40071, "heading":-1.89771, "vx":-0.06669, "vy":-2.49858, "omega":0.18051, "ax":-0.00028, "ay":0.00001, "alpha":0.01338, "fx":[0.02416,-0.0179,-0.03216,0.0099], "fy":[0.01401,0.02827,-0.01379,-0.02805]},
- {"t":7.94715, "x":6.90037, "y":4.28363, "heading":-1.88924, "vx":-0.0667, "vy":-2.49858, "omega":0.18113, "ax":-0.00028, "ay":0.00001, "alpha":0.02412, "fx":[0.04659,-0.02946,-0.05453,0.02152], "fy":[0.0256,0.05067,-0.02538,-0.05045]},
- {"t":7.99401, "x":6.89725, "y":4.16654, "heading":-1.88072, "vx":-0.06672, "vy":-2.49858, "omega":0.18226, "ax":-0.00028, "ay":0.00001, "alpha":0.04578, "fx":[0.09162,-0.05314,-0.0995,0.04526], "fy":[0.04931,0.09566,-0.04909,-0.09545]},
- {"t":8.04087, "x":6.89412, "y":4.04946, "heading":-1.87213, "vx":-0.06673, "vy":-2.49858, "omega":0.18441, "ax":-0.00028, "ay":0.00001, "alpha":0.08761, "fx":[0.17815,-0.09964,-0.18598,0.09181], "fy":[0.09583,0.18217,-0.09562,-0.18196]},
- {"t":8.08773, "x":6.89099, "y":3.93238, "heading":-1.86339, "vx":-0.06674, "vy":-2.49858, "omega":0.18852, "ax":-0.00027, "ay":0.00001, "alpha":0.16754, "fx":[0.34266,-0.18998,-0.35044,0.18221], "fy":[0.1862,0.34665,-0.18599,-0.34645]},
- {"t":8.13459, "x":6.88786, "y":3.8153, "heading":-1.85438, "vx":-0.06676, "vy":-2.49858, "omega":0.19637, "ax":-0.00027, "ay":0.00001, "alpha":0.31994, "fx":[0.65469,-0.36518,-0.66241,0.35747], "fy":[0.36143,0.65866,-0.36122,-0.65845]},
- {"t":8.18145, "x":6.88474, "y":3.69822, "heading":-1.84482, "vx":-0.06677, "vy":-2.49858, "omega":0.21136, "ax":-0.00027, "ay":0.00001, "alpha":0.6108, "fx":[1.24679,-0.70563,-1.25445,0.69796], "fy":[0.7019,1.25072,-0.70169,-1.25051]},
- {"t":8.22831, "x":6.88161, "y":3.58114, "heading":-1.83425, "vx":-0.06678, "vy":-2.49858, "omega":0.23998, "ax":-0.00027, "ay":0.00001, "alpha":1.16585, "fx":[2.36901,-1.36849,-2.37657,1.36092], "fy":[1.36481,2.37289,-1.3646,-2.37269]},
- {"t":8.27517, "x":6.87848, "y":3.46406, "heading":-1.82172, "vx":-0.06679, "vy":-2.49857, "omega":0.29461, "ax":-0.00024, "ay":0.00001, "alpha":2.22585, "fx":[4.49377,-2.66542,-4.50053,2.65865], "fy":[2.66213,4.49723,-2.66194,-4.49706]},
- {"t":8.32203, "x":6.87535, "y":3.34698, "heading":-1.80547, "vx":-0.06681, "vy":-2.49857, "omega":0.39891, "ax":0.00033, "ay":-0.00001, "alpha":4.2502, "fx":[8.50818,-5.2172,-8.49874,5.22668], "fy":[5.22179,8.50335,-5.22208,-8.50356]},
- {"t":8.36888, "x":6.87222, "y":3.22989, "heading":-1.78212, "vx":-0.06679, "vy":-2.49857, "omega":0.59807, "ax":0.01232, "ay":-0.00033, "alpha":8.09724, "fx":[16.1369,-10.14828,-15.79011,10.50012], "fy":[10.31658,15.96193,-10.3319,-15.96518]},
- {"t":8.41574, "x":6.8691, "y":3.11281, "heading":-1.7452, "vx":-0.06621, "vy":-2.49859, "omega":0.9775, "ax":0.24063, "ay":-0.00583, "alpha":15.21329, "fx":[32.57857,-16.99336,-25.90045,23.95884], "fy":[20.20958,29.40444,-20.80265,-29.14185]},
- {"t":8.4626, "x":6.86626, "y":2.99572, "heading":-1.68269, "vx":-0.05494, "vy":-2.49886, "omega":1.69039, "ax":3.3485, "ay":0.03164, "alpha":22.73661, "fx":[82.96396,19.74267,9.6453,77.50493], "fy":[31.1831,54.28481,-44.90892,-38.7648]},
- {"t":8.50946, "x":6.86736, "y":2.87866, "heading":-1.57852, "vx":0.10197, "vy":-2.49738, "omega":2.75581, "ax":8.96243, "ay":1.14238, "alpha":7.68481, "fx":[127.58829,120.89189,128.24716,131.43401], "fy":[33.06722,45.41447,-7.82418,-5.88566]},
- {"t":8.55632, "x":6.88198, "y":2.76289, "heading":-1.44095, "vx":0.52194, "vy":-2.44385, "omega":3.11591, "ax":4.02251, "ay":8.48306, "alpha":10.67405, "fx":[66.61664,16.51802,43.8757,101.06229], "fy":[120.87137,136.83875,129.77948,93.49209]},
- {"t":8.60318, "x":6.91086, "y":2.65769, "heading":-1.28322, "vx":0.71044, "vy":-2.04634, "omega":3.61609, "ax":2.54403, "ay":9.04967, "alpha":10.69654, "fx":[45.81735,-6.41275,20.72871,84.11063], "fy":[130.32802,137.84696,135.71069,109.22201]},
- {"t":8.63922, "x":6.93812, "y":2.58981, "heading":-1.14594, "vx":0.80213, "vy":-1.72017, "omega":4.00162, "ax":2.86427, "ay":9.04394, "alpha":8.32203, "fx":[43.19877,3.7722,38.43202,76.9985], "fy":[130.68789,137.30961,131.08782,113.69717]},
- {"t":8.67527, "x":6.96889, "y":2.53369, "heading":-0.9963, "vx":0.90537, "vy":-1.3942, "omega":4.30157, "ax":1.74822, "ay":9.21383, "alpha":7.31157, "fx":[25.96954,-8.08158,23.91514,57.31947], "fy":[133.34856,134.9822,131.65485,122.42952]},
- {"t":8.71131, "x":7.00265, "y":2.48942, "heading":-0.83652, "vx":0.96838, "vy":-1.06211, "omega":4.5651, "ax":2.79545, "ay":8.2716, "alpha":2.78906, "fx":[37.28723,28.49987,42.55441,50.15775], "fy":[119.56927,120.4374,115.06352,113.92167]},
- {"t":8.74735, "x":7.03937, "y":2.45651, "heading":-0.67017, "vx":1.06913, "vy":-0.76398, "omega":4.66562, "ax":8.21261, "ay":1.83131, "alpha":-6.77007, "fx":[121.1291,121.79522,110.14732,112.57543], "fy":[-1.8107,24.61961,52.1912,28.83366]},
- {"t":8.78339, "x":7.08324, "y":2.43017, "heading":-0.5064, "vx":1.36514, "vy":-0.69797, "omega":4.42161, "ax":8.33605, "ay":2.75307, "alpha":-7.10779, "fx":[126.33585,122.64311,107.68922,115.97804], "fy":[9.56504,39.41777,67.15141,39.96212]},
- {"t":8.81944, "x":7.13786, "y":2.4068, "heading":-0.35165, "vx":1.66559, "vy":-0.59874, "omega":4.16543, "ax":6.94014, "ay":5.6022, "alpha":-6.24373, "fx":[114.15621,104.42148,82.70328,92.21832], "fy":[57.13968,77.08236,98.58138,84.8358]},
- {"t":8.85548, "x":7.2024, "y":2.38886, "heading":-0.20557, "vx":1.91573, "vy":-0.39683, "omega":3.94039, "ax":4.90752, "ay":7.13695, "alpha":-4.92466, "fx":[85.26243,76.78317,55.16231,61.04374], "fy":[88.61155,99.48815,111.85804,104.70034]},
- {"t":8.89152, "x":7.27464, "y":2.37919, "heading":-0.06675, "vx":2.09261, "vy":-0.13959, "omega":3.76289, "ax":-0.37417, "ay":7.86283, "alpha":0.46609, "fx":[-6.42544,-6.71159,-4.15992,-3.91797], "fy":[111.70542,111.14427,111.20438,111.76073]},
- {"t":8.92756, "x":7.34982, "y":2.37927, "heading":0.06918, "vx":2.07912, "vy":0.14381, "omega":3.77969, "ax":-5.12742, "ay":7.06128, "alpha":5.1707, "fx":[-77.90966,-89.73358,-66.91699,-56.15968], "fy":[99.96558,86.19043,102.04676,112.16491]},
- {"t":8.96361, "x":7.42142, "y":2.38904, "heading":0.20876, "vx":1.89432, "vy":0.39831, "omega":3.96605, "ax":-7.28119, "ay":5.1268, "alpha":6.58463, "fx":[-106.74117,-118.60218,-101.36748,-86.12551], "fy":[74.06119,48.51332,73.00929,95.10068]},
- {"t":8.99965, "x":7.48497, "y":2.40672, "heading":0.35599, "vx":1.63189, "vy":0.5831, "omega":4.20338, "ax":-8.68074, "ay":-0.31128, "alpha":7.36682, "fx":[-127.4577,-123.39908,-119.93235,-121.40066], "fy":[7.05517,-29.0321,-21.30612,25.63396]},
- {"t":9.03569, "x":7.53815, "y":2.42754, "heading":0.51227, "vx":1.31901, "vy":0.57188, "omega":4.4689, "ax":-6.8955, "ay":-5.08776, "alpha":5.85357, "fx":[-109.38193,-92.26505,-83.46724,-105.85433], "fy":[-59.58687,-84.19573,-87.62119,-57.06731]},
- {"t":9.07174, "x":7.58121, "y":2.44484, "heading":0.67715, "vx":1.07048, "vy":0.3885, "omega":4.67988, "ax":-3.74151, "ay":-7.06687, "alpha":3.99313, "fx":[-65.78523,-49.83392,-39.078,-57.44306], "fy":[-94.57362,-105.34764,-106.01444,-94.7493]},
- {"t":9.10778, "x":7.61736, "y":2.45426, "heading":0.84842, "vx":0.93562, "vy":0.13379, "omega":4.8238, "ax":5.13163, "ay":3.41583, "alpha":-7.69914, "fx":[86.71439,66.31342,56.74853,81.18246], "fy":[44.42903,68.08396,55.30928,25.85181]},
- {"t":9.14382, "x":7.65442, "y":2.4613, "heading":1.01728, "vx":1.12058, "vy":0.25691, "omega":4.54631, "ax":2.11215, "ay":8.8954, "alpha":-6.6094, "fx":[52.68884,19.81983,2.18901,45.05914], "fy":[121.12286,131.06799,130.67702,121.49291]},
- {"t":9.17986, "x":7.69618, "y":2.47633, "heading":1.17685, "vx":1.19671, "vy":0.57752, "omega":4.30808, "ax":0.40352, "ay":9.44175, "alpha":-6.95473, "fx":[31.27352,-5.25634,-25.31317,22.17492], "fy":[132.54207,136.29676,133.24265,133.25682]},
- {"t":9.21591, "x":7.73957, "y":2.50328, "heading":1.3276, "vx":1.21125, "vy":0.91783, "omega":4.05742, "ax":-0.72044, "ay":9.49176, "alpha":-7.68427, "fx":[17.09092,-23.25175,-44.25962,9.57212], "fy":[136.38343,135.58378,129.75513,136.45156]},
- {"t":9.25195, "x":7.78276, "y":2.54253, "heading":1.46885, "vx":1.18528, "vy":1.25994, "omega":3.78046, "ax":-1.55678, "ay":9.40275, "alpha":-8.40356, "fx":[5.79437,-37.51779,-58.16637,1.62185], "fy":[137.87863,132.86735,124.84656,137.53431]},
- {"t":9.28799, "x":7.82447, "y":2.59405, "heading":1.59965, "vx":1.12917, "vy":1.59884, "omega":3.47757, "ax":-2.22094, "ay":9.26175, "alpha":-9.03586, "fx":[-3.97943,-49.30346,-68.6781,-3.96423], "fy":[138.22913,129.23599,119.7723,137.89505]},
- {"t":9.32403, "x":7.86373, "y":2.65769, "heading":1.71912, "vx":1.04913, "vy":1.93265, "omega":3.15189, "ax":-3.57201, "ay":8.82739, "alpha":-9.03898, "fx":[-23.68992,-67.27292,-86.17832,-25.38854], "fy":[136.22762,120.85029,107.85776,135.56879]},
- {"t":9.36957, "x":7.90779, "y":2.75484, "heading":1.85327, "vx":0.88648, "vy":2.33459, "omega":2.74033, "ax":-9.18972, "ay":2.64906, "alpha":-3.88739, "fx":[-124.69039,-130.11823,-134.60395,-131.6356], "fy":[54.5732,41.17719,21.20751,33.24117]},
- {"t":9.4151, "x":7.93863, "y":2.86388, "heading":1.97401, "vx":0.46805, "vy":2.45521, "omega":2.56332, "ax":-8.56755, "ay":0.94494, "alpha":-8.45277, "fx":[-114.47664,-126.04837,-125.08812,-120.15865], "fy":[49.00013,21.86238,-17.83412,0.54875]},
- {"t":9.46063, "x":7.95106, "y":2.97666, "heading":2.08196, "vx":0.07795, "vy":2.49823, "omega":2.17845, "ax":-2.18128, "ay":0.02476, "alpha":-25.40257, "fx":[-20.35162,-82.09777,-50.30037,29.07316], "fy":[62.53824,14.88283,-55.82493,-20.19221]},
- {"t":9.50616, "x":7.95235, "y":3.09043, "heading":2.15482, "vx":-0.02137, "vy":2.49936, "omega":1.0218, "ax":-0.168, "ay":-0.00169, "alpha":-17.13811, "fx":[5.48031,-41.61412,-10.60891,37.21712], "fy":[39.49002,7.94747,-39.3776,-8.15579]},
- {"t":9.5517, "x":7.9512, "y":3.20423, "heading":2.18358, "vx":-0.02902, "vy":2.49928, "omega":0.24146, "ax":-0.00992, "ay":-0.00012, "alpha":-9.76554, "fx":[3.79387,-22.7243,-4.0822,22.45033], "fy":[22.58705,3.93506,-22.58767,-3.94103]},
- {"t":9.59723, "x":7.94987, "y":3.31803, "heading":2.18445, "vx":-0.02947, "vy":2.49928, "omega":-0.20319, "ax":-0.00059, "ay":-0.00001, "alpha":-5.27006, "fx":[2.10616,-12.1996,-2.123,12.18301], "fy":[12.19123,2.11445,-12.19139,-2.1147]},
- {"t":9.64276, "x":7.94853, "y":3.43183, "heading":2.16974, "vx":-0.0295, "vy":2.49928, "omega":-0.44315, "ax":-0.0001, "ay":0.0, "alpha":-2.76927, "fx":[1.20389,-6.39054,-1.20669,6.38775], "fy":[6.38913,1.20527,-6.38916,-1.20531]},
- {"t":9.68829, "x":7.94719, "y":3.54563, "heading":2.14669, "vx":-0.0295, "vy":2.49928, "omega":-0.56924, "ax":-0.00007, "ay":0.0, "alpha":-1.43746, "fx":[0.70087,-3.30218,-0.70294,3.30012], "fy":[3.30114,0.70189,-3.30116,-0.70192]},
- {"t":9.73383, "x":7.94584, "y":3.65943, "heading":2.11928, "vx":-0.02951, "vy":2.49928, "omega":-0.63469, "ax":-0.00007, "ay":0.0, "alpha":-0.74244, "fx":[0.40812,-1.69544,-0.41012,1.69345], "fy":[1.69443,0.40911,-1.69446,-0.40913]},
- {"t":9.77936, "x":7.9445, "y":3.77322, "heading":2.08961, "vx":-0.02951, "vy":2.49928, "omega":-0.66849, "ax":-0.00007, "ay":0.0, "alpha":-0.38309, "fx":[0.23597,-0.86865,-0.23792,0.8667], "fy":[0.86766,0.23693,-0.86769,-0.23696]},
- {"t":9.82489, "x":7.94315, "y":3.88702, "heading":2.05878, "vx":-0.02951, "vy":2.49928, "omega":-0.68594, "ax":-0.00007, "ay":0.0, "alpha":-0.19806, "fx":[0.13531,-0.44557,-0.13724,0.44364], "fy":[0.44459,0.13626,-0.44462,-0.13629]},
- {"t":9.87042, "x":7.94181, "y":4.00082, "heading":2.02734, "vx":-0.02952, "vy":2.49928, "omega":-0.69496, "ax":-0.00007, "ay":0.0, "alpha":-0.10295, "fx":[0.07712,-0.22971,-0.07901,0.22782], "fy":[0.22875,0.07805,-0.22877,-0.07808]},
- {"t":9.91596, "x":7.94047, "y":4.11462, "heading":1.99559, "vx":-0.02952, "vy":2.49928, "omega":-0.69964, "ax":-0.00007, "ay":0.0, "alpha":-0.05394, "fx":[0.04376,-0.11943,-0.04562,0.11757], "fy":[0.11849,0.04468,-0.11851,-0.0447]},
- {"t":9.96149, "x":7.93912, "y":4.22842, "heading":1.96368, "vx":-0.02952, "vy":2.49928, "omega":-0.7021, "ax":-0.00006, "ay":0.0, "alpha":-0.02834, "fx":[0.02454,-0.0624,-0.02637,0.06057], "fy":[0.06148,0.02545,-0.0615,-0.02547]},
- {"t":10.00702, "x":7.93778, "y":4.34222, "heading":1.93168, "vx":-0.02952, "vy":2.49928, "omega":-0.70339, "ax":-0.00006, "ay":0.0, "alpha":-0.01451, "fx":[0.01313,-0.03194,-0.01493,0.03014], "fy":[0.03103,0.01402,-0.03105,-0.01404]},
- {"t":10.05255, "x":7.93643, "y":4.45601, "heading":1.89964, "vx":-0.02953, "vy":2.49928, "omega":-0.70405, "ax":-0.00006, "ay":0.0, "alpha":-0.00609, "fx":[0.00542,-0.01372,-0.00719,0.01195], "fy":[0.01283,0.00629,-0.01284,-0.00631]},
- {"t":10.09809, "x":7.93509, "y":4.56981, "heading":1.86757, "vx":-0.02953, "vy":2.49928, "omega":-0.70433, "ax":-0.00006, "ay":0.0, "alpha":0.00085, "fx":[-0.0018,0.00089,0.00006,-0.00262], "fy":[-0.00176,-0.00094,0.00175,0.00092]},
- {"t":10.14362, "x":7.93374, "y":4.68361, "heading":1.83551, "vx":-0.02953, "vy":2.49928, "omega":-0.70429, "ax":-0.00006, "ay":0.0, "alpha":0.00946, "fx":[-0.0119,0.01841,0.0102,-0.02012], "fy":[-0.01928,-0.01106,0.01926,0.01104]},
- {"t":10.18915, "x":7.9324, "y":4.79741, "heading":1.80345, "vx":-0.02954, "vy":2.49928, "omega":-0.70386, "ax":-0.00006, "ay":0.0, "alpha":0.02343, "fx":[-0.02971,0.04598,0.02804,-0.04765], "fy":[-0.04682,-0.02889,0.0468,0.02887]},
- {"t":10.23468, "x":7.93106, "y":4.91121, "heading":1.77142, "vx":-0.02954, "vy":2.49928, "omega":-0.70279, "ax":-0.00006, "ay":0.0, "alpha":0.04899, "fx":[-0.06431,0.09509,0.06267,-0.09673], "fy":[-0.09592,-0.0635,0.0959,0.06349]},
- {"t":10.28022, "x":7.92971, "y":5.02501, "heading":1.73947, "vx":-0.02954, "vy":2.49928, "omega":-0.70056, "ax":-0.00006, "ay":0.0, "alpha":0.09793, "fx":[-0.13378,0.18676,0.13217,-0.18836], "fy":[-0.18757,-0.13298,0.18755,0.13297]},
- {"t":10.32575, "x":7.92837, "y":5.1388, "heading":1.70768, "vx":-0.02954, "vy":2.49928, "omega":-0.6961, "ax":-0.00006, "ay":0.0, "alpha":0.19166, "fx":[-0.27258,0.35785,0.27101,-0.35942], "fy":[-0.35864,-0.2718,0.35863,0.27179]},
- {"t":10.37128, "x":7.92702, "y":5.2526, "heading":1.67618, "vx":-0.02955, "vy":2.49928, "omega":-0.68738, "ax":-0.00005, "ay":0.0, "alpha":0.37341, "fx":[-0.55204,0.68093,0.55051,-0.68246], "fy":[-0.6817,-0.55128,0.68169,0.55127]},
- {"t":10.41681, "x":7.92567, "y":5.3664, "heading":1.64527, "vx":-0.02955, "vy":2.49928, "omega":-0.67037, "ax":-0.00005, "ay":0.0, "alpha":0.72434, "fx":[-1.11047,1.28792,1.10898,-1.28942], "fy":[-1.28867,-1.10973,1.28867,1.10972]},
- {"t":10.46235, "x":7.92433, "y":5.4802, "heading":1.6155, "vx":-0.02955, "vy":2.49928, "omega":-0.63739, "ax":-0.00005, "ay":0.0, "alpha":1.40037, "fx":[-2.2194,2.4257,2.21792,-2.42717], "fy":[-2.42644,-2.21867,2.42643,2.21866]},
- {"t":10.50788, "x":7.92298, "y":5.594, "heading":1.58793, "vx":-0.02955, "vy":2.49928, "omega":-0.57363, "ax":-0.00006, "ay":0.0, "alpha":2.6919, "fx":[-4.39274,4.54406,4.39096,-4.54583], "fy":[-4.54495,-4.39186,4.54494,4.39184]},
- {"t":10.55341, "x":7.92164, "y":5.7078, "heading":1.5646, "vx":-0.02956, "vy":2.49928, "omega":-0.45106, "ax":-0.00029, "ay":0.0, "alpha":5.11506, "fx":[-8.54857,8.43497,8.54026,-8.44329], "fy":[-8.43914,-8.54449,8.43912,8.54434]},
- {"t":10.59894, "x":7.92029, "y":5.82159, "heading":1.54936, "vx":-0.02957, "vy":2.49928, "omega":-0.21816, "ax":-0.00472, "ay":-0.00006, "alpha":9.48271, "fx":[-16.14368,15.33497,16.01001,-15.46902], "fy":[-15.40108,-16.07936,15.40293,16.07435]},
- {"t":10.64448, "x":7.91894, "y":5.93539, "heading":1.54926, "vx":-0.02978, "vy":2.49927, "omega":0.21361, "ax":-0.08049, "ay":-0.00102, "alpha":16.6997, "fx":[-29.44904,25.97307,27.17729,-28.26508], "fy":[-27.04668,-28.42252,27.19932,28.2121]},
- {"t":10.69001, "x":7.9175, "y":6.04919, "heading":1.5763, "vx":-0.03345, "vy":2.49923, "omega":0.97399, "ax":-1.07759, "ay":-0.02503, "alpha":26.43371, "fx":[-58.23797,28.19729,27.75747,-58.81497], "fy":[-42.03079,-47.71171,47.46059,40.86249]},
- {"t":10.73554, "x":7.91486, "y":6.16296, "heading":1.64804, "vx":-0.08251, "vy":2.49809, "omega":2.17758, "ax":-7.15734, "ay":-0.70823, "alpha":16.93769, "fx":[-111.95999,-82.90143,-93.28478,-117.66835], "fy":[-42.22804,-63.22479,44.3947,20.90198]},
- {"t":10.78107, "x":7.90368, "y":6.27597, "heading":1.76475, "vx":-0.40841, "vy":2.46584, "omega":2.9488, "ax":-9.11711, "ay":-2.36794, "alpha":6.28299, "fx":[-126.30293,-122.19755,-133.83982,-134.59127], "fy":[-49.33048,-56.26773,-12.55832,-16.10334]},
- {"t":10.82661, "x":7.87564, "y":6.38579, "heading":1.90553, "vx":-0.82353, "vy":2.35802, "omega":3.23488, "ax":-5.59858, "ay":-7.62941, "alpha":6.41059, "fx":[-76.96934,-54.23851,-85.19495,-101.03144], "fy":[-112.52942,-124.42464,-104.63985,-90.98648]},
- {"t":10.868, "x":7.83675, "y":6.47686, "heading":2.04492, "vx":-1.05527, "vy":2.04222, "omega":3.50023, "ax":-7.06588, "ay":-5.77175, "alpha":0.89624, "fx":[-99.02807,-97.91378,-101.36511,-102.32167], "fy":[-83.58289,-84.30226,-79.97739,-79.39008]},
- {"t":10.90939, "x":7.78702, "y":6.55645, "heading":2.19057, "vx":-1.34774, "vy":1.80332, "omega":3.53733, "ax":-8.80086, "ay":-1.19516, "alpha":-6.08234, "fx":[-126.55862,-128.75521,-121.72529,-121.96109], "fy":[9.22885,-10.78128,-40.144,-26.06781]},
- {"t":10.95078, "x":7.7237, "y":6.63007, "heading":2.33178, "vx":-1.71203, "vy":1.75385, "omega":3.28557, "ax":-8.72843, "ay":-2.08763, "alpha":-6.57043, "fx":[-128.59998,-128.3774,-117.49428,-120.42176], "fy":[-1.07678,-24.30907,-54.77706,-38.2037]},
- {"t":10.99218, "x":7.64535, "y":6.70087, "heading":2.46215, "vx":-2.07331, "vy":1.66744, "omega":3.0136, "ax":-7.92032, "ay":-3.96993, "alpha":-5.77689, "fx":[-121.7121,-118.22175,-102.95352,-106.18746], "fy":[-33.6926,-50.87108,-75.70612,-64.8215]},
- {"t":11.03357, "x":7.55275, "y":6.76649, "heading":2.58194, "vx":-2.40115, "vy":1.50311, "omega":2.77448, "ax":-5.61856, "ay":-5.77352, "alpha":-3.04633, "fx":[-86.24479,-85.38363,-73.6149,-73.3239], "fy":[-73.55442,-79.05221,-89.39495,-85.35155]},
- {"t":11.07496, "x":7.44855, "y":6.82376, "heading":2.69417, "vx":-2.63372, "vy":1.26413, "omega":2.64839, "ax":-0.20627, "ay":-8.31683, "alpha":4.23396, "fx":[2.47578,13.74707,-9.71587,-18.20223], "fy":[-120.85618,-117.01696,-115.39123,-118.29189]},
- {"t":11.11635, "x":7.33936, "y":6.86896, "heading":2.80742, "vx":-2.64226, "vy":0.91988, "omega":2.82364, "ax":2.42249, "ay":-8.47697, "alpha":6.24783, "fx":[39.11487,59.96146,28.38977,9.88675], "fy":[-122.50732,-111.22345,-120.11866,-126.78675]},
- {"t":11.15774, "x":7.23206, "y":6.89978, "heading":2.92965, "vx":-2.54198, "vy":0.569, "omega":3.08225, "ax":6.68006, "ay":-5.23093, "alpha":8.03418, "fx":[93.35286,112.95196,100.68402,71.76403], "fy":[-84.58194,-52.1796,-61.20757,-98.61946]},
- {"t":11.19914, "x":7.13257, "y":6.91885, "heading":3.06411, "vx":-2.26548, "vy":0.35248, "omega":3.4148, "ax":8.35717, "ay":0.52724, "alpha":6.25151, "fx":[121.89369,121.01976,114.35105,116.5788], "fy":[-10.32016,20.85958,29.51338,-10.15887]},
- {"t":11.24053, "x":7.04595, "y":6.93389, "heading":-3.07237, "vx":-1.91956, "vy":0.37431, "omega":3.67357, "ax":6.77116, "ay":5.11447, "alpha":2.7577, "fx":[102.70824,96.04527,88.79535,96.36969], "fy":[63.91788,75.26938,81.19532,69.60318]},
- {"t":11.28192, "x":6.9723, "y":6.95376, "heading":-2.91795, "vx":-1.63929, "vy":0.58601, "omega":3.78772, "ax":3.83381, "ay":7.65674, "alpha":-0.26271, "fx":[53.38175,54.18349,55.30497,54.50296], "fy":[109.02816,108.45176,108.03339,108.61654]},
- {"t":11.32331, "x":6.90773, "y":6.98458, "heading":-2.7614, "vx":-1.4806, "vy":0.90294, "omega":3.77684, "ax":0.27289, "ay":8.54611, "alpha":-3.01631, "fx":[-7.33265,-1.13572,15.81326,8.12796], "fy":[121.98859,119.87516,119.97661,122.71616]},
- {"t":11.36471, "x":6.84668, "y":7.02928, "heading":-2.60765, "vx":-1.4693, "vy":1.25668, "omega":3.65199, "ax":-3.78678, "ay":7.58955, "alpha":-5.97531, "fx":[-69.3364,-68.72916,-34.24146,-42.39998], "fy":[102.34206,97.15357,114.47445,116.35027]},
- {"t":11.4061, "x":6.78262, "y":7.08779, "heading":-2.4616, "vx":-1.62605, "vy":1.57083, "omega":3.40466, "ax":-7.44013, "ay":4.09916, "alpha":-8.19926, "fx":[-115.32201,-118.86184,-94.5301,-93.13413], "fy":[51.12549,27.09473,71.0746,83.12391]},
- {"t":11.44749, "x":6.70894, "y":7.15633, "heading":-2.3277, "vx":-1.93401, "vy":1.7405, "omega":3.06527, "ax":-8.67526, "ay":-1.27624, "alpha":-7.55256, "fx":[-128.07437,-117.61131,-120.42286,-125.7704], "fy":[-15.61578,-48.63745,-22.74804,14.63987]},
- {"t":11.48888, "x":6.62145, "y":7.22727, "heading":-2.20729, "vx":-2.2931, "vy":1.68767, "omega":2.75266, "ax":-7.76514, "ay":-3.96381, "alpha":-6.17292, "fx":[-116.42912,-99.93927,-103.67702,-120.23041], "fy":[-51.45223,-76.91861,-64.1909,-32.18255]},
- {"t":11.53027, "x":6.51989, "y":7.29374, "heading":-2.09864, "vx":-2.61451, "vy":1.5236, "omega":2.49715, "ax":-5.91667, "ay":-5.24763, "alpha":-4.17623, "fx":[-90.65387,-75.87451,-76.316,-92.62507], "fy":[-71.54038,-85.55912,-78.52519,-61.91085]},
- {"t":11.57167, "x":6.4066, "y":7.35231, "heading":-1.99886, "vx":-2.85942, "vy":1.30639, "omega":2.32428, "ax":-2.47044, "ay":-6.78679, "alpha":0.3172, "fx":[-34.11667,-35.63469,-35.91072,-34.40971], "fy":[-96.29406,-95.70135,-96.1111,-96.69811]},
- {"t":11.61306, "x":6.28612, "y":7.40057, "heading":-1.90238, "vx":-2.96167, "vy":1.02547, "omega":2.33741, "ax":-1.79642, "ay":-6.34329, "alpha":-0.14969, "fx":[-25.86405,-25.17628,-25.06199,-25.75308], "fy":[-89.93466,-90.14516,-89.89517,-89.68375]},
- {"t":11.65445, "x":6.16199, "y":7.43758, "heading":-1.80576, "vx":-3.03603, "vy":0.76291, "omega":2.33122, "ax":-6.55279, "ay":3.00793, "alpha":-13.28577, "fx":[-113.66118,-96.93425,-65.64522,-95.2964], "fy":[16.84372,6.43633,80.53064,66.73585]},
- {"t":11.69584, "x":6.03071, "y":7.47173, "heading":-1.72064, "vx":-3.30726, "vy":0.88741, "omega":1.78129, "ax":-8.20038, "ay":2.3179, "alpha":-14.06157, "fx":[-130.63544,-123.2625,-94.55845,-116.4974], "fy":[1.70777,-13.16346,82.97824,59.89994]},
- {"t":11.73723, "x":5.88679, "y":7.51045, "heading":-1.65896, "vx":-3.6467, "vy":0.98336, "omega":1.19925, "ax":-8.94411, "ay":0.11613, "alpha":-13.55669, "fx":[-132.50224,-121.99157,-122.08209,-130.5464], "fy":[-25.77292,-51.31223,49.73907,33.93062]},
- {"t":11.77863, "x":5.72819, "y":7.55125, "heading":-1.62093, "vx":-4.01691, "vy":0.98816, "omega":0.63811, "ax":-8.9647, "ay":-1.6896, "alpha":-13.2486, "fx":[-128.46743,-110.29198,-133.50986,-136.02061], "fy":[-46.96462,-78.77532,17.33735,12.60415]},
- {"t":11.82002, "x":5.55424, "y":7.59071, "heading":-1.60587, "vx":-4.38798, "vy":0.91823, "omega":0.08973, "ax":-2.20921, "ay":-9.07384, "alpha":-1.48417, "fx":[-34.79517,-26.09841,-27.56535,-36.80138], "fy":[-128.07726,-130.0451,-129.28587,-127.07008]},
