]> git.taranathan.com Git - FRC2026.git/commitdiff
make loop bump depot auto
authorTaran Nathan <moogoesmeow123@gmail.com>
Sun, 3 May 2026 20:27:41 +0000 (15:27 -0500)
committerTaran Nathan <moogoesmeow123@gmail.com>
Sun, 3 May 2026 20:28:06 +0000 (15:28 -0500)
src/main/deploy/choreo/depot.traj
src/main/deploy/choreo/loopBumpDepot.traj [new file with mode: 0644]

index 9c75e63c972dd2fd1594ee0e1bb602837a845a75..d4c984984318a58fd7795df27ef4e14be6bd4bae 100644 (file)
@@ -6,7 +6,8 @@
     {"x":3.610267400741577, "y":4.497615337371826, "heading":3.141592653589793, "intervals":23, "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":40, "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},
@@ -20,7 +21,8 @@
     {"x":{"exp":"3.610267400741577 m", "val":3.610267400741577}, "y":{"exp":"4.497615337371826 m", "val":4.497615337371826}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":23, "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":40, "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},
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.17626,2.18751,3.30853],
+  "waypoints":[0.0,1.17639,2.18661,3.15728,4.29174],
   "samples":[
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-    {"t":0.15343, "x":3.5324, "y":4.5126, "heading":2.72997, "vx":-1.12146, "vy":0.26518, "omega":-4.41029, "ax":-9.10006, "ay":3.08055, "alpha":7.85127, "fx":[-137.85693,-119.75185,-122.21568,-136.14018], "fy":[13.50332,69.58089,65.42189,26.15827]},
-    {"t":0.20457, "x":3.46314, "y":4.53019, "heading":2.51468, "vx":-1.58687, "vy":0.42273, "omega":-4.00875, "ax":-8.83219, "ay":2.71708, "alpha":13.94655, "fx":[-136.27038,-114.12876,-113.32118,-137.05668], "fy":[-24.46009,78.01246,79.76604,20.7377]},
-    {"t":0.25571, "x":3.37044, "y":4.55536, "heading":2.32791, "vx":-2.03856, "vy":0.56168, "omega":-3.2955, "ax":-8.94081, "ay":2.43635, "alpha":13.17834, "fx":[-135.25488,-124.67598,-110.75263,-136.25191], "fy":[-29.36421,59.15991,83.14022,25.20267]},
-    {"t":0.30685, "x":3.25449, "y":4.58728, "heading":2.17661, "vx":-2.49581, "vy":0.68628, "omega":-2.62154, "ax":-9.01765, "ay":2.24167, "alpha":12.56419, "fx":[-135.39945,-131.86961,-108.91167,-135.11148], "fy":[-28.26746,39.72052,85.30963,30.33795]},
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-    {"t":0.46028, "x":2.7654, "y":4.71867, "heading":1.92112, "vx":-3.87899, "vy":1.02571, "omega":-0.71517, "ax":-8.86131, "ay":2.31778, "alpha":12.45107, "fx":[-135.51717,-133.01074,-103.68173,-130.21843], "fy":[-16.78602,17.23953,88.37456,42.58774]},
-    {"t":0.51142, "x":2.55544, "y":4.77415, "heading":1.90082, "vx":-4.33217, "vy":1.14425, "omega":-0.07841, "ax":-0.94491, "ay":0.43706, "alpha":1.40074, "fx":[-14.86227,-10.46724,-11.93976,-16.30642], "fy":[3.21134,4.75985,9.18641,7.62315]},
-    {"t":0.56256, "x":2.33265, "y":4.83324, "heading":1.89865, "vx":-4.3805, "vy":1.1666, "omega":-0.00677, "ax":-0.03443, "ay":-0.12781, "alpha":0.00059, "fx":[-0.48867,-0.48682,-0.48745,-0.4893], "fy":[-1.81298,-1.81235,-1.8105,-1.81113]},
-    {"t":0.6137, "x":2.10858, "y":4.89274, "heading":1.8983, "vx":-4.38226, "vy":1.16006, "omega":-0.00674, "ax":-0.27984, "ay":-1.08665, "alpha":-0.00097, "fx":[-3.96572,-3.9688,-3.96774,-3.96465], "fy":[-15.40094,-15.40195,-15.40497,-15.40396]},
-    {"t":0.66484, "x":1.88409, "y":4.95065, "heading":1.89796, "vx":-4.39657, "vy":1.10449, "omega":-0.00679, "ax":-1.2497, "ay":-6.10424, "alpha":-0.0804, "fx":[-17.62641,-17.95976,-17.80173,-17.46882], "fy":[-86.43305,-86.44676,-86.61928,-86.60549]},
-    {"t":0.71599, "x":1.65761, "y":4.99915, "heading":1.89751, "vx":-4.46048, "vy":0.7923, "omega":-0.01091, "ax":5.79776, "ay":-7.00989, "alpha":-9.61619, "fx":[112.32755,63.86313,56.97186,95.56508], "fy":[-69.37296,-113.45045,-120.69132,-93.93907]},
-    {"t":0.76713, "x":1.43707, "y":5.0305, "heading":1.88437, "vx":-4.16397, "vy":0.4338, "omega":-0.50271, "ax":7.69432, "ay":-5.11366, "alpha":-12.15396, "fx":[135.59625,106.506,76.6986,117.45977], "fy":[-20.45046,-83.95201,-113.84083,-71.69634]},
-    {"t":0.81827, "x":1.23417, "y":5.046, "heading":1.84277, "vx":-3.77045, "vy":0.17227, "omega":-1