- {"t":11.8804, "x":5.28525, "y":7.62961, "heading":-1.60316, "vx":-4.52138, "vy":0.37031, "omega":0.00011, "ax":-0.25167, "ay":-6.01349, "alpha":-0.00038, "fx":[-3.56817,-3.56644,-3.56642,-3.56816], "fy":[-85.24016,-85.24022,-85.23944,-85.23937]},
- {"t":11.94079, "x":5.01177, "y":7.64101, "heading":-1.60315, "vx":-4.53658, "vy":0.00719, "omega":0.00008, "ax":0.00053, "ay":-0.14057, "alpha":-0.00019, "fx":[0.00715,0.00779,0.00781,0.00717], "fy":[-1.99283,-1.99285,-1.99221,-1.99219]},
- {"t":12.00117, "x":4.73783, "y":7.64119, "heading":-1.60315, "vx":-4.53655, "vy":-0.0013, "omega":0.00007, "ax":6.67, "ay":1.05897, "alpha":2.8459, "fx":[96.60222,91.26331,92.60288,97.71408], "fy":[20.63826,23.04763,8.78848,7.56815]},
- {"t":12.06156, "x":4.47606, "y":7.64304, "heading":-1.59795, "vx":-4.13378, "vy":0.06265, "omega":0.17192, "ax":9.75045, "ay":-0.00981, "alpha":-0.63317, "fx":[138.19792,138.2179,138.22419,138.20107], "fy":[-2.20657,-2.25302,1.8657,2.0379]},
- {"t":12.12194, "x":4.24422, "y":7.6468, "heading":-1.58873, "vx":-3.54501, "vy":0.06206, "omega":0.13369, "ax":9.77451, "ay":-0.04981, "alpha":-0.60365, "fx":[138.53605,138.54612,138.56705,138.55609], "fy":[-2.70782,-2.70166,1.23837,1.3472]},
- {"t":12.18232, "x":4.04797, "y":7.65046, "heading":-1.58176, "vx":-2.95478, "vy":0.05905, "omega":0.09723, "ax":9.7826, "ay":-0.08637, "alpha":-0.52191, "fx":[138.64753,138.65403,138.68429,138.67837], "fy":[-2.97182,-2.93618,0.48023,0.53072]},
- {"t":12.24271, "x":3.88739, "y":7.65387, "heading":-1.57684, "vx":-2.36407, "vy":0.05383, "omega":0.06572, "ax":9.78647, "ay":-0.12695, "alpha":-0.42694, "fx":[138.70017,138.70482,138.74095,138.73745], "fy":[-3.23929,-3.19088,-0.38866,-0.37939]},
- {"t":12.30309, "x":3.76248, "y":7.65689, "heading":-1.57365, "vx":-1.77312, "vy":0.04617, "omega":0.03994, "ax":9.78835, "ay":-0.17653, "alpha":-0.32589, "fx":[138.72632,138.72976,138.76815,138.76583], "fy":[-3.60776,-3.55819,-1.41372,-1.42969]},
- {"t":12.36348, "x":3.67325, "y":7.65935, "heading":-1.57183, "vx":-1.18206, "vy":0.03551, "omega":0.02026, "ax":9.7887, "ay":-0.2433, "alpha":-0.22037, "fx":[138.73317,138.73566,138.77158,138.76983], "fy":[-4.20062,-4.15817,-2.70457,-2.73167]},
- {"t":12.42386, "x":3.61972, "y":7.66105, "heading":-1.57101, "vx":-0.59098, "vy":0.02081, "omega":0.00695, "ax":9.78692, "ay":-0.34471, "alpha":-0.11515, "fx":[138.71303,138.71466,138.74138,138.74004], "fy":[-5.28213,-5.25333,-4.49222,-4.51683]},
- {"t":12.48424, "x":3.60188, "y":7.66168, "heading":-1.5708, "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":"hoodDown"}}},
- {"name":"Marker", "from":{"target":1, "targetTimestamp":1.51517, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"hoodUp"}}},
- {"name":"Marker", "from":{"target":10, "targetTimestamp":11.82002, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"hoodDown"}}},
- {"name":"Marker", "from":{"target":11, "targetTimestamp":12.48424, "offset":{"exp":"-0.2 s", "val":-0.2}}, "event":{"type":"named", "data":{"name":"hoodUp"}}}]
-}
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Center Drop Back Path"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Left Bump Edge Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 0.1
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Full Depot Outpost Left Path"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": "Week 2 autos",
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Depot Center Path"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 5.5
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "BookItToNeutral"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Left Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "DirectSwipe1"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe2"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": "Week 5 autos",
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Kousha S1"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Kousha S2"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Drop Back Path"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Left Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 0.1
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Full Left Path v3"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": "Week 2 autos",
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "New - Kousha 0416 #2 0.5"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "New - Kousha 0416 #2 0.5"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "New - Kousha 0416 #1"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Left Bump Depot Center Path"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 4.5
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "BookItToNeutral"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Left Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "LeftConservativeSwipe1"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Reset Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe2"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Left Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe1 Bump"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Reset Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe2"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 0.5
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Left Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe1"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Reset Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe2"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 0.5
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Left Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Swipe1Translation"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Reset Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Swipe2Translation"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": "Week 5 autos",
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Left Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe3"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Reset Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe2"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "LeftConservativeSwipe1"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe1"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe3"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Left Swipe2"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Left Trench Depot Center Path"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 4.5
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "BookItToNeutral"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "New - Kousha 0416 #1"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Right Drop Back Path"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Right Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 0.1
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Full Right Path v3"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": "Week 2 autos",
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Right Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "RightConservativeSwipe1"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Reset Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Right Swipe2"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.0
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Right Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Right Swipe1"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Reset Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Right Swipe2"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 0.5
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "W5 Right Trench Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Right Swipe3"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Reset Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Right Swipe2"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 1.5
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Intake Seizure"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 0.5
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "RightConservativeSwipe1"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Right Swipe1"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Right Swipe3"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Right Swipe2"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": null,
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Left Bump Edge Start"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 0.1
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- },
- {
- "type": "wait",
- "data": {
- "waitTime": 2.0
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": "Week 2 autos",
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Random default auto"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": "Testing",
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "Velocity TEST"
- }
- }
- ]
- }
- },
- "resetOdom": true,
- "folder": "Week 2 autos",
- "choreoAuto": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 1.5352,
- "y": 7.408
- },
- "prevControl": null,
- "nextControl": {
- "x": 2.5351999999999997,
- "y": 7.408
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.8611506524317925,
- "y": 7.408
- },
- "prevControl": {
- "x": 6.8611506524317925,
- "y": 7.408
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Stop Intake Seizure",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Intake Seizure"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 0.6051743532058476,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.543,
- "y": 4.217
- },
- "prevControl": null,
- "nextControl": {
- "x": 2.044649240494815,
- "y": 4.241017071760963
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 2.2,
- "y": 4.217
- },
- "prevControl": {
- "x": 2.5070000000000006,
- "y": 4.217
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.543,
- "y": 4.217
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.5036773428232504,
- "y": 6.55803084223013
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.1575682087781738,
- "y": 4.9871886120996445
- },
- "prevControl": {
- "x": 0.1575682087781738,
- "y": 4.216722182324977
- },
- "nextControl": {
- "x": 0.1575682087781738,
- "y": 5.41755634638197
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.38351126927639445,
- "y": 7.257378410438909
- },
- "prevControl": {
- "x": 0.06367204449278147,
- "y": 7.034460162862452
- },
- "nextControl": {
- "x": 0.7385646500593126,
- "y": 7.504839857651245
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.5354,
- "y": 7.408
- },
- "prevControl": {
- "x": 0.932230130486359,
- "y": 7.41876631079478
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 0.89,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 2.0454545454545388,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 3.0,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.5061867266591578,
- "maxWaypointRelativePos": 2.3284589426321785,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 1.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.9988974641675645,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 1.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 1.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 3.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 3.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 180.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623190984573506
- },
- "prevControl": null,
- "nextControl": {
- "x": 7.05559305204347,
- "y": 7.1393105448289385
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.678244365361804,
- "y": 6.364365361803084
- },
- "prevControl": {
- "x": 7.555116359470672,
- "y": 6.629895424661244
- },
- "nextControl": {
- "x": 7.804590465430033,
- "y": 6.091895360764787
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.699157769869515,
- "y": 6.536512455516014
- },
- "prevControl": {
- "x": 6.8860851430626155,
- "y": 6.1598703844515175
- },
- "nextControl": {
- "x": 6.2963922199408735,
- "y": 7.34804930155004
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.6124792408066435,
- "y": 7.408007117437722
- },
- "prevControl": {
- "x": 5.93853054547692,
- "y": 7.303899970283091
- },
- "nextControl": {
- "x": 5.324138304321591,
- "y": 7.500073463670289
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": {
- "x": 4.5311698343686535,
- "y": 7.430992876119471
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.1,
- "rotationDegrees": -56.57915082012972
- },
- {
- "waypointRelativePos": 2.0994671403197227,
- "rotationDegrees": -74.10500133422103
- },
- {
- "waypointRelativePos": 2.86,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.7761529808773961,
- "maxWaypointRelativePos": 1.3,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 1.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 150.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 3.9685039370078883,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 4.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 3.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.6,
- "y": 6.05
- },
- "prevControl": null,
- "nextControl": {
- "x": 2.497585358790806,
- "y": 7.371426793985635
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.3498603153880282,
- "y": 7.307390914356006
- },
- "prevControl": {
- "x": 2.622835865156547,
- "y": 7.374641710073599
- },
- "nextControl": {
- "x": 0.9474568787738418,
- "y": 7.28613209967043
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.4457471788194449,
- "y": 6.314113064236111
- },
- "prevControl": {
- "x": 0.5182848753058401,
- "y": 7.712424199882634
- },
- "nextControl": {
- "x": 0.4069057436342598,
- "y": 5.565365668402778
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.3498603153880282,
- "y": 5.474232638888889
- },
- "prevControl": {
- "x": 0.6358208912037042,
- "y": 5.63668431712963
- },
- "nextControl": {
- "x": 1.9579748272262023,
- "y": 5.335880021841852
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 2.3516675347222225,
- "y": 4.181836371527778
- },
- "prevControl": {
- "x": 2.022761935763889,
- "y": 5.547716435185186
- },
- "nextControl": {
- "x": 2.5079680193043496,
- "y": 3.5327512951202924
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 2.10549681712963,
- "y": 2.418553313078704
- },
- "prevControl": {
- "x": 2.526913266782408,
- "y": 3.2032552806712964
- },
- "nextControl": {
- "x": 1.6009065790249482,
- "y": 1.4789769083251625
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.5986554542824076,
- "y": 0.6042908709490746
- },
- "prevControl": {
- "x": 1.6121712239583337,
- "y": 1.1026028645833332
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.3,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 3.8,
- "rotationDegrees": -90.0
- }
- ],
- "constraintZones": [
- {
- "name": "Depot",
- "minWaypointRelativePos": 6.0,
- "maxWaypointRelativePos": 6.5,
- "constraints": {
- "maxVelocity": 0.5,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- },
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.4,
- "maxWaypointRelativePos": 0.8,
- "constraints": {
- "maxVelocity": 0.3,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- },
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 1.0,
- "maxWaypointRelativePos": 5.0,
- "constraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 1.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 0.2,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- },
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.2,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 0.2,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 0.2,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 1.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 1.4,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 5.4,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 5.6,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 0.75,
- "maxAcceleration": 0.75,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 150.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.0,
- "rotation": 180.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.696241721854304,
- "y": 7.623190984573506
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.785884183141178,
- "y": 7.490581532356668
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.667485172004747,
- "y": 6.428920521945433
- },
- "prevControl": {
- "x": 7.642160343339249,
- "y": 6.6776345204518766
- },
- "nextControl": {
- "x": 7.9046446321955335,
- "y": 4.099788174920342
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.667485172004747,
- "y": 4.6644128113879
- },
- "prevControl": {
- "x": 7.6169594963016465,
- "y": 5.113190381183536
- },
- "nextControl": {
- "x": 7.696238889728087,
- "y": 4.409017442936094
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.236512455516015,
- "y": 5.084021352313167
- },
- "prevControl": {
- "x": 6.581262461023123,
- "y": 4.633009890316522
- },
- "nextControl": {
- "x": 5.730020148249949,
- "y": 5.746628552722371
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.236512455516015,
- "y": 6.808294701986754
- },
- "prevControl": {
- "x": 6.825847617882709,
- "y": 6.047265328866834
- },
- "nextControl": {
- "x": 5.336986754966887,
- "y": 7.969884105960265
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.6955278766310802,
- "y": 7.623190984573506
- },
- "prevControl": {
- "x": 0.05365961489070481,
- "y": 7.556400025312338
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.087033747779748,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 2.5364120781527437,
- "rotationDegrees": 155.02674741986806
- },
- {
- "waypointRelativePos": 3.85,
- "rotationDegrees": 138.60721817200425
- },
- {
- "waypointRelativePos": 4.4,
- "rotationDegrees": 180.0
- },
- {
- "waypointRelativePos": 4.660237388724038,
- "rotationDegrees": 180.0
- },
- {
- "waypointRelativePos": 5,
- "rotationDegrees": 180.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.9718785151856066,
- "maxWaypointRelativePos": 2.4701912260967447,
- "constraints": {
- "maxVelocity": 0.3,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- },
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 2.767154105736777,
- "maxWaypointRelativePos": 4.467941507311604,
- "constraints": {
- "maxVelocity": 3.5,
- "maxAcceleration": 1.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- },
- {
- "name": "Depot",
- "minWaypointRelativePos": 4.727915194346288,
- "maxWaypointRelativePos": 5.5,
- "constraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.17547806524185328,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 0.39145106861638246,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 2.9156355455568033,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 3.3745781777277815,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 4.52,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 4.54,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 1.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 150.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.0,
- "rotation": 180.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.7,
- "y": 0.4481350154264931
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.893921116983211,
- "y": 0.4481350154264931
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.667485172004747,
- "y": 1.642405478054566
- },
- "prevControl": {
- "x": 7.665365003292386,
- "y": 1.3845651641599017
- },
- "nextControl": {
- "x": 7.684288184321054,
- "y": 3.6858720874587565
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.667485172004747,
- "y": 3.406913188612099
- },
- "prevControl": {
- "x": 7.722519349903317,
- "y": 3.1630459311480665
- },
- "nextControl": {
- "x": 7.611361211994106,
- "y": 3.655609484776302
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.236512455516015,
- "y": 2.987304647686832
- },
- "prevControl": {
- "x": 7.118832485314941,
- "y": 3.517259257915697
- },
- "nextControl": {
- "x": 5.563661514586408,
- "y": 2.583165054229189
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.236512455516015,
- "y": 1.0398906500593113
- },
- "prevControl": {
- "x": 6.607692290036552,
- "y": 1.9733939152629345
- },
- "nextControl": {
- "x": 5.905339551755663,
- "y": 0.2070033047470511
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.6955278766310802,
- "y": 0.4481350154264931
- },
- "prevControl": {
- "x": -0.09030729073703303,
- "y": 0.4481350154264932
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.087033747779748,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 2.5364120781527437,
- "rotationDegrees": -155.02674741986806
- },
- {
- "waypointRelativePos": 3.85,
- "rotationDegrees": -138.60721817200425
- },
- {
- "waypointRelativePos": 4.4,
- "rotationDegrees": -180.0
- },
- {
- "waypointRelativePos": 4.660237388724038,
- "rotationDegrees": -180.0
- },
- {
- "waypointRelativePos": 5,
- "rotationDegrees": -180.0
- }
- ],
- "constraintZones": [
- {
- "name": "Depot",
- "minWaypointRelativePos": 4.953880764904385,
- "maxWaypointRelativePos": 5.5,
- "constraints": {
- "maxVelocity": 0.5,
- "maxAcceleration": 2,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 300,
- "nominalVoltage": 12,
- "unlimited": false
- }
- },
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.9718785151856066,
- "maxWaypointRelativePos": 2.4701912260967447,
- "constraints": {
- "maxVelocity": 0.3,
- "maxAcceleration": 2,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 300,
- "nominalVoltage": 12,
- "unlimited": false
- }
- },
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 2.767154105736777,
- "maxWaypointRelativePos": 4.467941507311604,
- "constraints": {
- "maxVelocity": 2,
- "maxAcceleration": 1,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 300,
- "nominalVoltage": 12,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 0.0944881889763795,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- },
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.17547806524185328,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 0.3104611923509808,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 0.39145106861638246,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 2.9156355455568033,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 3.3745781777277815,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 4.52,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 4.544431946006741,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 1.5,
- "maxAcceleration": 1.5,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 150,
- "nominalVoltage": 12,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": -180.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.381592574499267,
- "y": 7.595268685881777
- },
- "prevControl": null,
- "nextControl": {
- "x": 4.216148283887304,
- "y": 7.595268685881777
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.123556424035175,
- "y": 6.764110893991207
- },
- "prevControl": {
- "x": 6.055007327796776,
- "y": 7.732366878358572
- },
- "nextControl": {
- "x": 6.194176127540517,
- "y": 5.766607581978255
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.123556424035175,
- "y": 1.5543795798729834
- },
- "prevControl": {
- "x": 6.123556424035175,
- "y": 2.5954249007095656
- },
- "nextControl": {
- "x": 6.123556424035175,
- "y": 0.5857824267034357
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.5469272105520275,
- "y": 0.5775549584758164
- },
- "prevControl": {
- "x": 5.560347414214745,
- "y": 0.5775549584758162
- },
- "nextControl": {
- "x": 3.5335070068893097,
- "y": 0.5775549584758165
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 2.6532584269662918,
- "y": 0.5775549584758164
- },
- "prevControl": {
- "x": 2.9032584269662918,
- "y": 0.5775549584758164
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 4.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": -0.4151795411448859
- },
- "reversed": false,
- "folder": "Field Testing Autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.436754966887417,
- "y": 7.6431870860927145
- },
- "prevControl": null,
- "nextControl": {
- "x": 5.436754966887418,
- "y": 7.6431870860927145
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.921523178807947,
- "y": 6.750215231788079
- },
- "prevControl": {
- "x": 7.9078401005687935,
- "y": 7.287276052674142
- },
- "nextControl": {
- "x": 7.9796026490066865,
- "y": 4.4705960264905045
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.534875827814634,
- "y": 4.819072847682557
- },
- "prevControl": {
- "x": 7.224569536423906,
- "y": 4.753733443709048
- },
- "nextControl": {
- "x": 5.615154835282087,
- "y": 4.906204310133009
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.213567880794766,
- "y": 5.42890728476865
- },
- "prevControl": {
- "x": 5.888741721854368,
- "y": 5.153029801324941
- },
- "nextControl": {
- "x": 4.393659545209185,
- "y": 5.7639235939326525
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.3,
- "y": 5.75
- },
- "prevControl": {
- "x": 4.100683433038495,
- "y": 5.703196560889764
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.002386634844876,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 1.6658711217183793,
- "rotationDegrees": -171.29413327946216
- },
- {
- "waypointRelativePos": 2.6348448687350827,
- "rotationDegrees": 90.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 2.446143154968738,
- "maxWaypointRelativePos": 3.6302988186240435,
- "constraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 0.005559416261295088,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 0.01667824878387202,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 0.41695621959694984,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.4447533009034007,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 0.9506601806810285,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 1.2119527449617822,
- "endWaypointRelativePos": null,
- "command": null
- }
- ],
- "globalConstraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 90.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.3,
- "y": 5.75
- },
- "prevControl": null,
- "nextControl": {
- "x": 2.9339486754966884,
- "y": 5.748344370860926
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.088278145695364,
- "y": 7.599627483443708
- },
- "prevControl": {
- "x": 3.0882889621775207,
- "y": 7.59497637096223
- },
- "nextControl": {
- "x": 5.649163907284769,
- "y": 7.606887417218543
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.925041390728477,
- "y": 6.677615894039734
- },
- "prevControl": {
- "x": 5.927124705977556,
- "y": 7.17761155381847
- },
- "nextControl": {
- "x": 5.922958075479399,
- "y": 6.177620234260998
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.801622516552661,
- "y": 4.390736754963256
- },
- "prevControl": {
- "x": 5.824062934803918,
- "y": 5.123790417837672
- },
- "nextControl": {
- "x": 5.779842715228158,
- "y": 3.6792632450294818
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.868832781456953,
- "y": 4.811812913907284
- },
- "prevControl": {
- "x": 6.9559519867549655,
- "y": 3.7155629139072834
- },
- "nextControl": {
- "x": 6.78171357615894,
- "y": 5.908062913907284
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.489445364238411,
- "y": 5.552326158940397
- },
- "prevControl": {
- "x": 6.081129966887417,
- "y": 5.6212955298013245
- },
- "nextControl": {
- "x": 4.897760761589405,
- "y": 5.483356788079469
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.3,
- "y": 5.552326158940397
- },
- "prevControl": {
- "x": 3.83542011589404,
- "y": 5.492431705298013
- },
- "nextControl": {
- "x": 2.7645798841059595,
- "y": 5.612220612582781
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.384064569536424,
- "y": 7.505248344370861
- },
- "prevControl": {
- "x": 2.9266887417218546,
- "y": 7.338269867549668
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.1026252983293603,
- "rotationDegrees": 0.0
- },
- {
- "waypointRelativePos": 2.0095465393794885,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 2.983293556085921,
- "rotationDegrees": -75.19021917064742
- },
- {
- "waypointRelativePos": 3.326968973747023,
- "rotationDegrees": 57.25248324201524
- },
- {
- "waypointRelativePos": 3.646778042959423,
- "rotationDegrees": 64.7436522905489
- },
- {
- "waypointRelativePos": 3.9260143198090636,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 4.853221957040566,
- "rotationDegrees": 45.0
- },
- {
- "waypointRelativePos": 5.939140811455842,
- "rotationDegrees": 45.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.0,
- "maxWaypointRelativePos": 1.0368311327310604,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- },
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 5.662265462126515,
- "maxWaypointRelativePos": 7.0,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 0.9631688672689134,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 1.002084781098009,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 5.86657400972897,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 5.944405837387076,
- "endWaypointRelativePos": null,
- "command": null
- }
- ],
- "globalConstraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 1.8279682443049239
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 90.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.568232502965599,
- "y": 6.041589561086512
- },
- "prevControl": null,
- "nextControl": {
- "x": 2.1695373665480435,
- "y": 6.353606168446026
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.12529062871188268,
- "y": 4.847319098461843
- },
- "prevControl": {
- "x": 0.33332537129000794,
- "y": 3.6429074309042764
- },
- "nextControl": {
- "x": -0.07913404507222188,
- "y": 6.030830367738237
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.534744958481614,
- "y": 7.408007117443102
- },
- "prevControl": {
- "x": 0.157568208783057,
- "y": 7.827615658366945
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 0.5,
- "rotationDegrees": 89.56096047431873
- },
- {
- "waypointRelativePos": 1.35,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 1.5417406749555937,
- "rotationDegrees": 58.875208713955935
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.0,
- "maxWaypointRelativePos": 1.8,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 1.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 2.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 180.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.6,
- "y": 6.05
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.8500000000000227,
- "y": 6.05
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.495,
- "y": 6.05
- },
- "prevControl": {
- "x": 3.245,
- "y": 6.05
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.001456767975733,
- "y": 7.623
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.2,
- "y": 7.623
- },
- "prevControl": {
- "x": 3.5070000000000006,
- "y": 7.623
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623190984573506
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.348201219731569,
- "y": 7.398522949592349
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 8.182880794701987,
- "y": 6.924453642384106
- },
- "prevControl": {
- "x": 8.093113720311207,
- "y": 7.15778146403279
- },
- "nextControl": {
- "x": 8.386736239095766,
- "y": 6.394580667304612
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.983041059705947,
- "y": 5.528804199218751
- },
- "prevControl": {
- "x": 8.55671378893142,
- "y": 5.911793106342707
- },
- "nextControl": {
- "x": 7.775118932021209,
- "y": 5.389993577078183
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.168639049388745,
- "y": 5.528804199218751
- },
- "prevControl": {
- "x": 7.41829654935109,
- "y": 5.515722428981051
- },
- "nextControl": {
- "x": 5.921706780327692,
- "y": 5.5941420378508395
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 2.1743586589671953,
- "y": 6.332585504602503
- },
- "prevControl": {
- "x": 2.4952956574714373,
- "y": 4.763190617315148
- },
- "nextControl": {
- "x": 1.9816571767447497,
- "y": 7.274903537057722
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623190984573506
- },
- "prevControl": {
- "x": 3.405986634610018,
- "y": 7.462622847315379
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 0.5,
- "rotationDegrees": 0.0
- },
- {
- "waypointRelativePos": 1.15,
- "rotationDegrees": -101.33234295737161
- },
- {
- "waypointRelativePos": 3.3498920641447336,
- "rotationDegrees": 179.39787584122604
- },
- {
- "waypointRelativePos": 3.5838863975123343,
- "rotationDegrees": 178.04249394992306
- },
- {
- "waypointRelativePos": 4.176755447941895,
- "rotationDegrees": 49.5862098925657
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.7761529808773961,
- "maxWaypointRelativePos": 1.642294713160863,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 150.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 5.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 5.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.341153730575683,
- "y": 7.3388762426119305
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 8.182880794701987,
- "y": 6.924453642384106
- },
- "prevControl": {
- "x": 8.031951473995347,
- "y": 7.123753266445548
- },
- "nextControl": {
- "x": 8.333810115408626,
- "y": 6.725154018322663
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 8.023162251655629,
- "y": 5.668485099337747
- },
- "prevControl": {
- "x": 8.618618682530846,
- "y": 5.7310165129163355
- },
- "nextControl": {
- "x": 7.627292843251787,
- "y": 5.626913168266943
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.311688741721855,
- "y": 6.27831953642384
- },
- "prevControl": {
- "x": 7.433678730378213,
- "y": 5.997765220428201
- },
- "nextControl": {
- "x": 7.0916784354147495,
- "y": 6.784302377129385
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.6124792408066435,
- "y": 7.408007117437722
- },
- "prevControl": {
- "x": 5.877242530931041,
- "y": 7.381065257813595
- },
- "nextControl": {
- "x": 4.284691670946883,
- "y": 7.543120509860877
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": {
- "x": 4.397534345753931,
- "y": 7.5120104256577624
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.15,
- "rotationDegrees": -101.33234295737161
- },
- {
- "waypointRelativePos": 3.0994671403197227,
- "rotationDegrees": -74.10500133422103
- },
- {
- "waypointRelativePos": 4.176755447941895,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.7761529808773961,
- "maxWaypointRelativePos": 1.642294713160863,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 150.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": null,
- "nextControl": {
- "x": 5.75,
- "y": 7.5
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.258030842230131,
- "y": 6.330122034143519
- },
- "prevControl": {
- "x": 6.372678524731828,
- "y": 7.323528249594676
- },
- "nextControl": {
- "x": 6.1659787419563115,
- "y": 5.532503394482046
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.258030842230131,
- "y": 4.449228944246738
- },
- "prevControl": {
- "x": 5.653713425517404,
- "y": 4.619355154982582
- },
- "nextControl": {
- "x": 6.687014708632405,
- "y": 4.3284622781876605
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.892823250296561,
- "y": 5.546666666666668
- },
- "prevControl": {
- "x": 6.892823250296561,
- "y": 4.907866997335997
- },
- "nextControl": {
- "x": 6.892823250296561,
- "y": 6.2753696930420535
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.376611255787037,
- "y": 7.154124710648148
- },
- "prevControl": {
- "x": 6.541849794830491,
- "y": 6.966518140361323
- },
- "nextControl": {
- "x": 6.2113727167435835,
- "y": 7.3417312809349715
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": {
- "x": 5.5,
- "y": 7.5
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.2433392539964518,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 3.0373001776198882,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 4.129662522202486,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.042846975088969,
- "y": 7.558635824436536
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.064365361803085,
- "y": 5.9124792408066424
- },
- "prevControl": {
- "x": 6.179013044304782,
- "y": 6.905885456257799
- },
- "nextControl": {
- "x": 5.972313261529266,
- "y": 5.114860601145169
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.376381969157771,
- "y": 4.363155397390273
- },
- "prevControl": {
- "x": 5.772064552445045,
- "y": 4.533281608126116
- },
- "nextControl": {
- "x": 6.805365835560045,
- "y": 4.242388731331195
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.021933570581259,
- "y": 5.3422419928825615
- },
- "prevControl": {
- "x": 7.021933570581259,
- "y": 4.703442323551891
- },
- "nextControl": {
- "x": 7.021933570581259,
- "y": 6.070945019257947
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.5915658362989324,
- "y": 7.19282325029656
- },
- "prevControl": {
- "x": 6.756804375342386,
- "y": 7.0052166800097355
- },
- "nextControl": {
- "x": 6.426327297255479,
- "y": 7.380429820583384
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": {
- "x": 5.5,
- "y": 7.5
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.2433392539964518,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 3.0373001776198882,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 4.129662522202486,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 5.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 5.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 2.836607354685647,
- "y": 6.8485290628707
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.10377224199288304,
- "y": 6.622586002372479
- },
- "prevControl": {
- "x": 0.10377224199288315,
- "y": 7.93520759193357
- },
- "nextControl": {
- "x": 0.10377224199288304,
- "y": 5.953350337515722
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.4803440094899176,
- "y": 4.61061684460261
- },
- "prevControl": {
- "x": 0.2616461704685724,
- "y": 4.489491887606174
- },
- "nextControl": {
- "x": 1.1796915776986958,
- "y": 4.997947805456701
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.3518386714116257,
- "y": 5.923238434163701
- },
- "prevControl": {
- "x": 0.9099310791445863,
- "y": 5.2840857560171
- },
- "nextControl": {
- "x": 1.5452491103202861,
- "y": 6.202977461447212
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.535,
- "y": 7.408
- },
- "prevControl": {
- "x": 1.7391696322657184,
- "y": 6.536512455516014
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 0.3481349911189977,
- "rotationDegrees": 0.0
- },
- {
- "waypointRelativePos": 0.5186500888099518,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 1.8741258741258744,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 2.6287744227353658,
- "rotationDegrees": -90.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.4769403824521941,
- "maxWaypointRelativePos": 3.1136107986502153,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 1.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 0.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- },
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 0.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 4.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 4.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.6,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.8500000000000223,
- "y": 7.623
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.7,
- "y": 7.623
- },
- "prevControl": {
- "x": 3.449999999999994,
- "y": 7.623
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0,
- "maxWaypointRelativePos": 1.0,
- "constraints": {
- "maxVelocity": 0.5,
- "maxAcceleration": 0.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.819805487632309,
- "y": 6.77562980981629
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.159230132450332,
- "y": 6.641316225165562
- },
- "prevControl": {
- "x": 6.869067715509156,
- "y": 6.9193627325227665
- },
- "nextControl": {
- "x": 7.339735203900921,
- "y": 6.46834825361991
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.398505338078292,
- "y": 5.566846026490066
- },
- "prevControl": {
- "x": 7.64577301033512,
- "y": 5.705763638397914
- },
- "nextControl": {
- "x": 7.031343434260263,
- "y": 5.360570558304471
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.46953642384106,
- "y": 6.401738410596026
- },
- "prevControl": {
- "x": 6.69147920841791,
- "y": 6.100131466298098
- },
- "nextControl": {
- "x": 6.078640973388454,
- "y": 6.9329419033148865
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.6124792408066435,
- "y": 7.408007117437722
- },
- "prevControl": {
- "x": 5.8389868583347635,
- "y": 7.302204002163478
- },
- "nextControl": {
- "x": 5.3859716232785235,
- "y": 7.5138102327119665
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": {
- "x": 4.396406066666464,
- "y": 7.41042919989128
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 0.9685230024212932,
- "rotationDegrees": -64.90375286541574
- },
- {
- "waypointRelativePos": 3.86,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.7761529808773961,
- "maxWaypointRelativePos": 1.8335208098987592,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 1.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 150.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.4,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 4.649689734980109,
- "y": 7.635451355169741
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.852442052980133,
- "y": 7.468948675496688
- },
- "prevControl": {
- "x": 5.620124172185431,
- "y": 7.599627483443708
- },
- "nextControl": {
- "x": 6.07033593726127,
- "y": 7.346383365588548
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.993052083333334,
- "y": 6.644330873842592
- },
- "prevControl": {
- "x": 6.002728406424771,
- "y": 6.894143541198413
- },
- "nextControl": {
- "x": 5.96856842368264,
- "y": 6.012238676612816
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.993052083333334,
- "y": 4.640374290829613
- },
- "prevControl": {
- "x": 5.77132848576112,
- "y": 4.980825878341205
- },
- "nextControl": {
- "x": 6.258514999588687,
- "y": 4.2327619651494075
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.9488311476934514,
- "y": 4.5376008533296135
- },
- "prevControl": {
- "x": 6.714643852212108,
- "y": 4.306406270895929
- },
- "nextControl": {
- "x": 7.126740955423579,
- "y": 4.71323712610215
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.069917751736111,
- "y": 5.2388220486111114
- },
- "prevControl": {
- "x": 7.180039999523313,
- "y": 5.014382545532232
- },
- "nextControl": {
- "x": 6.935152848707392,
- "y": 5.513485601853203
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.309817880794702,
- "y": 5.501506622516556
- },
- "prevControl": {
- "x": 6.672312380421229,
- "y": 5.595486677975285
- },
- "nextControl": {
- "x": 6.067818656253252,
- "y": 5.438766082820624
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.3913245033112585,
- "y": 5.385347682119204
- },
- "prevControl": {
- "x": 3.6817218543046355,
- "y": 5.37808774834437
- },
- "nextControl": {
- "x": 3.002075275595232,
- "y": 5.395078912812104
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.7994537062872022,
- "y": 5.001661667596727
- },
- "prevControl": {
- "x": 2.2296859422923645,
- "y": 5.208439382934831
- },
- "nextControl": {
- "x": 1.3440231788079464,
- "y": 4.782773178807946
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.5454304635761584,
- "y": 4.760993377483443
- },
- "prevControl": {
- "x": 0.7366582631054183,
- "y": 4.599959441037751
- },
- "nextControl": {
- "x": 0.35420266404689527,
- "y": 4.922027313929137
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 0.4437913907284766,
- "y": 6.968013245033112
- },
- "prevControl": {
- "x": 0.4437913907284766,
- "y": 6.718013245033112
- },
- "nextControl": {
- "x": 0.4437913907284766,
- "y": 7.218013245033112
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623
- },
- "prevControl": {
- "x": 4.081018211920529,
- "y": 7.4834685430463574
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 0.5,
- "rotationDegrees": 0.0
- },
- {
- "waypointRelativePos": 1.658595641646543,
- "rotationDegrees": -89.54489461997562
- },
- {
- "waypointRelativePos": 2.6465364120781536,
- "rotationDegrees": -89.07124990057926
- },
- {
- "waypointRelativePos": 4.261501210653795,
- "rotationDegrees": 67.25186374927067
- },
- {
- "waypointRelativePos": 6.219128329297827,
- "rotationDegrees": 89.24946813432852
- },
- {
- "waypointRelativePos": 6.50258863926749,
- "rotationDegrees": 89.03627314363375
- },
- {
- "waypointRelativePos": 9.77481840193705,
- "rotationDegrees": 90.0
- }
- ],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- },
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 1.3498312710910954,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Stop Intake Rollers",
- "waypointRelativePos": 6.209223847019097,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Intake Rollers"
- }
- }
- },
- {
- "name": "Retract Intake",
- "waypointRelativePos": 6.25,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Retract Intake"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 6.8841394825646685,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 6.884139482564717,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 8.691166077738544,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- },
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 8.73780918727915,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 9.126501766784463,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 9.219787985865741,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 9.82614840989399,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 9.83,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": -0.19252622320957904
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.20559776060051335
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.4,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 5.4156465005931205,
- "y": 7.580154211150653
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.827663107947806,
- "y": 7.504839857651245
- },
- "prevControl": {
- "x": 5.5797516965844745,
- "y": 7.537087836128061
- },
- "nextControl": {
- "x": 6.089809247306431,
- "y": 7.4707402451593135
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.087238932291667,
- "y": 7.2053665364583335
- },
- "prevControl": {
- "x": 6.795990510083039,
- "y": 7.429525504151838
- },
- "nextControl": {
- "x": 7.827939446866852,
- "y": 6.6352873529965715
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.830212601273148,
- "y": 6.273040870949074
- },
- "prevControl": {
- "x": 7.696276229545007,
- "y": 6.484135750868747
- },
- "nextControl": {
- "x": 8.052156231843401,
- "y": 5.923239219316608
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.830212601273148,
- "y": 5.568185053380782
- },
- "prevControl": {
- "x": 8.028429824610942,
- "y": 5.720533116618405
- },
- "nextControl": {
- "x": 7.631995377935355,
- "y": 5.41583699014316
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.742194543297748,
- "y": 5.568185053380782
- },
- "prevControl": {
- "x": 6.991936212700865,
- "y": 5.579547208270771
- },
- "nextControl": {
- "x": 6.37612481071697,
- "y": 5.551530479828598
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.526405693950179,
- "y": 5.568185053380782
- },
- "prevControl": {
- "x": 5.9940016886817045,
- "y": 5.551617678371244
- },
- "nextControl": {
- "x": 5.219470974518611,
- "y": 5.579060045163357
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.439122182680902,
- "y": 5.568185053380782
- },
- "prevControl": {
- "x": 4.762502965599051,
- "y": 5.546666666666668
- },
- "nextControl": {
- "x": 2.5231053186257717,
- "y": 5.583079636536149
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 2.7081951678240745,
- "y": 6.473218605324075
- },
- "prevControl": {
- "x": 2.6571916654866383,
- "y": 6.228476613117353
- },
- "nextControl": {
- "x": 2.7591986701615108,
- "y": 6.717960597530796
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 2.9613862123842596,
- "y": 7.2053665364583335
- },
- "prevControl": {
- "x": 2.793264485781677,
- "y": 7.020339281589851
- },
- "nextControl": {
- "x": 3.1733449921664065,
- "y": 7.438638891917008
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.664271846064816,
- "y": 7.612545500578703
- },
- "prevControl": {
- "x": 3.3162524646476355,
- "y": 7.610200053100003
- },
- "nextControl": {
- "x": 4.114582849281393,
- "y": 7.615580333876848
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.4,
- "y": 7.623
- },
- "prevControl": {
- "x": 4.150105477767021,
- "y": 7.630261388155952
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.48390501725838,
- "rotationDegrees": -20.130704916602326
- },
- {
- "waypointRelativePos": 1.975121733234714,
- "rotationDegrees": -49.65081094572614
- },
- {
- "waypointRelativePos": 2.53049494575937,
- "rotationDegrees": -89.0834827186487
- },
- {
- "waypointRelativePos": 5.3924509985207205,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 6.970938116370813,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 7.622418947238659,
- "rotationDegrees": 35.39060987236753
- },
- {
- "waypointRelativePos": 9.512704943293905,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Hood Down",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Extend Intake",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.6929133858268031,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Retract Intake",
- "waypointRelativePos": 5.54,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "Stop Intake Rollers",
- "waypointRelativePos": 5.543307086614183,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Intake Rollers"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 6.934275618374536,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 6.94982332155476,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 9.676040494938205,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 9.68,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 1.0194290739247367
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 0.4583112582781458,
- "y": 6.975273178807948
- },
- "prevControl": null,
- "nextControl": {
- "x": 0.42180298013245043,
- "y": 7.746221854304635
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623
- },
- "prevControl": {
- "x": 4.088447458765173,
- "y": 7.570432330258617
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": null
- },
- {
- "name": "",
- "waypointRelativePos": 0,
- "endWaypointRelativePos": null,
- "command": null
- }
- ],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 90.87947248129271
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.6,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 4.6,
- "y": 7.623
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.0,
- "y": 7.623
- },
- "prevControl": {
- "x": 3.0,
- "y": 7.623
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "Field Testing Autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 0.448
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.001456767975733,
- "y": 0.4480000000000002
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.2,
- "y": 0.448
- },
- "prevControl": {
- "x": 3.506999999999998,
- "y": 0.44799999999999995
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": null,
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 0.448
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.341153730575683,
- "y": 0.7321237573880697
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 8.306299668874171,
- "y": 1.037973350993377
- },
- "prevControl": {
- "x": 8.155370348167532,
- "y": 0.8386737269319344
- },
- "nextControl": {
- "x": 8.45722898958081,
- "y": 1.2372729750548204
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 8.023162251655629,
- "y": 2.402840900662252
- },
- "prevControl": {
- "x": 8.618618682530846,
- "y": 2.3403094870836636
- },
- "nextControl": {
- "x": 7.627292843251787,
- "y": 2.444412831733057
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.311688741721855,
- "y": 1.7930064635761587
- },
- "prevControl": {
- "x": 7.433678730378213,
- "y": 2.073560779571798
- },
- "nextControl": {
- "x": 7.0916784354147495,
- "y": 1.2870236228706147
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.6124792408066435,
- "y": 0.6633188825622768
- },
- "prevControl": {
- "x": 5.877242530931041,
- "y": 0.6902607421864038
- },
- "nextControl": {
- "x": 4.284691670946883,
- "y": 0.5282054901391218
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4,
- "y": 0.571325999999999
- },
- "prevControl": {
- "x": 4.397534345753931,
- "y": 0.5593155743422364
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.15,
- "rotationDegrees": 101.33234295737161
- },
- {
- "waypointRelativePos": 3.0994671403197227,
- "rotationDegrees": 74.10500133422103
- },
- {
- "waypointRelativePos": 4.176755447941895,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.7761529808773961,
- "maxWaypointRelativePos": 1.642294713160863,
- "constraints": {
- "maxVelocity": 1,
- "maxAcceleration": 2,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 150,
- "nominalVoltage": 12,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 300,
- "nominalVoltage": 12,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4,
- "y": 0.571325999999999
- },
- "prevControl": null,
- "nextControl": {
- "x": 5.75,
- "y": 0.571325999999999
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.258030842230131,
- "y": 1.513718460648148
- },
- "prevControl": {
- "x": 6.372678524731828,
- "y": 0.520312245196991
- },
- "nextControl": {
- "x": 6.1659787419563115,
- "y": 2.31133710030962
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.258030842230131,
- "y": 3.6220970557532612
- },
- "prevControl": {
- "x": 5.653713425517404,
- "y": 3.451970845017417
- },
- "nextControl": {
- "x": 6.687014708632405,
- "y": 3.7428637218123386
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.892823250296561,
- "y": 2.524659333333331
- },
- "prevControl": {
- "x": 6.892823250296561,
- "y": 3.163459002664002
- },
- "nextControl": {
- "x": 6.892823250296561,
- "y": 1.7959563069579454
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.510128689236111,
- "y": 0.8553167679398155
- },
- "prevControl": {
- "x": 6.675367228279565,
- "y": 1.0429233382266405
- },
- "nextControl": {
- "x": 6.344890150192657,
- "y": 0.6677101976529917
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4,
- "y": 0.571325999999999
- },
- "prevControl": {
- "x": 5.5,
- "y": 0.571325999999999
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.2433392539964518,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 3.0373001776198882,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 4.129662522202486,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 300,
- "nominalVoltage": 12,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 0.448
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.25,
- "y": 0.448
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.15043890865955,
- "y": 2.6309252668985335
- },
- "prevControl": {
- "x": 6.440836370311678,
- "y": 1.372536266389839
- },
- "nextControl": {
- "x": 5.956773428232504,
- "y": 3.4701423487598277
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.376381969157771,
- "y": 3.9758244365415596
- },
- "prevControl": {
- "x": 5.999810201660737,
- "y": 3.8467141162568614
- },
- "nextControl": {
- "x": 6.8334690871605615,
- "y": 4.132540019856803
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.021933570581259,
- "y": 2.921423487549863
- },
- "prevControl": {
- "x": 7.0105248157678215,
- "y": 3.7542625889308727
- },
- "nextControl": {
- "x": 7.043451957295374,
- "y": 1.350581257419376
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.15043890865955,
- "y": 0.7803440094845382
- },
- "prevControl": {
- "x": 6.612019589411609,
- "y": 0.934204236395481
- },
- "nextControl": {
- "x": 5.375776986951365,
- "y": 0.5221233689259019
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4,
- "y": 0.571325999999999
- },
- "prevControl": {
- "x": 5.5,
- "y": 0.571325999999999
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 1.2433392539964518,
- "rotationDegrees": 90.0
- },
- {
- "waypointRelativePos": 3.0373001776198882,
- "rotationDegrees": -90.0
- },
- {
- "waypointRelativePos": 4.129662522202486,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 300,
- "nominalVoltage": 12,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.6,
- "y": 0.4481350154264931
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.8500000000000223,
- "y": 0.4481350154264927
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.7,
- "y": 0.4481350154264931
- },
- "prevControl": {
- "x": 3.449999999999994,
- "y": 0.4481350154264927
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0,
- "maxWaypointRelativePos": 1.0,
- "constraints": {
- "maxVelocity": 0.5,
- "maxAcceleration": 0.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 0.448
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.819805487632309,
- "y": 1.2953701901837102
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.159230132450332,
- "y": 1.430009774834437
- },
- "prevControl": {
- "x": 6.869067715509156,
- "y": 1.151963267477233
- },
- "nextControl": {
- "x": 7.339735203900921,
- "y": 1.6029777463800896
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.398505338078292,
- "y": 2.5044799735099326
- },
- "prevControl": {
- "x": 7.64577301033512,
- "y": 2.3655623616020853
- },
- "nextControl": {
- "x": 7.031343434260263,
- "y": 2.710755441695528
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.46953642384106,
- "y": 1.6695875894039724
- },
- "prevControl": {
- "x": 6.69147920841791,
- "y": 1.9711945337019008
- },
- "nextControl": {
- "x": 6.078640973388454,
- "y": 1.1383840966851129
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.6124792408066435,
- "y": 0.6633188825622768
- },
- "prevControl": {
- "x": 5.8389868583347635,
- "y": 0.7691219978365208
- },
- "nextControl": {
- "x": 5.3859716232785235,
- "y": 0.5575157672880328
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4,
- "y": 0.571325999999999
- },
- "prevControl": {
- "x": 4.396406066666464,
- "y": 0.660896800108719
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [
- {
- "waypointRelativePos": 0.9685230024212932,
- "rotationDegrees": 64.90375286541574
- },
- {
- "waypointRelativePos": 3.86,
- "rotationDegrees": 0.0
- }
- ],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.7761529808773961,
- "maxWaypointRelativePos": 1.8335208098987592,
- "constraints": {
- "maxVelocity": 1,
- "maxAcceleration": 1.5,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 150,
- "nominalVoltage": 12,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 2,
- "maxAcceleration": 2,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 300,
- "nominalVoltage": 12,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.5,
- "y": 7.5
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.75,
- "y": 7.5
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.8,
- "y": 7.5
- },
- "prevControl": {
- "x": 3.55,
- "y": 7.5
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.5036773428232504,
- "y": 7.612
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.514743377483444,
- "y": 5.718872844539763
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.5036773428232504,
- "y": 1.516
- },
- "prevControl": {
- "x": 3.5251957295373675,
- "y": 2.4197722419928844
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 1.0,
- "maxAngularVelocity": 540.0,
- "maxAngularAcceleration": 720.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.0,
- "rotation": -90.0
- },
- "reversed": false,
- "folder": "Field Testing Autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": -90.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623190984573506
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.735631586835829,
- "y": 7.2764780852994
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.710521945432978,
- "y": 6.697900355871886
- },
- "prevControl": {
- "x": 7.529042978857038,
- "y": 6.86984623308483
- },
- "nextControl": {
- "x": 7.928919995080244,
- "y": 6.490974754868527
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.710521945432978,
- "y": 5.7188137603795965
- },
- "prevControl": {
- "x": 7.925365275955983,
- "y": 5.863911730255719
- },
- "nextControl": {
- "x": 7.408579979016614,
- "y": 5.514892297047377
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.860545670225386,
- "y": 6.364365361803084
- },
- "prevControl": {
- "x": 6.917316499510639,
- "y": 6.120896528187229
- },
- "nextControl": {
- "x": 6.574474152212791,
- "y": 7.591219006502909
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.6124792408066435,
- "y": 7.408007117437722
- },
- "prevControl": {
- "x": 5.872250653983406,
- "y": 7.333391289226129
- },
- "nextControl": {
- "x": 5.300042806450162,
- "y": 7.497750261334479
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": {
- "x": 4.245580247742288,
- "y": 7.453198911136212
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.7761529808773961,
- "maxWaypointRelativePos": 1.642294713160863,
- "constraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 1.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 150.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 4.968503937007888,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 5.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": null,
- "nextControl": {
- "x": 5.75,
- "y": 7.5
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.0213285883748515,
- "y": 6.289051008303677
- },
- "prevControl": {
- "x": 6.135976270876549,
- "y": 7.282457223754833
- },
- "nextControl": {
- "x": 5.929276488101032,
- "y": 5.4914323686422035
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.258030842230131,
- "y": 4.449228944246738
- },
- "prevControl": {
- "x": 5.653713425517404,
- "y": 4.619355154982582
- },
- "nextControl": {
- "x": 6.687014708632405,
- "y": 4.3284622781876605
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.892823250296561,
- "y": 5.546666666666668
- },
- "prevControl": {
- "x": 6.892823250296561,
- "y": 4.907866997335997
- },
- "nextControl": {
- "x": 6.892823250296561,
- "y": 6.2753696930420535
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 6.258030842230131,
- "y": 6.977639383155397
- },
- "prevControl": {
- "x": 6.423269381273585,
- "y": 6.7900328128685725
- },
- "nextControl": {
- "x": 6.092792303186677,
- "y": 7.165245953442221
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.0,
- "y": 7.5
- },
- "prevControl": {
- "x": 5.5,
- "y": 7.5
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 2.0,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.42896797153025,
- "y": 7.655468564650059
- },
- "prevControl": null,
- "nextControl": {
- "x": 6.801595217095044,
- "y": 6.510923411540405
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 8.194685646500595,
- "y": 5.772609727164888
- },
- "prevControl": {
- "x": 9.176240918430604,
- "y": 6.710214763038332
- },
- "nextControl": {
- "x": 7.473819691577701,
- "y": 5.084021352313167
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 1.965112692763939,
- "y": 5.353001186239621
- },
- "prevControl": {
- "x": 4.500675461892897,
- "y": 5.5286443358904505
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": -46.123302714075294
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 0.4682559843673668,
- "y": 7.603837322911579
- },
- "prevControl": null,
- "nextControl": {
- "x": 2.6361211529066964,
- "y": 7.775210063507574
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 2.764650708353688,
- "y": 4.064990229604298
- },
- "prevControl": {
- "x": 2.953160723009282,
- "y": 4.973265754763068
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [
- {
- "name": "Constraints Zone",
- "minWaypointRelativePos": 0.1427297056199817,
- "maxWaypointRelativePos": 1.0,
- "constraints": {
- "maxVelocity": 5.2,
- "maxAcceleration": 3.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- }
- }
- ],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "Field Testing Autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.4,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 4.650000000000023,
- "y": 7.623
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.5,
- "y": 7.623
- },
- "prevControl": {
- "x": 4.249999999999994,
- "y": 7.623
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 4.4,
- "y": 0.4483259999999985
- },
- "prevControl": null,
- "nextControl": {
- "x": 4.650000000000023,
- "y": 0.4483259999999985
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 4.5,
- "y": 0.4483259999999985
- },
- "prevControl": {
- "x": 4.249999999999994,
- "y": 0.44832599999999856
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [],
- "globalConstraints": {
- "maxVelocity": 3,
- "maxAcceleration": 2.5,
- "maxAngularVelocity": 200,
- "maxAngularAcceleration": 300,
- "nominalVoltage": 12,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0.5,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 5 (new stuff)",
- "idealStartingState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "useDefaultConstraints": true
-}
\ No newline at end of file
+++ /dev/null
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 3.5,
- "y": 7.623
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.75,
- "y": 7.623
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 3.8,
- "y": 7.623
- },
- "prevControl": {
- "x": 3.5421509693935853,
- "y": 7.623
- },
- "nextControl": null,
- "isLocked": false,
- "linkedName": null
- }
- ],
- "rotationTargets": [],
- "constraintZones": [],
- "pointTowardsZones": [],
- "eventMarkers": [
- {
- "name": "Extend Intake",
- "waypointRelativePos": 0.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Extend Intake"
- }
- }
- },
- {
- "name": "Spin Intake Rollers",
- "waypointRelativePos": 0.1,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Spin Intake Rollers"
- }
- }
- },
- {
- "name": "Start Spindexer",
- "waypointRelativePos": 0.1,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Start Spindexer"
- }
- }
- },
- {
- "name": "Stop Hood Down",
- "waypointRelativePos": 0.1,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Hood Down"
- }
- }
- },
- {
- "name": "Stop Spindexer",
- "waypointRelativePos": 1.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Stop Spindexer"
- }
- }
- },
- {
- "name": "Hood Down",
- "waypointRelativePos": 1.0,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "Hood Down"
- }
- }
- }
- ],
- "globalConstraints": {
- "maxVelocity": 1.0,
- "maxAcceleration": 0.5,
- "maxAngularVelocity": 200.0,
- "maxAngularAcceleration": 300.0,
- "nominalVoltage": 12.0,
- "unlimited": false
- },
- "goalEndState": {
- "velocity": 0,
- "rotation": 0.0
- },
- "reversed": false,
- "folder": "week 2 autos",
- "idealStartingState": {
- "velocity": 0,
- "rotation": -0.0
- },
- "useDefaultConstraints": false
-}
\ No newline at end of file
+++ /dev/null
-package frc.robot.subsystems.Intake;
-
-import org.littletonrobotics.junction.Logger;
-
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.MotionMagicConfigs;
-import com.ctre.phoenix6.configs.MotorOutputConfigs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.MotionMagicVoltage;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.InvertedValue;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.simulation.ElevatorSim;
-import edu.wpi.first.wpilibj.simulation.FlywheelSim;
-import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
-import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
-import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.util.Color8Bit;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.Constants;
-import frc.robot.constants.IdConstants;
-
-public class Intake extends SubsystemBase implements IntakeIO{
- // Mechanism Display...
- private final Mechanism2d mechanism;
- private final MechanismLigament2d robotExtension;
- @SuppressWarnings("unused")
- private final MechanismLigament2d robotFrame;
- private final MechanismLigament2d robotHeight;
- private final MechanismLigament2d robotPos;
-
- // create the motors
- /** Motor to move the roller */
- private TalonFX rollerMotor = new TalonFX(IdConstants.ROLLER_MOTOR_ID, Constants.CANIVORE_SUB);
- /** Right motor (master) */
- private TalonFX rightMotor = new TalonFX(IdConstants.RIGHT_MOTOR_ID, Constants.CANIVORE_SUB);
- /** Left motor (slave) */
- private TalonFX leftMotor = new TalonFX(IdConstants.LEFT_MOTOR_ID, Constants.CANIVORE_SUB);
-
- /** Motor characteristics for the roller motor, a single Kraken X44 (aka gearbox) */
- private final DCMotor dcMotorRoller = DCMotor.getKrakenX44(1);
- /** Motor characteristics for the extending pair of Kraken X44 motors (aka gearbox) */
- private final DCMotor dcMotorExtend = DCMotor.getKrakenX44(2);
-
- private double maxVelocity;
- private double maxAcceleration;
-
- // Use FlywheelSim for the roller
- private FlywheelSim rollerSim;
-
- // Use ElevatorSim for the extender
- private ElevatorSim intakeSim;
-
- private final MotionMagicVoltage voltageRequest = new MotionMagicVoltage(0);
-
- private double setpointInches = 0.0;
-
- private boolean calibrating = false;
-
- private final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged();
-
- public Intake() {
-
- // get the maximum free speed
- double maxFreeSpeed = Units.radiansToRotations(dcMotorExtend.freeSpeedRadPerSec)/ IntakeConstants.GEAR_RATIO;
-
- // max free speed (rot/s) = motor free speed (rad/s to rot/s)/ gear ratio
- // safety margin, limits velocity to .75 free speed
- maxVelocity = 0.75 * maxFreeSpeed;
- maxAcceleration = maxVelocity / 0.25;
-
- // ----Rollers
- // Configure the motors
- // Build the configuration for the roller
- TalonFXConfiguration rollerConfig = new TalonFXConfiguration();
-
- // config Slot 0 PID params
- var slot0Configs = rollerConfig.Slot0;
- slot0Configs.kP = 5.0;
- slot0Configs.kI = 0.0;
- slot0Configs.kD = 0.0;
- slot0Configs.kV = 0.0;
- slot0Configs.kA = 0.0;
-
- // set the brake mode
- rollerConfig.MotorOutput.withNeutralMode(NeutralModeValue.Brake);
-
- // apply the configuration to the right motor (master)
- rollerMotor.getConfigurator().apply(rollerConfig);
-
- // --- Extenders
-
- // Build the configuration for the left and right Motor
- TalonFXConfiguration config = new TalonFXConfiguration();
-
- // config Slot 0 PID params
- var extenderSlot0Configs = config.Slot0;
- extenderSlot0Configs.kP = 0.5;
- extenderSlot0Configs.kI = 0.0;
- extenderSlot0Configs.kD = 0.0;
- extenderSlot0Configs.kV = 0.0;
- extenderSlot0Configs.kA = 0.0;
-
- // configure MotionMagic
- MotionMagicConfigs motionMagicConfigs = config.MotionMagic;
-
- motionMagicConfigs.MotionMagicCruiseVelocity = IntakeConstants.GEAR_RATIO * maxVelocity/IntakeConstants.RADIUS_RACK_PINION/Math.PI/2;
- motionMagicConfigs.MotionMagicAcceleration = IntakeConstants.GEAR_RATIO * maxAcceleration/IntakeConstants.RADIUS_RACK_PINION/Math.PI/2;
-
- rightMotor.getConfigurator().apply(config);
- leftMotor.getConfigurator().apply(config);
-
- leftMotor.getConfigurator().apply(
- new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive)
- .withNeutralMode(NeutralModeValue.Coast)
- );
-
- rightMotor.getConfigurator().apply(
- new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast)
- );
-
-
- leftMotor.setPosition(0.0);
- rightMotor.setPosition(0.0);
-
- setNewCurrentLimit(IntakeConstants.STATOR_CURRENT_EXTENDER_LIMIT, IntakeConstants.SUPPLY_CURRENT_EXTENDER_LIMIT, IntakeConstants.STATOR_ROLLER_CURRENT_LIMIT, IntakeConstants.SUPPLY_ROLLER_CURRENT_LIMIT);
-
- // Build the mechanism for display
- mechanism = new Mechanism2d(80, 80);
- MechanismRoot2d root = mechanism.getRoot("Root", 0, 1);
- robotPos = root.append(new MechanismLigament2d("robotPos", 40, 0.0, 1, new Color8Bit(0, 0, 0)));
- robotFrame = robotPos.append(new MechanismLigament2d("Robot Frame",28,0.0, 2, new Color8Bit(0, 255, 255)));
- robotHeight = robotPos.append(new MechanismLigament2d("Robot Height", 22.5, 90, 1, new Color8Bit(0,255,255)));
- // extensiion is initially retracted.
- robotExtension = robotHeight.append(new MechanismLigament2d("Robot Extension", 0, 90, 2, new Color8Bit(255, 0, 0) ));
-
- // add some test commands.
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putData("Extension Mechanism", mechanism);
- SmartDashboard.putData("Intake Calibrate", new InstantCommand(() -> calibrate()));
- SmartDashboard.putData("Intake Stop Calibrating", new InstantCommand(() -> stopCalibrating()));
- SmartDashboard.putData("Extend Intake", new InstantCommand(() -> extend()));
- SmartDashboard.putData("Retract Intake", new InstantCommand(() -> retract()));
- }
-
- if (RobotBase.isSimulation()) {
- // Extender simulation
- // the supply voltage should change with load....
- rightMotor.getSimState().setSupplyVoltage(12.0);
-
- // rack pinion is 10 teeth and 10 DP for a radius of 1 inches
- double drumRadiusMeters = Units.inchesToMeters(1.0);
- double minHeightMeters = Units.inchesToMeters(0.0);
- double maxHeightMeters = Units.inchesToMeters(IntakeConstants.MAX_EXTENSION);
- // start retracted
- double startingHeightMeters = Units.inchesToMeters(0.0);
- intakeSim = new ElevatorSim(
- dcMotorExtend,
- IntakeConstants.GEAR_RATIO,
- IntakeConstants.CARRIAGE_MASS_KG,
- drumRadiusMeters,
- minHeightMeters,
- maxHeightMeters,
- false,
- startingHeightMeters);
-
- // Roller simulation
- rollerSim = new FlywheelSim(
- LinearSystemId.createFlywheelSystem(dcMotorRoller, IntakeConstants.ROLLER_MOI_KG_M_SQ, IntakeConstants.ROLLER_GEARING),
- dcMotorRoller);
- }
- }
-
- public void periodic() {
- double inchExtension = getPosition();
-
- if (!Constants.DISABLE_LOGGING) {
- Logger.recordOutput("Intake/Setpoint", setpointInches);
- }
- robotExtension.setLength(inchExtension);
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putNumber("Intake Extension (in)", inchExtension);
- SmartDashboard.putBoolean("Intake Extended", inchExtension > 1.0);
- }
-
- if(calibrating){
- leftMotor.set(-0.1);
- rightMotor.set(-0.1);
- }
-
- updateInputs();
- Logger.processInputs("Intake", inputs);
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putBoolean("Intake Calibrated", !calibrating);
- SmartDashboard.putBoolean("Intake At Setpoint", Math.abs(inchExtension - setpointInches) < 0.5);
- }
- }
-
- public void simulationPeriodic(){
- // get the applied motor voltage
- double voltage = rightMotor.getMotorVoltage().getValueAsDouble();
-
- // tell the simulator that voltage
- intakeSim.setInputVoltage(voltage);
- // run the siimulation
- intakeSim.update(0.02);
-
- // get the simulation result
- double metersExtend = intakeSim.getPositionMeters();
- double inchesExtend = Units.metersToInches(metersExtend);
- double motorRotations = inchesToRotations(inchesExtend);
-
- // set the motor to that position
- rightMotor.getSimState().setRawRotorPosition(motorRotations);
-
- // update the display
- robotExtension.setLength(inchesExtend);
-
- // simulate roller
- voltage = rollerMotor.getMotorVoltage().getValueAsDouble();
- rollerSim.setInputVoltage(voltage);
- rollerSim.update(0.020);
-
- double velocity = Units.radiansToRotations(rollerSim.getAngularVelocityRadPerSec()) * IntakeConstants.ROLLER_GEARING;
-
- rollerMotor.getSimState().setRotorVelocity(velocity);
- }
-
- /**
- * Set the intake extender position
- * @param setpoint in inches
- */
- public void setPosition(double setpoint) {
- double motorRotations = -inchesToRotations(setpoint);
- rightMotor.setControl(voltageRequest.withPosition(motorRotations).withEnableFOC(true));
- leftMotor.setControl(voltageRequest.withPosition(motorRotations).withEnableFOC(true));
-
- setpointInches = setpoint;
- }
-
- /**
- * Get the intake extender position
- * @return inches
- */
- public double getPosition(){
- return inputs.leftPosition;
- }
-
- /**
- * convert rotations to inches
- * @param rotations of the motor
- * @return inches of rack travel
- */
- public double rotationsToInches(double motorRotations) {
- // circumference of the rack pinion
- double circ = 2 * Math.PI * IntakeConstants.RADIUS_RACK_PINION;
- double pinionRotations = motorRotations / IntakeConstants.GEAR_RATIO;
- double inches = pinionRotations * circ;
- return inches;
- }
-
- /**
- * convert inches to rotations
- * @param inches of rack travel
- * @return motor rotations
- */
- public double inchesToRotations(double inches){
- double circ = 2 * Math.PI * IntakeConstants.RADIUS_RACK_PINION;
- double pinionRotations = inches / circ;
- double motorRotations = pinionRotations * IntakeConstants.GEAR_RATIO;
- return motorRotations;
- }
-
- /**
- * Set the roller speed.
- * @param speed duty cycle in the range [-1, 1]
- */
- public void spin(double speed) {
- rollerMotor.set(speed);
- }
-
- public double getSpeed() {
- return rollerMotor.get();
- }
-
- /**
- * Start the intake roller spinning.
- */
- public void spinStart() {
- spin(IntakeConstants.SPEED);
- }
-
- /**
- * Stop the intake roller.
- */
- public void spinStop() {
- spin(0.0);
- }
-
- /**
- * Reverses the intake roller
- */
- public void spinReverse() {
- spin(-IntakeConstants.SPEED);
- }
-
- /** Extend the intake the maximum distance. */
- public void extend() {
- setPosition(IntakeConstants.MAX_EXTENSION);
- }
-
- /** Extend to a position that doesn't hit the spindexer */
- public void intermediateExtend(){
- setPosition(IntakeConstants.INTERMEDIATE_EXTENSION);
- }
-
- /** Retract the intake to a safe starting position. */
- public void retract(){
- setPosition(IntakeConstants.STOW_EXTENSION);
- }
-
- /** Goes to the zero position */
- public void zeroPosition(){
- setPosition(0.0);
- }
-
- public void zeroMotors() {
- rightMotor.setPosition(0.0);
- leftMotor.setPosition(0.0);
- }
-
- /**
- * Reclaim all the resources (e.g., motors and other devices).
- * This step is necessary for multiple unit tests to work.
- */
- public void close() {
- leftMotor.close();
- rightMotor.close();
- rollerMotor.close();
- }
-
- /**
- * Starts calibrating by running it backwards
- */
- public void calibrate(){
- setNewCurrentLimit(IntakeConstants.CALIBRATING_CURRENT_LIMITS, IntakeConstants.CALIBRATING_CURRENT_LIMITS, IntakeConstants.CALIBRATING_CURRENT_LIMITS, IntakeConstants.CALIBRATING_CURRENT_LIMITS);
- calibrating = true;
- }
-
- /**
- * Stops, zeros, and moves it to retract position
- */
- public void stopCalibrating(){
- zeroMotors();
- setNewCurrentLimit(IntakeConstants.STATOR_CURRENT_EXTENDER_LIMIT, IntakeConstants.SUPPLY_CURRENT_EXTENDER_LIMIT, IntakeConstants.STATOR_ROLLER_CURRENT_LIMIT, IntakeConstants.SUPPLY_ROLLER_CURRENT_LIMIT);
- calibrating = false;
- retract();
- }
-
- public void setNewCurrentLimit(double statorExtenders, double supplyExtenders, double statorRoller, double supplyRollers) {
- CurrentLimitsConfigs limitConfigExtender = new CurrentLimitsConfigs();
- limitConfigExtender.StatorCurrentLimit = statorExtenders;
- limitConfigExtender.StatorCurrentLimitEnable = true;
- limitConfigExtender.SupplyCurrentLimit = statorExtenders;
- limitConfigExtender.SupplyCurrentLimitEnable = true;
- leftMotor.getConfigurator().apply(limitConfigExtender);
- rightMotor.getConfigurator().apply(limitConfigExtender);
-
- // roller
- CurrentLimitsConfigs limitConfigRoller = new CurrentLimitsConfigs();
- limitConfigRoller.StatorCurrentLimit = statorRoller;
- limitConfigRoller.StatorCurrentLimitEnable = true;
- limitConfigRoller.SupplyCurrentLimit = supplyRollers;
- limitConfigRoller.SupplyCurrentLimitEnable = true;
- rollerMotor.getConfigurator().apply(limitConfigRoller);
- }
-
- public double getSubsystemStatorCurrent() {
- return inputs.leftStatorCurrent + inputs.rightStatorCurrent + inputs.rollerStatorCurrent;
- }
-
- public double getSubsystemSupplyCurrent() {
- return inputs.leftSupplyCurrent + inputs.rightSupplyCurrent + inputs.rollerSupplyCurrent;
- }
-
- @Override
- public void updateInputs() {
- inputs.leftPosition = rotationsToInches(leftMotor.getPosition().getValueAsDouble());
- inputs.rightPosition = rotationsToInches(rightMotor.getPosition().getValueAsDouble());
- inputs.leftStatorCurrent = leftMotor.getStatorCurrent().getValueAsDouble();
- inputs.rightStatorCurrent = rightMotor.getStatorCurrent().getValueAsDouble();
- inputs.leftSupplyCurrent = leftMotor.getSupplyCurrent().getValueAsDouble();
- inputs.rightSupplyCurrent = rightMotor.getSupplyCurrent().getValueAsDouble();
- inputs.rollerVelocity = rollerMotor.getVelocity().getValueAsDouble();
- inputs.rollerStatorCurrent = rollerMotor.getStatorCurrent().getValueAsDouble();
- inputs.rollerSupplyCurrent = rollerMotor.getSupplyCurrent().getValueAsDouble();
- }
-
-}
+++ /dev/null
-package frc.robot.subsystems.Intake;
-
-import edu.wpi.first.math.util.Units;
-
-public class IntakeConstants {
- /** Intake roller motor speed in range [-1, 1] */
- public static final double SPEED = 1.0;
- /** 12 tooth pinion driving 36 tooth driven gear */
- public static final double GEAR_RATIO = 48.0/10.0;
- /** radius (inches) of the rack gear which is a 10 tooth pinion at 10 DP */
- public static final double RADIUS_RACK_PINION = 0.5;
-
- /**Current limits when calibrating */
- public static final double CALIBRATING_CURRENT_LIMITS = 10.0;
- public static final double CALIBRATING_CURRENT_THRESHOLD = 9.0;
-
- /** Current limit for normal operation */
- public static final double STATOR_CURRENT_EXTENDER_LIMIT = 100.0;
- public static final double SUPPLY_CURRENT_EXTENDER_LIMIT = 100.0;
- public static final double STATOR_ROLLER_CURRENT_LIMIT = 40.0;
- public static final double SUPPLY_ROLLER_CURRENT_LIMIT = 40.0;
-
-
- public static final double ROLLER_MOI_KG_M_SQ = 0.5 * 0.020 * 0.020; // 0.5kg roller, 20mm radius for now
- public static final double ROLLER_GEARING = 2.0;
- public static final double CARRIAGE_MASS_KG = 3.0;
- public static final double DRUM_RADIUS_METERS = Units.inchesToMeters(1.0);
-
-
- /** max extension in inches */
- public static final double MAX_EXTENSION = 10.5; // inches
-
- public static final double INTERMEDIATE_EXTENSION = 5.0; //inches
-
- public static final double STOW_EXTENSION = 0.2; // inches
-
- /** starting point in inches */
- public static final double STARTING_POINT = 0;
- /** rack pitch in teeth per inch of diameter (Diametral Pitch) DP = N teeth / Diameter in inches */
- public static final double RACK_PITCH = 10;
-
- // Simulation
-
-}
+++ /dev/null
-package frc.robot.subsystems.Intake;
-
-import org.littletonrobotics.junction.AutoLog;
-
-public interface IntakeIO {
- @AutoLog
- public static class IntakeIOInputs {
- public double leftPosition = 0.0;
- public double rightPosition = 0.0;
- public double leftSupplyCurrent = 0.0;
- public double rightSupplyCurrent = 0.0;
- public double leftStatorCurrent = 0.0;
- public double rightStatorCurrent = 0.0;
- public double rollerVelocity = 0.0;
- public double rollerSupplyCurrent = 0.0;
- public double rollerStatorCurrent = 0.0;
- }
-
- public void updateInputs();
-}
+++ /dev/null
-package frc.robot.subsystems.hood;
-
-import org.littletonrobotics.junction.Logger;
-
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.MotionMagicVoltage;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.InvertedValue;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.math.filter.LinearFilter;
-import edu.wpi.first.math.filter.Debouncer.DebounceType;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.Constants;
-import frc.robot.constants.IdConstants;
-
-public class Hood extends SubsystemBase implements HoodIO {
- private TalonFX motor = new TalonFX(IdConstants.HOOD_ID, Constants.CANIVORE_SUB);
-
- private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02, 0.02);
-
- private Rotation2d goalAngle = new Rotation2d(Units.degreesToRadians(HoodConstants.MAX_ANGLE));
- private double goalVelocityRadPerSec = 0.0;
- private double lastFilteredRad = 0.0;
- private double lastRawSetpoint = 0.0;
-
- private final MotionMagicVoltage mmVoltageRequest = new MotionMagicVoltage(Units.degreesToRotations(HoodConstants.MAX_ANGLE) * HoodConstants.HOOD_GEAR_RATIO);
-
- private boolean calibrating = false;
- private Debouncer calibrateDebouncer = new Debouncer(0.5, DebounceType.kRising);
-
- private boolean forceHoodDown = false;
-
- private HoodIOInputsAutoLogged inputs = new HoodIOInputsAutoLogged();
-
- public Hood(){
- motor.setNeutralMode(NeutralModeValue.Brake);
-
- TalonFXConfiguration config = new TalonFXConfiguration();
- config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
-
- config.Slot0.kP = 2.0;
- config.Slot0.kS = 0.1; // Static friction compensation
- config.Slot0.kV = 0.12; // Adjusted kV for the gear ratio
- config.Slot0.kD = 0.02; // The "Braking" term to stop overshoot
-
- var mm = config.MotionMagic;
- mm.MotionMagicCruiseVelocity = Units.radiansToRotations(HoodConstants.MAX_VELOCITY) * HoodConstants.HOOD_GEAR_RATIO;
- mm.MotionMagicAcceleration = Units.radiansToRotations(HoodConstants.MAX_ACCELERATION) * HoodConstants.HOOD_GEAR_RATIO; // Lowered for belt safety
- mm.MotionMagicJerk = 0; // Set to > 0 for "S-Curve" smoothing if needed
- motor.getConfigurator().apply(config);
-
- setNewCurrentLimit(HoodConstants.STATOR_CURRENT_LIMIT, HoodConstants.SUPPLY_CURRENT_LIMIT);
-
- motor.setPosition(Units.degreesToRotations(HoodConstants.MAX_ANGLE) * HoodConstants.HOOD_GEAR_RATIO);
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putData("max", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MAX_ANGLE)), 0)));
- SmartDashboard.putData("medium", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians((HoodConstants.MAX_ANGLE + HoodConstants.MIN_ANGLE) / 2)), 0)));
- SmartDashboard.putData("min", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MIN_ANGLE)), 0)));
-
- SmartDashboard.putData("force hood down", new InstantCommand(() -> forceHoodDown(true)));
- SmartDashboard.putData("unforce hood", new InstantCommand(() -> forceHoodDown(false)));
- }
- }
-
- /**
- * @return Position of the MOTOR in radians
- */
- public double getMotorPositionRad(){
- return Units.rotationsToRadians(motor.getPosition().getValueAsDouble());
- }
-
- /**
- * Sets the setpoint position and velocity of the hood. Call in command execute.
- * @param angle
- * @param velocityRadPerSec
- */
- public void setFieldRelativeTarget(Rotation2d angle, double velocityRadPerSec) {
- goalAngle = angle;
- goalVelocityRadPerSec = velocityRadPerSec;
- }
-
- /**
- * @return Position of turret in degrees
- */
- public double getPositionDeg(){
- return Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / HoodConstants.HOOD_GEAR_RATIO;
- }
-
- public void forceHoodDown(boolean taranNathan){
- forceHoodDown = taranNathan;
- }
-
- public boolean getHoodForcedDown() {
- return this.forceHoodDown;
- }
-
- @Override
- public void periodic() {
- updateInputs();
- Logger.processInputs("Hood", inputs);
-
- // goalAngle = Rotation2d.fromDegrees(SmartDashboard.getNumber("Hood Setpoint", goalAngle.getDegrees()));
- // SmartDashboard.putNumber("Hood Setpoint", goalAngle.getDegrees());
-
- if (forceHoodDown) {
- goalAngle = Rotation2d.fromDegrees(HoodConstants.MAX_ANGLE);
- goalVelocityRadPerSec = 0.0;
- }
-
-
- double setpointRad = goalAngle.getRadians();
-
- // calculate shortest angular delta
- double delta = setpointRad - lastRawSetpoint;
- delta = MathUtil.angleModulus(delta);
-
- // filter delta
- double filteredDelta = setpointFilter.calculate(delta);
-
- // apply filtered range
- lastFilteredRad = MathUtil.angleModulus(lastFilteredRad + filteredDelta);
- lastRawSetpoint = setpointRad;
- setpointRad = lastFilteredRad;
-
- // Tells the Kraken to get to this position using 1000Hz profile
- double motorGoalRotations = Units.radiansToRotations(setpointRad) * HoodConstants.HOOD_GEAR_RATIO;
-
- //Clamp the setpoint rotations
- motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.radiansToRotations(Units.degreesToRadians(HoodConstants.MIN_ANGLE)) * HoodConstants.HOOD_GEAR_RATIO, Units.radiansToRotations(Units.degreesToRadians(HoodConstants.MAX_ANGLE)) * HoodConstants.HOOD_GEAR_RATIO);
-
- // Multiply goal velocity by kV
- double velocityCompensation = goalVelocityRadPerSec * HoodConstants.FEEDFORWARD_KV;
-
- if (calibrating){
- motor.set(0.1);
- boolean atZero = Math.abs(motor.getStatorCurrent().getValueAsDouble()) >= HoodConstants.CALIBRATION_CURRENT_THRESHOLD;
- boolean calibrated = calibrateDebouncer.calculate(atZero);
- if (calibrated){
- stopCalibrating();
- }
- } else{
- // Set control with feedforward
- motor.setControl(mmVoltageRequest
- .withPosition(motorGoalRotations)
- .withFeedForward(velocityCompensation)
- .withEnableFOC(true));
- }
-
- if (!Constants.DISABLE_LOGGING) {
- Logger.recordOutput("Hood/Voltage", motor.getMotorVoltage().getValue());
- Logger.recordOutput("Hood/velocitySetpoint", goalVelocityRadPerSec / HoodConstants.HOOD_GEAR_RATIO);
- Logger.recordOutput("Hood/SetpointDeg", Units.radiansToDegrees(goalAngle.getRadians()));
- }
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putBoolean("Hood Calibrated", !calibrating);
- SmartDashboard.putBoolean("Hood At Setpoint", Math.abs(getPositionDeg() - goalAngle.getDegrees()) < 2.0);
- }
- }
-
- public void calibrate(){
- calibrating = true;
- setNewCurrentLimit(HoodConstants.CALIBRATING_CURRENT_LIMIT, HoodConstants.CALIBRATING_CURRENT_LIMIT);
- }
-
- public void stopCalibrating(){
- motor.setPosition(Units.degreesToRotations(HoodConstants.MAX_ANGLE) * HoodConstants.HOOD_GEAR_RATIO);
- goalAngle = new Rotation2d(Units.degreesToRadians(HoodConstants.MAX_ANGLE));
- setNewCurrentLimit(HoodConstants.STATOR_CURRENT_LIMIT, HoodConstants.SUPPLY_CURRENT_LIMIT);
- calibrating = false;
- }
-
- public void setNewCurrentLimit(double stator, double supply) {
- CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
- limitConfig.StatorCurrentLimit = stator;
- limitConfig.StatorCurrentLimitEnable = true;
- limitConfig.SupplyCurrentLimit = supply;
- limitConfig.SupplyCurrentLimitEnable = true;
- motor.getConfigurator().apply(limitConfig);
- }
-
- public double getSubsystemStatorCurrent() {
- return inputs.motorStatorCurrent;
- }
-
- public double getSubsystemSupplyCurrent() {
- return inputs.motorSupplyCurrent;
- }
-
- @Override
- public void updateInputs() {
- inputs.positionDeg = Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / HoodConstants.HOOD_GEAR_RATIO;
- inputs.velocityRadPerSec = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble()) / HoodConstants.HOOD_GEAR_RATIO;
- inputs.motorStatorCurrent = motor.getStatorCurrent().getValueAsDouble();
- inputs.motorSupplyCurrent = motor.getStatorCurrent().getValueAsDouble();
- }
-}
+++ /dev/null
-package frc.robot.subsystems.hood;
-
-public class HoodConstants {
- public static final double HOOD_GEAR_RATIO = 64;
-
- public static final double MASS = 2.46; // kilograms
- public static final double LENGTH = 0.138 * 2; // meters
- public static final double MOI = 0.0489969498; // kg*m^2 <-- We got this on Onshape
-
- public static final double CENTER_OF_MASS_LENGTH = 0.138; // meters
-
- public static final double MAX_VELOCITY = 25; // rad/s
- public static final double MAX_ACCELERATION = 160; // rad/s^2
-
- public static final double MAX_ANGLE = 78.0; // degrees
- public static final double MIN_ANGLE = 54.5; // degrees
-
- public static final double FEEDFORWARD_KV = 0.12;
-
- public static final double STATOR_CURRENT_LIMIT = 40.0; // A
- public static final double SUPPLY_CURRENT_LIMIT = 40.0; // A
- public static final double CALIBRATING_CURRENT_LIMIT = 10.0; // A
- public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A
-}
+++ /dev/null
-package frc.robot.subsystems.hood;
-
-import org.littletonrobotics.junction.AutoLog;
-
-public interface HoodIO {
- @AutoLog
- public static class HoodIOInputs{
- public double positionDeg = HoodConstants.MAX_ANGLE;
- public double velocityRadPerSec = 0.0;
- public double motorStatorCurrent = 0.0;
- public double motorSupplyCurrent = 0.0;
- }
-
- public void updateInputs();
-}
+++ /dev/null
-package frc.robot.subsystems.shooter;
-
-import org.littletonrobotics.junction.AutoLogOutput;
-import org.littletonrobotics.junction.Logger;
-import org.littletonrobotics.junction.networktables.LoggedNetworkNumber;
-
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.MotorOutputConfigs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.VelocityVoltage;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.InvertedValue;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.Constants;
-import frc.robot.constants.IdConstants;
-import frc.robot.util.HubActive;
-
-public class Shooter extends SubsystemBase implements ShooterIO {
-
- private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.CANIVORE_SUB);
- private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.CANIVORE_SUB);
-
- //TODO Add current limits
-
- // Goal Velocity / Double theCircumfrence
- private double shooterTargetSpeed = 0;
-
- // Velocity in rotations per second
- VelocityVoltage voltageRequest = new VelocityVoltage(0);
-
- private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
-
- private LoggedNetworkNumber powerModifier = new LoggedNetworkNumber("/Tuning/OPERATOR/Shooter Modifier", 1.0);
-
- public Shooter() {
- updateInputs();
-
- TalonFXConfiguration config = new TalonFXConfiguration();
- config.Slot0.kP = 0.5; // 0.5 stable
- config.Slot0.kI = 0;
- config.Slot0.kD = 0.0;
- config.Slot0.kV = 0.125; //Maximum rps = 100 --> 12V/100rps
-
- config.CurrentLimits
- .withSupplyCurrentLimit(ShooterConstants.SHOOTER_CURRENT_LIMIT)
- .withSupplyCurrentLimitEnable(true);
-
- shooterMotorLeft.getConfigurator().apply(config);
- shooterMotorRight.getConfigurator().apply(config);
-
- shooterMotorLeft.getConfigurator().apply(
- new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive)
- .withNeutralMode(NeutralModeValue.Coast)
- );
-
- shooterMotorRight.getConfigurator().apply(
- new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast)
- );
-
- CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
- limitConfig.StatorCurrentLimit = ShooterConstants.SHOOTER_STATOR_CURRENT_LIMIT;
- limitConfig.StatorCurrentLimitEnable = true;
- shooterMotorLeft.getConfigurator().apply(limitConfig);
- shooterMotorRight.getConfigurator().apply(limitConfig);
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putData("Turn on shooter", new InstantCommand(()-> setShooter(12.0)));
- }
- }
-
- @Override
- public void periodic(){
- updateInputs();
-
- // shooterTargetSpeed = SmartDashboard.getNumber("Shooter Setpoint", shooterTargetSpeed);
- // SmartDashboard.putNumber("Shooter Setpoint", shooterTargetSpeed);
-
-
- // Convert to RPS
- double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier.get();
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putNumber("Target Velocity RPS", targetVelocityRPS);
- SmartDashboard.putNumber("Shooter Motor RPS", shooterMotorLeft.getVelocity().getValueAsDouble());
- }
-
- // Sets the motor control to target velocity
- shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS).withEnableFOC(true));
- shooterMotorRight.setControl(voltageRequest.withVelocity(targetVelocityRPS).withEnableFOC(true));
-
- if (!Constants.DISABLE_LOGGING) {
- Logger.recordOutput("Shooter/realVelocity", Math.PI * ShooterConstants.SHOOTER_LAUNCH_DIAMETER * shooterMotorLeft.getVelocity().getValueAsDouble());
- Logger.recordOutput("Shooter/targetVelocity", shooterTargetSpeed);
- }
-
- double actualWheelVelocity = Math.PI * ShooterConstants.SHOOTER_LAUNCH_DIAMETER * shooterMotorLeft.getVelocity().getValueAsDouble();
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putNumber("Shooter Speed Error (mps)", shooterTargetSpeed - actualWheelVelocity);
- SmartDashboard.putBoolean("Shooter At Speed", atTargetSpeed());
- SmartDashboard.putBoolean("Shooter Running", shooterTargetSpeed > 0);
- }
-
- // powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
- // SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
-
- Logger.recordOutput("WON AUTO?", (HubActive.wonAuto()) ? "WON" : "LOST");
- }
-
- /**
- * Sets the target speed of the shooter
- * @param linearVelocityMps
- */
- public void setShooter(double linearVelocityMps) {
- shooterTargetSpeed = linearVelocityMps;
- }
-
- /**@return velocity in m/s */
- public double getShooterVelocity(){
- return inputs.shooterSpeedLeft;
- }
-
- public void setNewCurrentLimit(double stator, double supply) {
- CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
- limitConfig.StatorCurrentLimit = stator;
- limitConfig.StatorCurrentLimitEnable = true;
- limitConfig.SupplyCurrentLimit = supply;
- limitConfig.SupplyCurrentLimitEnable = true;
- shooterMotorLeft.getConfigurator().apply(limitConfig);
- shooterMotorRight.getConfigurator().apply(limitConfig);
- }
-
- public double getSubsystemStatorCurrent() {
- return inputs.shooterStatorCurrentLeft + inputs.shooterStatorCurrentRight;
- }
-
- public double getSubsystemSupplyCurrent() {
- return inputs.shooterSupplyCurrentLeft + inputs.shooterSupplyCurrentRight;
- }
-
- @Override
- public void updateInputs(){
- inputs.shooterSpeedLeft = Units.rotationsToRadians(shooterMotorLeft.getVelocity().getValueAsDouble()) * ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2;
- inputs.shooterSpeedRight = Units.rotationsToRadians(shooterMotorRight.getVelocity().getValueAsDouble())* ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2;
- inputs.shooterStatorCurrentLeft = shooterMotorLeft.getStatorCurrent().getValueAsDouble();
- inputs.shooterStatorCurrentRight = shooterMotorRight.getStatorCurrent().getValueAsDouble();
- inputs.shooterSupplyCurrentLeft = shooterMotorLeft.getSupplyCurrent().getValueAsDouble();
- inputs.shooterSupplyCurrentRight = shooterMotorRight.getSupplyCurrent().getValueAsDouble();
-
- Logger.processInputs("Shooter", inputs);
- }
-
- public void bumpUpShooterModifier() {
- powerModifier.set(powerModifier.get() + 0.025);
- }
-
- public void bumpDownShooterModifier() {
- powerModifier.set(powerModifier.get() - 0.025);
- }
-
- /**
- * @return Whether the shooter is at the target speed with tolerance of 1 m/s
- */
- public boolean atTargetSpeed(){
- return Math.abs(getShooterVelocity() - shooterTargetSpeed) < 1.0;
- }
-
- /**
- * @return Gets the target velocity in m/s
- */
- @AutoLogOutput(key="Shooter/TargetSpeed")
- public double getTargetVelocity(){
- return shooterTargetSpeed;
- }
-}
+++ /dev/null
-package frc.robot.subsystems.shooter;
-
-import edu.wpi.first.math.util.Units;
-
-public class ShooterConstants {
- public static final double SHOOTER_VELOCITY = 1.0;
- public static final double SHOOTER_LAUNCH_DIAMETER = Units.inchesToMeters(4.0);
- public static final double SHOOTER_CURRENT_LIMIT = 40.0;
- public static final double SHOOTER_STATOR_CURRENT_LIMIT = 120.0;
-}
+++ /dev/null
-package frc.robot.subsystems.shooter;
-
-import org.littletonrobotics.junction.AutoLog;
-
-public interface ShooterIO {
- @AutoLog
- public static class ShooterIOInputs {
- public double shooterSpeedLeft = 0.0;
- public double shooterSpeedRight = 0.0;
- public double shooterStatorCurrentLeft = 0.0;
- public double shooterStatorCurrentRight = 0.0;
- public double shooterSupplyCurrentLeft = 0.0;
- public double shooterSupplyCurrentRight = 0.0;
- }
-
- public void updateInputs();
-}
+++ /dev/null
-package frc.robot.subsystems.spindexer;
-
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.MotorOutputConfigs;
-import com.ctre.phoenix6.controls.VoltageOut;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.InvertedValue;
-
-import org.littletonrobotics.junction.Logger;
-
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.Constants;
-import frc.robot.constants.IdConstants;
-
-public class Spindexer extends SubsystemBase implements SpindexerIO {
- private TalonFX motorOne = new TalonFX(IdConstants.SPINDEXER_ONE_ID, Constants.CANIVORE_SUB);
- private TalonFX motorTwo = new TalonFX(IdConstants.SPINDEXER_TWO_ID, Constants.CANIVORE_SUB);
-
- private double power = 0.0;
- public int ballCount = 0;
- private SpindexerState state = SpindexerState.STOPPED;
- private SpindexerIOInputsAutoLogged inputs = new SpindexerIOInputsAutoLogged();
-
- public boolean noIndexing = false;
-
-
- public Spindexer() {
- updateInputs();
-
- // configure current limit
- CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
- limitConfig.StatorCurrentLimit = SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT;
- limitConfig.StatorCurrentLimitEnable = true;
- limitConfig.SupplyCurrentLowerLimit = SpindexerConstants.SUPPLY_CURRENT_LIMIT;
- limitConfig.SupplyCurrentLimitEnable = true;
- motorOne.getConfigurator().apply(limitConfig);
- motorTwo.getConfigurator().apply(limitConfig);
- motorTwo.getConfigurator().apply(new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive));
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putData("Spindexer Run Forward", new InstantCommand(() -> maxSpindexer()));
- SmartDashboard.putData("Spindexer Run Reverse", new InstantCommand(() -> reverseSpindexer()));
- SmartDashboard.putData("Spindexer Stop", new InstantCommand(() -> stopSpindexer()));
- }
- }
-
- public enum SpindexerState {
- MAX,
- REVERSE,
- STOPPED,
- CUSTOM,
- }
-
- private SpindexerState pastState = SpindexerState.STOPPED;
-
- @Override
- public void periodic() {
- updateInputs();
- Logger.processInputs("Spindexer", inputs);
-
- if (state == SpindexerState.MAX) {
- setMotorVoltages(SpindexerConstants.spindexerForwardVoltage);
- } else if (state == SpindexerState.REVERSE) {
- setMotorVoltages(SpindexerConstants.spindexerReverseVoltage);
- } else if (state == SpindexerState.STOPPED) {
- setMotorVoltages(0.0);
- } else {
- setMotorVoltages(power);
- }
-
- if (state != pastState) {
- if (state == SpindexerState.REVERSE) {
- setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_REVERSE_STATOR_LIMIT);
- } else {
- setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT);
- }
- pastState = state;
- }
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putBoolean("Spindexer Running", state == SpindexerState.MAX || state == SpindexerState.CUSTOM);
- SmartDashboard.putBoolean("Spindexer Has Ball", ballCount > 0);
- }
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putBoolean("Spindexer Reversing", state == SpindexerState.REVERSE);
- }
-
- Logger.recordOutput("HasBalls", spinningAir());
- }
-
- public void setMotorVoltages(double voltage) {
- motorOne.setControl(new VoltageOut(voltage * 12).withEnableFOC(true));
- motorTwo.setControl(new VoltageOut(voltage * 12).withEnableFOC(true));
- }
-
- public void maxSpindexer() {
- state = SpindexerState.MAX;
- }
-
- public void reverseSpindexer(){
- state = SpindexerState.REVERSE;
- }
-
- public void stopSpindexer() {
- state = SpindexerState.STOPPED;
- }
-
- public void setSpindexer(double power) {
- this.power = power;
- state = SpindexerState.CUSTOM;
- }
-
- public void setNewCurrentLimit(double stator, double supply) {
- CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
- limitConfig.StatorCurrentLimit = stator;
- limitConfig.StatorCurrentLimitEnable = true;
- limitConfig.SupplyCurrentLimit = supply;
- limitConfig.SupplyCurrentLimitEnable = true;
- motorOne.getConfigurator().apply(limitConfig);
- motorTwo.getConfigurator().apply(limitConfig);
- }
-
- public double getSubsystemStatorCurrent() {
- return inputs.spindexerOneStatorCurrent + inputs.spindexerTwoStatorCurrent;
- }
-
- public double getMotorOneStatorCurrent() {
- return inputs.spindexerOneStatorCurrent;
- }
-
- public double getMotorTwoStatorCurrent() {
- return inputs.spindexerTwoStatorCurrent;
- }
-
- public double getSubsystemSupplyCurrent() {
- return inputs.spindexerOneSupplyCurrent + inputs.spindexerTwoSupplyCurrent;
- }
-
- public boolean spinningAir() {
- return getMotorOneStatorCurrent() < 16.0 && getMotorTwoStatorCurrent() < 28.0;
- }
-
- public double getMotorOneVelocity() {
- return inputs.spindexerOneVelocity;
- }
-
- public double getMotorTwoVelocity() {
- return inputs.spindexerTwoVelocity;
- }
-
- @Override
- public void updateInputs() {
- inputs.spindexerOneVelocity = motorOne.getVelocity().getValueAsDouble();
- inputs.spindexerOneStatorCurrent = motorOne.getStatorCurrent().getValueAsDouble();
- inputs.spindexerOneSupplyCurrent = motorOne.getSupplyCurrent().getValueAsDouble();
- inputs.spindexerTwoVelocity = motorTwo.getVelocity().getValueAsDouble();
- inputs.spindexerTwoStatorCurrent = motorTwo.getStatorCurrent().getValueAsDouble();
- inputs.spindexerTwoSupplyCurrent = motorTwo.getSupplyCurrent().getValueAsDouble();
- }
-}
+++ /dev/null
-package frc.robot.subsystems.spindexer;
-
-public class SpindexerConstants {
- public static final double spindexerVelocityWithBall = 6.0; // rps (for counting balls)
- public static final double SUPPLY_CURRENT_LIMIT = 80; // A
- public static final double spindexerForwardVoltage = 1.00; // Volts (set low for testing)
- public static final double spindexerReverseVoltage = -1.00; // Volts
- public static final double GEAR_RATIO = 27.0; // unused & both motors have same gearing
-
- public static final double CURRENT_FORWARD_STATOR_LIMIT = 150.0;
- public static final double CURRENT_REVERSE_STATOR_LIMIT = 20.0;
- public static final double CURRENT_TIME_LIMIT = 1.0; //s
- public static final double JAM_CURRENT_THRESHOLD = 10.0; // A
- public static final double JAM_VELOCITY_THRESHOLD = 10.0; // A
- public static final double JAM_DEBOUNCE_TIME = 0.3; // seconds
- public static final double REVERSE_DEBOUNCE_TIME = 0.25; // seconds
-}
+++ /dev/null
-package frc.robot.subsystems.spindexer;
-
-import org.littletonrobotics.junction.AutoLog;
-
-public interface SpindexerIO {
- @AutoLog
- public static class SpindexerIOInputs {
- public double spindexerOneVelocity = 0.0;
- public double spindexerOneSupplyCurrent = 0.0;
- public double spindexerOneStatorCurrent = 0.0;
- public double spindexerTwoVelocity = 0.0;
- public double spindexerTwoStatorCurrent = 0.0;
- public double spindexerTwoSupplyCurrent = 0.0;
- }
-
- public void updateInputs();
-}
+++ /dev/null
-package frc.robot.subsystems.turret;
-
-import org.littletonrobotics.junction.Logger;
-
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.MotionMagicVoltage;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.InvertedValue;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.ctre.phoenix6.sim.TalonFXSimState;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.filter.LinearFilter;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
-import frc.robot.constants.Constants;
-import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
-import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
-import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.IdConstants;
-
-public class Turret extends SubsystemBase implements TurretIO{
- // Super low magnitude filter for the position to make it less jittery
- private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02, 0.02);
-
- private final TurretIOInputsAutoLogged inputs = new TurretIOInputsAutoLogged();
-
- public boolean locked = false;
-
- private boolean calibrating;
-
- /* ---------------- Hardware ---------------- */
-
- private final TalonFX motor = new TalonFX(IdConstants.TURRET_MOTOR_ID, Constants.CANIVORE_SUB);
-
- private TalonFXSimState simState;
- private SingleJointedArmSim turretSim;
-
- /* ---------------- Control ---------------- */
-
- private Rotation2d goalAngle = Rotation2d.kZero;
- private double goalVelocityRadPerSec = 0.0;
- private double lastGoalRad = 0.0;
- private double lastFilteredRad = 0.0;
- private double lastRawSetpoint = 0.0;
-
- /* ---------------- Visualization ---------------- */
-
- private final Mechanism2d mech = new Mechanism2d(100, 100);
- private final MechanismRoot2d root = mech.getRoot("turret", 50, 50);
- private final MechanismLigament2d ligament = root.append(new MechanismLigament2d("barrel", 30, 0));
-
- private final MotionMagicVoltage mmVoltageRequest = new MotionMagicVoltage(0);
-
- /* ---------------- Constructor ---------------- */
-
- public Turret() {
- motor.setNeutralMode(NeutralModeValue.Brake);
-
- TalonFXConfiguration config = new TalonFXConfiguration();
- config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
-
- config.Slot0.kP = 1.5;
- config.Slot0.kS = 0.0; // Static friction compensation
- config.Slot0.kV = 0.0; // Adjusted kV for the gear ratio
- config.Slot0.kD = 0.0; // The "Braking" term to stop overshoot
- config.Slot0.kA = 0.0;
-
- var mm = config.MotionMagic;
- mm.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY) * TurretConstants.GEAR_RATIO;
- mm.MotionMagicAcceleration = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION) * TurretConstants.GEAR_RATIO; // Lowered for belt safety
- mm.MotionMagicJerk = 0; // Set to > 0 for "S-Curve" smoothing if needed
- motor.getConfigurator().apply(config);
-
- setNewCurrentLimit(TurretConstants.STATOR_CURRENT_LIMIT, TurretConstants.SUPPLY_CURRENT_LIMIT);
-
- lastGoalRad = 0.0;
-
- if (RobotBase.isSimulation()) {
- simState = motor.getSimState();
- turretSim = new SingleJointedArmSim(
- edu.wpi.first.math.system.plant.DCMotor.getKrakenX60(1),
- TurretConstants.GEAR_RATIO,
- 0.01,
- 0.15,
- Units.degreesToRadians(TurretConstants.MIN_ANGLE),
- Units.degreesToRadians(TurretConstants.MAX_ANGLE),
- false,
- 0.0);
- }
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putData("Turret Mech", mech);
- SmartDashboard.putData("Reset Turret Position to Zero", new InstantCommand(() -> resetTurretPosition()));
-
- SendableChooser<InstantCommand> turretTestChooser = new SendableChooser<>();
- turretTestChooser.setDefaultOption("Turn to 0", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0)));
- turretTestChooser.addOption("Turn to -90", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(-90), 0.0)));
- turretTestChooser.addOption("Turn to 90", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(90), 0.0)));
- turretTestChooser.addOption("Turn to 200", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(200), 0.0)));
- turretTestChooser.addOption("Turn to -200", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(-200), 0.0)));
-
- SmartDashboard.putData("Turret Test Positions", turretTestChooser);
- }
- SmartDashboard.putData("Set Locked", new InstantCommand(() -> {locked = !locked;}));
- //motor.setPosition(Units.degreesToRotations(238.86) * TurretConstants.GEAR_RATIO);
-
- motor.setPosition(0.0);
- }
-
- /* ---------------- Public API ---------------- */
-
- /**
- * Sets the setpoint position and velocity of the turret. Call in command execute.
- * @param angle
- * @param velocityRadPerSec
- */
- public void setFieldRelativeTarget(Rotation2d angle, double velocityRadPerSec) {
- goalAngle = angle;
- goalVelocityRadPerSec = velocityRadPerSec;
- }
-
- public void resetTurretPosition() {
- inputs.positionDeg = 0.0;
- }
-
- /**
- * @return If the turret is at setpoint with tolerance of 10 degrees
- */
- public boolean atSetpoint() {
- if (locked) return true;
- return Math.abs(goalAngle.getRadians() - getPositionRad()) < Units.degreesToRadians(10.0);
- }
-
- /**
- * @return Posiiton of the turret in radians
- */
- public double getPositionRad() {
- return Units.rotationsToRadians(motor.getPosition().getValueAsDouble()) / TurretConstants.GEAR_RATIO;
- }
-
- /**
- * @return Posiiton of the turret in degrees
- */
- public double getPositionDeg() {
- return Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / TurretConstants.GEAR_RATIO;
- }
-
- /* ---------------- Periodic ---------------- */
-
- @Override
- public void periodic() {
- updateInputs();
- Logger.processInputs("Turret", inputs);
-
- // Position extrapolation
- double lookAheadSeconds = TurretConstants.EXTRAPOLATION_TIME_CONSTANT;
- double futureRobotAngle = goalAngle.getRadians() + (goalVelocityRadPerSec * lookAheadSeconds);
-
- //Continuous wrap selection
- double best = lastGoalRad;
- boolean found = false;
-
- for (int i = -2; i <= 2; i++) {
- double candidate = futureRobotAngle + 2.0 * Math.PI * i;
- if (candidate < Units.degreesToRadians(TurretConstants.MIN_ANGLE) || candidate > Units.degreesToRadians(TurretConstants.MAX_ANGLE))
- continue;
-
- if (!found || Math.abs(candidate - lastGoalRad) < Math.abs(best - lastGoalRad)) {
- best = candidate;
- found = true;
- }
- }
-
- lastGoalRad = best;
-
- // calculate shortest angular delta
- double delta = best - lastRawSetpoint;
-
- // filter delta
- double filteredDelta = setpointFilter.calculate(delta);
-
- // apply filtered range
- lastFilteredRad += filteredDelta;
- lastRawSetpoint = best;
- best = lastFilteredRad;
-
- // Tells the Kraken to get to this position using 1000Hz profile
- double motorGoalRotations = Units.radiansToRotations(best) * TurretConstants.GEAR_RATIO;
-
- // Clamp position setpoint to min and max angles
- motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.degreesToRotations(TurretConstants.MIN_ANGLE) * TurretConstants.GEAR_RATIO, Units.degreesToRotations(TurretConstants.MAX_ANGLE) * TurretConstants.GEAR_RATIO);
-
- // Multiply goal velocity by kV
- double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV * TurretConstants.GEAR_RATIO;
-
- // Sets motor control with feedforward
- motor.setControl(mmVoltageRequest
- .withPosition(motorGoalRotations)
- .withFeedForward(robotTurnCompensation)
- .withEnableFOC(true));
-
- if (!Constants.DISABLE_LOGGING) {
- Logger.recordOutput("Turret/Voltage", motor.getMotorVoltage().getValue());
- Logger.recordOutput("Turret/setpointDeg", goalAngle.getDegrees());
- }
-
- // --- Visualization ---
- ligament.setAngle(Units.radiansToDegrees(getPositionRad()));
-
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
- SmartDashboard.putBoolean("Turret Calibrated", !calibrating);
- SmartDashboard.putBoolean("Turret At Setpoint", atSetpoint());
- }
- }
-
- /* ---------------- Simulation ---------------- */
-
- @Override
- public void simulationPeriodic() {
- turretSim.setInputVoltage(motor.getMotorVoltage().getValueAsDouble());
- turretSim.update(Constants.LOOP_TIME);
-
- simState.setRawRotorPosition(
- Units.radiansToRotations(turretSim.getAngleRads()) * TurretConstants.GEAR_RATIO);
-
- simState.setRotorVelocity(
- Units.radiansToRotations(turretSim.getVelocityRadPerSec()) * TurretConstants.GEAR_RATIO);
- }
-
- @Override
- public void updateInputs() {
- inputs.positionDeg = Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / TurretConstants.GEAR_RATIO;
- inputs.velocityRadPerSec = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble()) / TurretConstants.GEAR_RATIO;
- inputs.motorStatorCurrent = motor.getStatorCurrent().getValueAsDouble();
- inputs.motorSupplyCurrent = motor.getSupplyCurrent().getValueAsDouble();
- inputs.motorVoltage = motor.getMotorVoltage().getValueAsDouble();
- }
-
- public void setNewCurrentLimit(double stator, double supply) {
- CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
- limitConfig.StatorCurrentLimit = stator;
- limitConfig.StatorCurrentLimitEnable = true;
- limitConfig.SupplyCurrentLimit = supply;
- limitConfig.SupplyCurrentLimitEnable = true;
- motor.getConfigurator().apply(limitConfig);
- }
-
- public double getSubsystemStatorCurrent() {
- return inputs.motorStatorCurrent;
- }
-
- public double getSubsystemSupplyCurrent() {
- return inputs.motorSupplyCurrent;
- }
-}
+++ /dev/null
-package frc.robot.subsystems.turret;
-
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.util.Units;
-
-public class TurretConstants {
- public static double MAX_ANGLE = 170; // Deg
- public static double MIN_ANGLE = -215; // Deg
-
- public static double CALIBRATION_OFFSET = 0.0; // TODO: find this at hardstop
-
- public static double MAX_VELOCITY = 600; // rad/s
- // public static double MAX_ACCELERATION = 120.0; // rad/s^2
- public static double MAX_ACCELERATION = 320.0; // rad/s^2
-
- // Not using this, but just in case
- public static double TURRET_WIDTH = Units.inchesToMeters(6.4);
- public static double TURRET_RADIUS = TURRET_WIDTH / 2;
-
- public static double GEAR_RATIO = 28;
-
- // Turret is in center of robot, but make use of the height in shooter physics
- public static Translation3d DISTANCE_FROM_ROBOT_CENTER = new Translation3d(0,0, Units.inchesToMeters(22.172)); //meters
-
- public static final double EXTRAPOLATION_TIME_CONSTANT = 0.06;
-
- public static final double FEEDFORWARD_KV = 0.02;
-
- public static final double STATOR_CURRENT_LIMIT = 40.0; // A
- public static final double SUPPLY_CURRENT_LIMIT = 40.0; // A
-
-}
+++ /dev/null
-package frc.robot.subsystems.turret;
-
-import org.littletonrobotics.junction.AutoLog;
-
-public interface TurretIO {
- @AutoLog
- public static class TurretIOInputs{
- public double positionDeg = 0;
- public double velocityRadPerSec = 0;
- public double motorStatorCurrent = 0;
- public double motorSupplyCurrent = 0;
- public double encoderLeftRot = 0;
- public double encoderRightRot = 0;
- public double motorVoltage = 0;
- }
-
- public void updateInputs();
-}
+++ /dev/null
-package frc.robot.util;
-
-
-import java.util.Optional;
-
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-
-public class HubActive {
- static public boolean isHubActive() {
- Optional<Alliance> alliance = DriverStation.getAlliance();
- // If we have no alliance, we cannot be enabled, therefore no hub.
- if (alliance.isEmpty()) {
- return false;
- }
- // Hub is always enabled in autonomous.
- if (DriverStation.isAutonomousEnabled()) {
- return true;
- }
- // At this point, if we're not teleop enabled, there is no hub.
- if (!DriverStation.isTeleopEnabled()) {
- return false;
- }
-
-
- // We're teleop enabled, compute.
- double matchTime = DriverStation.getMatchTime();
- String gameData = DriverStation.getGameSpecificMessage();
- // If we have no game data, we cannot compute, assume hub is active, as its
- // likely early in teleop.
- if (gameData.isEmpty()) {
- return true;
- }
- boolean redInactiveFirst = false;
- switch (gameData.charAt(0)) {
- case 'R' -> redInactiveFirst = true;
- case 'B' -> redInactiveFirst = false;
- default -> {
- // If we have invalid game data, assume hub is active.
- return true;
- }
- }
-
- // Shift was is active for blue if red won auto, or red if blue won auto.
- boolean shift1Active = switch (alliance.get()) {
- case Red -> !redInactiveFirst;
- case Blue -> redInactiveFirst;
- };
- if (matchTime > 130) {
- // Transition shift, hub is active.
- return true;
- } else if (matchTime > 105) {
- // Shift 1
- return shift1Active;
- } else if (matchTime > 80) {
- // Shift 2
- return !shift1Active;
- } else if (matchTime > 55) {
- // Shift 3
- return shift1Active;
- } else if (matchTime > 30) {
- // Shift 4
- return !shift1Active;
- } else {
- // End game, hub always active.
- return true;
- }
- }
-
-
- static public Optional<Double> timeToActive() {
-
-
- Optional<Alliance> alliance = DriverStation.getAlliance();
- // If we have no alliance, we cannot be enabled, therefore no hub.
- if (alliance.isEmpty()) {
- return Optional.empty();
- }
- // Hub is always enabled in autonomous.
- if (DriverStation.isAutonomousEnabled()) {
- return Optional.of(0.0);
- }
- // At this point, if we're not teleop enabled, there is no hub.
- if (!DriverStation.isTeleopEnabled()) {
- return Optional.empty();
- }
-
-
- // We're teleop enabled, compute.
- double matchTime = DriverStation.getMatchTime();
- String gameData = DriverStation.getGameSpecificMessage();
- // If we have no game data, we cannot compute, assume hub is active, as its
- // likely early in teleop.
- if (gameData.isEmpty()) {
- return Optional.of(0.0);
- }
- boolean redInactiveFirst = false;
- switch (gameData.charAt(0)) {
- case 'R' -> redInactiveFirst = true;
- case 'B' -> redInactiveFirst = false;
- default -> {
- // If we have invalid game data, assume hub is active.
- return Optional.of(0.0);
- }
- }
-
-
-
-
- // Shift was is active for blue if red won auto, or red if blue won auto.
- boolean shift1Active = switch (alliance.get()) {
- case Red -> !redInactiveFirst;
- case Blue -> redInactiveFirst;
- };
-
-
- if (matchTime > 130) {
- // Transition shift, hub is active.
- return Optional.of(0.0);
- } else if (matchTime > 105) {
- // Shift 1
- if (shift1Active) {
- return Optional.of(matchTime - 105.0);
- } else {
- return Optional.empty();
- }
- } else if (matchTime > 80) {
- // Shift 2
-
-
- if (!shift1Active) {
- return Optional.of(matchTime - 80.0);
- } else {
- return Optional.empty();
- }
- } else if (matchTime > 55) {
- // Shift 3
-
-
- if (shift1Active) {
- return Optional.of(matchTime - 55.0);
- } else {
- return Optional.empty();
- }
- } else if (matchTime > 30) {
- // Shift 4
-
-
- if (!shift1Active) {
- return Optional.of(matchTime - 30.0);
- } else {
- return Optional.empty();
- }
- } else {
- // End game, hub always active.
- return Optional.of(0.0);
- }
- }
-
- static public Optional<Double> timeToInactive() {
-
- Alliance alliance = DriverStation.getAlliance().orElse(Alliance.Blue);
- if (alliance == Alliance.Blue) {
- alliance = Alliance.Red;
- } else {
- alliance = Alliance.Blue;
- }
-
- // Hub is always enabled in autonomous.
- if (DriverStation.isAutonomousEnabled()) {
- return Optional.of(0.0);
- }
- // At this point, if we're not teleop enabled, there is no hub.
- if (!DriverStation.isTeleopEnabled()) {
- return Optional.empty();
- }
-
- // We're teleop enabled, compute.
- double matchTime = DriverStation.getMatchTime();
- String gameData = DriverStation.getGameSpecificMessage();
- // If we have no game data, we cannot compute, assume hub is active, as its
- // likely early in teleop.
- if (gameData.isEmpty()) {
- return Optional.of(0.0);
- }
- boolean redInactiveFirst = false;
- switch (gameData.charAt(0)) {
- case 'R' -> redInactiveFirst = true;
- case 'B' -> redInactiveFirst = false;
- default -> {
- // If we have invalid game data, assume hub is active.
- return Optional.of(0.0);
- }
- }
-
- // Shift was is active for blue if red won auto, or red if blue won auto.
- boolean shift1Active = switch (alliance) {
- case Red -> !redInactiveFirst;
- case Blue -> redInactiveFirst;
- };
-
- if (matchTime > 130) {
- // Transition shift, hub is active.
- return Optional.of(0.0);
- } else if (matchTime > 105) {
- // Shift 1
- if (shift1Active) {
- return Optional.of(matchTime - 105.0);
- } else {
- return Optional.empty();
- }
- } else if (matchTime > 80) {
- // Shift 2
-
- if (!shift1Active) {
- return Optional.of(matchTime - 80.0);
- } else {
- return Optional.empty();
- }
- } else if (matchTime > 55) {
- // Shift 3
-
- if (shift1Active) {
- return Optional.of(matchTime - 55.0);
- } else {
- return Optional.empty();
- }
- } else if (matchTime > 30) {
- // Shift 4
-
- if (!shift1Active) {
- return Optional.of(matchTime - 30.0);
- } else {
- return Optional.empty();
- }
- } else {
- // End game, hub always active.
- return Optional.of(0.0);
- }
- }
-
- static public boolean wonAuto() {
- String gameData = DriverStation.getGameSpecificMessage();
- // If we have no game data, we cannot compute, assume hub is active, as its
- // likely early in teleop.
- if (gameData.isEmpty()) {
- return false;
- }
- boolean redInactiveFirst = false;
- switch (gameData.charAt(0)) {
- case 'R' -> redInactiveFirst = true;
- case 'B' -> redInactiveFirst = false;
- default -> {
- // If we have invalid game data, assume hub is active.
- return false;
- }
- }
-
-
- var alliance = DriverStation.getAlliance().get();
- boolean x;
- if (alliance == Alliance.Red) {
- x = redInactiveFirst;
- } else {
- x = !redInactiveFirst;
- }
- return x;
-
- }
-}
+++ /dev/null
-package frc.robot.util;
-
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import frc.robot.constants.FieldConstants;
-import frc.robot.constants.FieldConstants.FieldZone;
-import frc.robot.subsystems.shooter.Shooter;
-import frc.robot.subsystems.turret.Turret;
-
-public class PhaseManager {
-
- public enum WantedState {
- IDLE,
- SHOOTING,
- PASSING
- }
-
- public enum CurrentState {
- IDLE,
- STARTING_UP,
- TURNING_AROUND,
- UNDER_TRENCH,
- SHOOTING,
- PASSING
- }
-
- private WantedState wantedState = WantedState.SHOOTING;
- private CurrentState currentState = CurrentState.IDLE;
-
- public void update(Pose2d drivePose, Shooter shooter, Turret turret) {
- updateWantedState(drivePose);
- updateCurrentState(drivePose, shooter, turret);
- }
-
- private void updateCurrentState(Pose2d drivePose, Shooter shooter, Turret turret) {
- // if shooter is not trying to run -- idle
- if (shooter.getTargetVelocity() == 0.0) {
- currentState = CurrentState.IDLE;
- return;
- }
- // if shooter velocity not ready yet -- starting up
- if (!shooter.atTargetSpeed()) { // TODO: but then what happens when the ball goes in and the velocity dips??
- currentState = CurrentState.STARTING_UP;
- return;
- }
- // if turret is not at setpoint -- turning around
- if (!turret.atSetpoint()) {
- currentState = CurrentState.TURNING_AROUND;
- return;
- }
-
- FieldZone zone = FieldConstants.getZone(drivePose.getTranslation());
- if (zone == FieldConstants.FieldZone.ALLIANCE) {
- currentState = CurrentState.SHOOTING;
- } else if (zone == FieldConstants.FieldZone.TRENCH_BUMP){
- currentState = CurrentState.UNDER_TRENCH;
- } else {
- currentState = CurrentState.PASSING;
- }
- }
-
- private void updateWantedState(Pose2d drivePose) {
- FieldZone zone = FieldConstants.getZone(drivePose.getTranslation());
- if (zone == FieldConstants.FieldZone.UNDER_LADDER) {
- wantedState = WantedState.IDLE;
- } else if (zone == FieldConstants.FieldZone.ALLIANCE) {
- wantedState = WantedState.SHOOTING;
- } else {
- wantedState = WantedState.PASSING;
- }
- if (zone == FieldConstants.FieldZone.ALLIANCE) {
- wantedState = WantedState.SHOOTING;
- } else {
- wantedState = WantedState.PASSING;
- }
- }
-
- public WantedState getWantedState() {
- return wantedState;
- }
- public CurrentState getCurrentState() {
- return currentState;
- }
-
- public boolean isIdle() {
- return wantedState == WantedState.IDLE;
- }
-
- public boolean shouldFeed() {
- // TODO: I'm gonna comment out starting up until i find a solution
- return !(currentState == CurrentState.TURNING_AROUND) && !(currentState == CurrentState.UNDER_TRENCH); //&& !(currentState == CurrentState.STARTING_UP);
- }
-
- public Translation2d getTarget(Pose2d drivePose) {
- return wantedState == WantedState.SHOOTING ? FieldConstants.getHubTranslation().toTranslation2d()
- : (FieldConstants.isOnLeftSideOfField(drivePose.getTranslation())
- //TODO: reversed for sm reason
- ? FieldConstants.getAllianceSideTranslation(false).toTranslation2d()
- : FieldConstants.getAllianceSideTranslation(true).toTranslation2d());
- }
-}
+++ /dev/null
-package frc.robot.util;
-
-import java.util.Optional;
-
-import edu.wpi.first.math.Pair;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.util.Units;
-import frc.robot.constants.Constants;
-
-public class ShooterPhysics {
- // pitch in radians, going up from the horizontal
- // exit velocity speed in m/s
- public record TurretState(Rotation2d yaw, double pitch, double exitVel, double height, double timeOfFlight) {
- public boolean satisfies(Constraints constraints) {
- if (height < constraints.height())
- return false;
- if (exitVel > constraints.maxVel())
- return false;
- if (pitch > constraints.maxPitch() || pitch < constraints.minPitch())
- return false;
- return true;
- }
- };
-
- /**
- * Specifies the constraints of the shot.
- *
- * @param height The minimum apex height of the shot.
- * @param maxVel The maximum exit velocity of the shooter
- * @param minPitch The minimum pitch covered by the hood
- * @param maxPitch The maximum pitch covered by the hood
- */
- public record Constraints(double height, double maxVel, double minPitch, double maxPitch) {
- };
-
- /**
- * Calculates shot parameters for SOTM using Physics™.
- *
- * @param robotVelocity The x and y velocity of the robot, field relative.
- * @param robotToTarget The robot to target transform. Angles are field
- * relative, positions are with the robot as the origin.
- * @param peakHeight The peak height the trajectory should reach.
- * @return A TurretState that represents the shot the robot should take.
- */
- public static TurretState getShotParams(Translation2d robotVelocity, Translation3d robotToTarget,
- double peakHeight) {
- double zExitVel = Math.sqrt(2 * peakHeight * Constants.GRAVITY_ACCELERATION);
- double t = (-zExitVel - Math.sqrt(Math.pow(zExitVel, 2) - 2 * Constants.GRAVITY_ACCELERATION * robotToTarget.getZ())) / -Constants.GRAVITY_ACCELERATION;
- Translation3d exitVel = getRequiredExitVelocity(robotVelocity, robotToTarget, peakHeight);
- return cvtShot(exitVel, peakHeight, t);
- }
-
- /**
- * Calculates shot parameters for stationary shooting using Physics™.
- *
- * @param robotToTarget The robot to target transform. Angles are field
- * relative, positions are with the robot as the origin.
- * @param peakHeight The peak height the trajectory should reach.
- * @return A TurretState that represents the shot the robot should take.
- */
- public static TurretState getShotParams(Translation3d robotToTarget, double peakHeight) {
- return getShotParams(new Translation2d(0, 0), robotToTarget, peakHeight);
- }
-
- public static Optional<TurretState> getConstrainedParams(Translation3d robotToTarget, Constraints constraints){
- return getConstrainedParams(new Translation2d(0, 0), robotToTarget, constraints);
- }
-
- public static Optional<TurretState> getConstrainedParams(Translation2d robotVelocity, Translation3d robotToTarget,
- Constraints constraints) {
- // establish a lower bound
- double minHeight = Math.max(robotToTarget.getZ(), constraints.height());
- Optional<TurretState> withMinPitch = withAngle(robotVelocity, robotToTarget, constraints.minPitch());
- if (withMinPitch.isPresent()) {
- minHeight = Math.min(minHeight, withMinPitch.get().height());
- }
- Translation3d minVel = getRequiredExitVelocity(robotVelocity, robotToTarget, minHeight);
- double minT = (-minVel.getZ() - Math.sqrt(Math.pow(minVel.getZ(), 2) - 2 * Constants.GRAVITY_ACCELERATION * robotToTarget.getZ())) / -Constants.GRAVITY_ACCELERATION;
- TurretState withMinHeight = cvtShot(minVel, minHeight, minT);
- if (withMinHeight.satisfies(constraints))
- return Optional.of(withMinHeight);
-
- // the only reason this is empty is if the highest posible trajectory is too low
- // to intersect the goal
- Optional<TurretState> withMaxPitchOpt = withAngle(robotVelocity, robotToTarget, constraints.minPitch());
- if (withMaxPitchOpt.isEmpty())
- return Optional.empty();
- TurretState withMaxPitch = withMaxPitchOpt.get();
-
- // the range from withMinHeight to withMaxPitch will satisfy pitch and height
- // constraints
- // now we need to satisfy the speed constraint
-
- TurretState withMinSpeed = withMinimumSpeed(robotVelocity, robotToTarget);
- // ordered such that the first element is valid and the second is not
- Pair<TurretState, TurretState> newRange;
-
- if (withMinSpeed.height() < withMinHeight.height()) {
- // the minimum speed is below the lower bound, but doesn't satisfy constraints
- return Optional.empty();
-
- } else if (withMinSpeed.height() > withMaxPitch.height()) {
- // the minimum speed is above the upper bound
- if (withMaxPitch.satisfies(constraints))
- // keep optimizing to find the lowest height
- newRange = new Pair<TurretState, TurretState>(withMaxPitch, withMinHeight);
- else
- return Optional.empty();
-
- } else {
- // the minimum speed is within the ok range
- assert withMinSpeed.satisfies(constraints);
- newRange = new Pair<TurretState, TurretState>(withMinSpeed, withMinHeight);
- }
-
- // now we binary search the new range
- TurretState lastValid = newRange.getFirst();
- // use a 5cm tolerance
- while (Math.abs(newRange.getFirst().height() - newRange.getSecond().height()) < .05) {
- double avgHeight = (newRange.getFirst().height() + newRange.getSecond().height()) / 2;
- Translation3d guessVel = getRequiredExitVelocity(robotVelocity, robotToTarget, avgHeight);
- double guessT = (-guessVel.getZ() - Math.sqrt(Math.pow(guessVel.getZ(), 2) - 2 * Constants.GRAVITY_ACCELERATION * robotToTarget.getZ())) / -Constants.GRAVITY_ACCELERATION;
- TurretState guess = cvtShot(guessVel, avgHeight, guessT);
- if (guess.satisfies(constraints)) {
- if (guess.height() < lastValid.height()) lastValid = guess;
- newRange = new Pair<TurretState, TurretState>(guess, newRange.getSecond());
- } else {
- newRange = new Pair<TurretState, TurretState>(newRange.getFirst(), guess);
- }
- }
-
- return Optional.of(lastValid);
- }
-
- public static TurretState cvtShot(Translation3d velocity, double height, double timeOfFlight) {
- Translation2d onGround = velocity.toTranslation2d();
- Rotation2d yaw = onGround.getAngle();
- double magnitude2d = onGround.getNorm();
-
- double pitch = new Translation2d(magnitude2d, velocity.getZ()).getAngle().getRadians();
- pitch %= Math.PI * 2;
- double speed = velocity.getDistance(Translation3d.kZero);
-
- return new TurretState(yaw, pitch, speed, height, timeOfFlight);
- }
-
- /**
- * Actually does the SOTM math. Assumes shots are from (0, 0, 0). This is only
- * public so it can be unit tested, and shouldn't be called directly.
- *
- * @param robotVelocity The velocity of the robot, field relative.
- * @param target The translation from the robot to the target, field
- * relative. Aka, the position of the target if the robot
- * was at the origin.
- * @param peakZ The height of the highest point of the generated
- * trajectory.
- * @return Velocity that should be imparted on the ball, field relative.
- */
- public static Translation3d getRequiredExitVelocity(Translation2d robotVelocity, Translation3d target,
- double peakZ) {
- if (target.getZ() > peakZ)
- throw new IllegalArgumentException(
- "The target (" + target + ") cannot be higher than the max trajectory height (" + peakZ + ").");
-
- // z = v_z_exit_vel * t - .5 * g * t²
- // want vertex of this equation to equal peakZ
- // t_vertex = -v_z_exit_vel / -g
- // t_vertex = v_z_exit_vel / g
- // z_vertex = v_z_exit_vel * (v_z_exit_vel / g) - .5 * g * (v_z_exit_vel / g)²
- // peakZ = v_z_exit_vel² / g - .5 * v_z_exit_vel² / g
- // peakZ = .5 * v_z_exit_vel² / g
- // v_z_exit_vel² = 2 * peakZ * g
- // v_z_exit_vel = √(2 * peakZ * g)
- double zExitVel = Math.sqrt(2 * peakZ * Constants.GRAVITY_ACCELERATION);
-
- // now we need time to hit target
- // z_target = v_z_exit_vel * t - .5 * g * t²
- // 0 = -.5 * g * t² + v_z_exit_vel * t - z_target
- // quadratic formula
- // t = (-v_z_exit_vel ± √(v_z_exit_vel² - 4 * (-.5 * g) * (-z_target))) / (2 *
- // -.5 * g)
- // t = (-v_z_exit_vel ± √(v_z_exit_vel² - 2 * g * z_target)) / -g
- // onlz use - because we only want the part where it's coming down, and that
- // gives the longer time
- double t = (-zExitVel - Math.sqrt(Math.pow(zExitVel, 2) - 2 * Constants.GRAVITY_ACCELERATION * target.getZ()))
- / -Constants.GRAVITY_ACCELERATION;
-
- if (t < 0)
- throw new RuntimeException("Time should never be negative (got t=" + t + ").");
-
- // calculate x and z exit_vel
- // x = (v_x_robot + v_x_exit_vel) * t
- // x_target = (v_x_robot + v_x_exit_vel) * t_target
- // v_x_robot + v_x_exit_vel = x_target / t_target
- // v_x_exit_vel = x_target / t_target - v_x_robot
- double xExitVel = target.getX() / t - robotVelocity.getX();
- // same for y
- double yExitVel = target.getY() / t - robotVelocity.getY();
- return new Translation3d(xExitVel, yExitVel, zExitVel);
- }
-
- // call with default tolerance
- public static TurretState withMinimumSpeed(Translation2d initialVelocity, Translation3d target) {
- return withMinimumSpeed(initialVelocity, target, 0.1);
- }
-
- public static TurretState withMinimumSpeed(Translation2d initialVelocity, Translation3d target,
- double tolerance) {
-
- // calculate minimum velocity: v² = g * (R + √(R² + h²))
- double horizontalDist = target.toTranslation2d().getNorm();
- double verticalDist = target.getZ();
- double g = Constants.GRAVITY_ACCELERATION;
- double robotSpeed = initialVelocity.getNorm();
-
- double minProjectileSpeed = Math
- .sqrt(g * (horizontalDist + Math.sqrt(horizontalDist * horizontalDist + verticalDist * verticalDist)));
- double minSpeed = Math.max(0, minProjectileSpeed - robotSpeed);
-
- // guess a peak height
- double guess = target.getZ() + 2;
- int maxIters = 20;
- while (maxIters >= 0) {
- maxIters--;
-
- // this will throw an exception, so avoid it
- // we still might have just overshot, so keep checking
- if (guess < target.getZ())
- guess = target.getZ();
-
- Translation3d guessVelocity = getRequiredExitVelocity(initialVelocity, target, guess);
- double guessT = (-guessVelocity.getZ() - Math.sqrt(Math.pow(guessVelocity.getZ(), 2) - 2 * Constants.GRAVITY_ACCELERATION * target.getZ())) / -Constants.GRAVITY_ACCELERATION;
- double guessSpeed = guessVelocity.getNorm();
- double difference = minSpeed - guessSpeed;
-
- // we've already hit minimum height and are trying to go lower
- if (guess <= target.getZ() && difference < 0)
- throw new RuntimeException("Incorrect minimum speed calculation in ShooterPhysics.java");
-
- if (Math.abs(difference) <= tolerance)
- return cvtShot(guessVelocity, guess, guessT);
-
- guess += difference * 1.7; // experimentally determined value
- }
-
- throw new RuntimeException("Failed to compute a trajectory for a minimum speed.");
- }
-
- public static Optional<TurretState> withAngle(Translation2d initialVelocity, Translation3d target,
- double pitch) {
- return withAngle(initialVelocity, target, pitch, Units.degreesToRadians(1));
- }
-
- public static Optional<TurretState> withAngle(Translation2d initialVelocity, Translation3d target,
- double pitch, double tolerance) {
-
- // guess a peak height
- double guess = target.getZ() + 2;
- int maxIters = 20;
- while (maxIters >= 0) {
- maxIters--;
-
- // this will throw an exception, so avoid it
- // we still might have just overshot, so keep checking
- if (guess < target.getZ())
- guess = target.getZ();
-
- Translation3d guessVelocity = getRequiredExitVelocity(initialVelocity, target, guess);
- double guessT = (-guessVelocity.getZ() - Math.sqrt(Math.pow(guessVelocity.getZ(), 2) - 2 * Constants.GRAVITY_ACCELERATION * target.getZ())) / -Constants.GRAVITY_ACCELERATION;
- TurretState polar = cvtShot(guessVelocity, guess, guessT);
- double difference = pitch - polar.pitch();
-
- // we've already hit minimum height and are trying to go lower
- if (guess <= target.getZ() && difference < 0)
- return Optional.empty();
-
- if (Math.abs(difference) <= tolerance)
- return Optional.of(polar);
-
- guess += difference * 0.7; // TODO: find better value
- }
-
- throw new RuntimeException("Solving for angle did not converge.");
- }
-}
+++ /dev/null
-package frc.robot.util.TrenchAssist;
-
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.util.Units;
-import frc.robot.constants.FieldConstants;
-import frc.robot.subsystems.drivetrain.Drivetrain;
-
-public class TrenchAssist {
-
- public static ChassisSpeeds calculate(Drivetrain drive, ChassisSpeeds chassisSpeeds, PIDController pid) {
- // ChassisSpeeds speedsFieldRelative =
- // ChassisSpeeds.fromRobotRelativeSpeeds(chassisSpeeds,
- // drive.getYaw().unaryMinus());
-
- double distanceFromSlideLatitude;
-
- //pick which side of field to go on
- if (drive.getPose().getY() > (FieldConstants.FIELD_WIDTH / 2.0)) {
- distanceFromSlideLatitude = (drive.getPose().getY() - TrenchAssistConstants.SLIDE_LATITUDES[0]);
- } else {
- distanceFromSlideLatitude = (drive.getPose().getY() - TrenchAssistConstants.SLIDE_LATITUDES[1]);
- }
-
-
- double correctionVelocity = pid.calculate(distanceFromSlideLatitude, 0);
-
- //deadzone
- if (Math.abs(distanceFromSlideLatitude) < Units.inchesToMeters(3)) {
- correctionVelocity = 0.0;
- }
-
- // set y speed to pid calculation
- ChassisSpeeds horizontalSpeeds = new ChassisSpeeds(chassisSpeeds.vxMetersPerSecond, correctionVelocity,
- chassisSpeeds.omegaRadiansPerSecond);
-
- //rotate once
- Translation2d y = new Translation2d(horizontalSpeeds.vxMetersPerSecond, horizontalSpeeds.vyMetersPerSecond)
- .rotateBy(drive.getYaw());
-
- //rotate twice
- return ChassisSpeeds.fromFieldRelativeSpeeds(
- new ChassisSpeeds(y.getX(), y.getY(), horizontalSpeeds.omegaRadiansPerSecond),
- drive.getYaw());
- }
-
- public static ChassisSpeeds convertToChassisSpeedsRobotRelative(Translation2d translation, Drivetrain drive) {
- Rotation2d yaw = drive.getYaw();
- Translation2d robotRelative = translation.rotateBy(yaw);
- return new ChassisSpeeds(robotRelative.getX(), robotRelative.getY(), 0.0);
-
- }
-
- public static Translation2d convertToTranslation2dFieldRelative(ChassisSpeeds speeds, Drivetrain drive) {
- Rotation2d yaw = drive.getYaw();
- Translation2d robotTranslation = new Translation2d(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond);
- return robotTranslation.rotateBy(yaw.times(-1));
-
- }
-}
+++ /dev/null
-package frc.robot.util.TrenchAssist;
-
-import edu.wpi.first.math.geometry.Rectangle2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.util.Units;
-import frc.robot.constants.FieldConstants;
-
-public class TrenchAssistConstants {
- public static final Rectangle2d[] OBSTACLES = new Rectangle2d[] {
- new Rectangle2d(new Translation2d(4.03, 1.28), new Translation2d(5.22, 1.58)),
- new Rectangle2d(new Translation2d(4.03, 8.07 - 1.28), new Translation2d(5.22, 8.07 - 1.58)),
- new Rectangle2d(new Translation2d(11.32, 1.28), new Translation2d(12.51, 1.58)),
- new Rectangle2d(new Translation2d(11.32, 8.07 - 1.28), new Translation2d(12.51, 8.07 - 1.58)),
- }; // 8.07m
-
- public static final Rectangle2d[] ALIGN_ZONES = new Rectangle2d[] {
- new Rectangle2d(new Translation2d(4.03 - .5, 0), new Translation2d(5.22 + .5, 3)),
- new Rectangle2d(new Translation2d(4.03 - .5, 8.07), new Translation2d(5.22 + .5, 8.07 - 3)),
- new Rectangle2d(new Translation2d(11.32 - .5, 0), new Translation2d(12.51 + .5, 3)),
- new Rectangle2d(new Translation2d(11.32 - .5, 8.07), new Translation2d(12.51 + .5, 8.07 - 3)),
- new Rectangle2d(new Translation2d(99.99, 99.9), new Translation2d(-99.0, -99.0)),
- };
-
- public static final double[] SLIDE_LATITUDES = new double[] {
- FieldConstants.FIELD_WIDTH - Units.inchesToMeters(27.0),
- Units.inchesToMeters(27.0), // should be accurate, i think our field is slightly too small
- // 6.550,
- // 0.668,
-
- };
-
-}
+++ /dev/null
-package frc.robot.util;
-
-public record Zone(
- double x_center,
- double y_center,
- double width,
- double length) {
-
- public boolean isInside(double x, double y) {
- if (x > x_center + (length / 2) || x < x_center - (length / 2)) {
- return false;
- }
- if (y > y_center + (width / 2) || y < y_center - (width / 2)) {
- return false;
- }
- return true;
- }
-}
+++ /dev/null
-
-package frc.robot.util;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-import java.util.ArrayList;
-import java.util.Random;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation3d;
-import frc.robot.constants.Constants;
-
-class ShooterPhysicsTest {
- private static final double epsilon = .001;
-
- @BeforeEach
- public void prepare() {
- }
-
- @AfterEach
- public void cleanup() {
- }
-
- @Test
- public void basicImpulseTest() {
- Translation3d transform = ShooterPhysics.getRequiredExitVelocity(Translation2d.kZero, Translation3d.kZero, 1);
- assertEquals(0, transform.getX(), epsilon);
- assertEquals(0, transform.getY(), epsilon);
- assertEquals(4.427, transform.getZ(), epsilon);
-
- Translation3d transform2 = ShooterPhysics.getRequiredExitVelocity(Translation2d.kZero,
- new Translation3d(10, 0, 0),
- 1);
- assertTrue(transform2.getX() > 0, transform2.toString());
- assertEquals(0, transform2.getY(), epsilon);
- assertEquals(4.427, transform2.getZ(), epsilon);
-
- Translation3d transform3 = ShooterPhysics.getRequiredExitVelocity(Translation2d.kZero,
- new Translation3d(0, -6, 0), 1);
- assertEquals(0, transform3.getX(), epsilon);
- assertTrue(transform3.getY() < 0, transform3.toString());
- assertEquals(4.427, transform3.getZ(), epsilon);
-
- Translation3d transform4 = ShooterPhysics.getRequiredExitVelocity(Translation2d.kZero,
- new Translation3d(6, 3, 0), 2);
- assertEquals(6. / 3, transform4.getX() / transform4.getY(), epsilon);
-
- Translation3d transform5 = ShooterPhysics.getRequiredExitVelocity(Translation2d.kZero,
- new Translation3d(12.14, 3.21, 0), 2);
- assertEquals(12.14 / 3.21, transform5.getX() / transform5.getY(), epsilon);
-
- Translation3d transform6 = ShooterPhysics.getRequiredExitVelocity(Translation2d.kZero,
- new Translation3d(-16.32, 3.3, 0), 2);
- assertEquals(-16.32 / 3.3, transform6.getX() / transform6.getY(), epsilon);
-
- Translation3d transform7 = ShooterPhysics.getRequiredExitVelocity(Translation2d.kZero,
- new Translation3d(2, 0, 0), Constants.GRAVITY_ACCELERATION / 2);
- assertEquals(1, transform7.getX(), epsilon, transform7.toString());
- assertEquals(0, transform7.getY(), epsilon);
- assertEquals(Constants.GRAVITY_ACCELERATION, transform7.getZ(), epsilon);
- }
-
- @Test
- public void initialVelocityTest() {
- Translation2d initialVelocityDiff = new Translation2d(5.1, -6.5);
- Translation3d transform = ShooterPhysics.getRequiredExitVelocity(Translation2d.kZero,
- new Translation3d(1, 2, 3), 4);
- Translation3d transform2 = ShooterPhysics.getRequiredExitVelocity(initialVelocityDiff,
- new Translation3d(1, 2, 3),
- 4);
- assertEquals(transform.getX(), transform2.getX() + initialVelocityDiff.getX(), epsilon);
- assertEquals(transform.getY(), transform2.getY() + initialVelocityDiff.getY(), epsilon);
- assertEquals(transform.getZ(), transform2.getZ(), epsilon);
- }
-
- @Test
- public void yawTest() {
- ShooterPhysics.TurretState state1 = ShooterPhysics.getShotParams(Translation2d.kZero,
- new Translation3d(1, 0, 0), 1);
- // different for this one because it's close to 0, so the angle wraps and
- // assertEquals can't handle that
- assertTrue(Math.abs((state1.yaw()).getRadians()) <= epsilon, state1.toString());
-
- ShooterPhysics.TurretState state2 = ShooterPhysics.getShotParams(Translation2d.kZero,
- new Translation3d(0, 1, 0), 1);
- assertEquals(new Rotation2d(Math.PI / 2).getRadians(), state2.yaw().getRadians(), epsilon);
-
- ShooterPhysics.TurretState state3 = ShooterPhysics.getShotParams(Translation2d.kZero,
- new Translation3d(-1, 0, 0), 1);
- assertEquals(new Rotation2d(Math.PI).getRadians(), state3.yaw().getRadians(), epsilon);
-
- ShooterPhysics.TurretState state4 = ShooterPhysics.getShotParams(Translation2d.kZero,
- new Translation3d(0, -1, 0), 1);
- assertEquals(new Rotation2d(-Math.PI / 2).getRadians(), state4.yaw().getRadians(), epsilon);
- }
-
- @Test
- public void pitchTest() {
- // check random values are within range
- ShooterPhysics.TurretState state1 = ShooterPhysics.getShotParams(Translation2d.kZero,
- new Translation3d(1, 0, 0), 1);
- assertTrue(state1.pitch() >= 0 && state1.pitch() <= Math.PI / 2, state1.toString());
-
- ShooterPhysics.TurretState state2 = ShooterPhysics.getShotParams(new Translation2d(12.2, -1.3),
- new Translation3d(1.1, 12, 11.1).minus(new Translation3d(.2, 1.2, 0)), 22.1);
- assertTrue(state2.pitch() >= 0 && state2.pitch() <= Math.PI / 2, state2.toString());
-
- ShooterPhysics.TurretState state3 = ShooterPhysics.getShotParams(new Translation2d(1.9, 9.1),
- new Translation3d(11.2, -13.1, 4.1).minus(new Translation3d(-.3, -8.4, 0)), 5.6);
- assertTrue(state3.pitch() >= 0 && state3.pitch() <= Math.PI / 2, state3.toString());
-
- // try a steep shot
- ShooterPhysics.TurretState state4 = ShooterPhysics.getShotParams(Translation2d.kZero,
- new Translation3d(1, 0, 99), 100);
- assertTrue(state4.pitch() >= Math.PI * 7 / 16 && state4.pitch() <= Math.PI / 2, state4.toString());
-
- ShooterPhysics.TurretState state5 = ShooterPhysics.getShotParams(Translation2d.kZero,
- new Translation3d(1, 0, 0), 100);
- assertTrue(state5.pitch() >= Math.PI * 7 / 16 && state5.pitch() <= Math.PI / 2, state5.toString());
-
- // try a shallow shot
- ShooterPhysics.TurretState state6 = ShooterPhysics.getShotParams(Translation2d.kZero,
- new Translation3d(100, 50, 1), 2);
- assertTrue(state6.pitch() >= 0 && state6.pitch() <= Math.PI / 16, state6.toString());
- }
-
- // test using a simple physics simulation
- @Test
- public void simulatedTest() {
- // test the simulation itself
- checkTrajectory(Translation3d.kZero, new Translation3d(1, 0, Constants.GRAVITY_ACCELERATION),
- new Translation3d(2, 0, .1), 2);
-
- Random rng = new Random(972);
-
- // compute 1000 random shots and simulate them
- for (int i = 0; i < 1000; i++) {
- Translation2d initPos = new Translation2d(rng.nextDouble() * 20 - 10, rng.nextDouble() * 20 - 10);
- Translation3d target = new Translation3d(rng.nextDouble() * 20 - 10, rng.nextDouble() * 20 - 10,
- rng.nextDouble() * 10 + 1);
- Translation2d initVel = new Translation2d(rng.nextDouble() * 10 - 5, rng.nextDouble() * 10 - 5);
- Translation3d robotToTarget = target.minus(new Translation3d(initPos));
- double arcHeight = target.getZ() + rng.nextDouble() * 10;
-
- Translation3d exitVel = ShooterPhysics.getRequiredExitVelocity(initVel, robotToTarget, arcHeight);
-
- checkTrajectory(new Translation3d(initPos), exitVel.plus(new Translation3d(initVel)), target,
- arcHeight);
- }
- }
-
- private class PhysicsObject {
- private Translation3d pos;
- private Translation3d vel;
-
- private PhysicsObject(Translation3d pos, Translation3d vel) {
- this.pos = pos;
- this.vel = vel;
- }
-
- private void step(double time) {
- pos = pos.plus(vel.times(time));
- vel = vel.plus(new Translation3d(0, 0, -Constants.GRAVITY_ACCELERATION).times(time));
- }
- }
-
- // throws an error if something goes wrong
- private void checkTrajectory(Translation3d initPos, Translation3d initVel, Translation3d endPos,
- double requiredHeight) {
- final double tolerance = .2;
- PhysicsObject object = new PhysicsObject(initPos, initVel);
- boolean achievedTargetHeight = false;
- boolean firstLoop = true; // to allow starting from ground
-
- // for diagnostics if something fails
- var messages = new ArrayList<String>();
- messages.add("Starting trajectory check from " + initPos + " to " + endPos + " with velocity " + initVel
- + " and peak height " + requiredHeight + ".");
- messages.add("position, velocity"); // column headers
-
- while (object.pos.getZ() > 0 || firstLoop) {
- messages.add("" + object.pos + ", " + object.vel);
-
- if (object.pos.getZ() + tolerance >= requiredHeight)
- achievedTargetHeight = true;
-
- // hit the target, check we got the needed height as well
- if (object.pos.getDistance(endPos) <= tolerance && achievedTargetHeight)
- return;
-
- object.step(.01);
- firstLoop = false;
- }
-
- for (String i : messages)
- System.out.println(i);
-
- if (achievedTargetHeight)
- throw new RuntimeException("Trajectory did not hit the target (" + endPos + ").");
- else
- throw new RuntimeException("Trajectory did not hit the target (" + endPos
- + ") and did not attain required arc height (" + requiredHeight + ").");
- }
-}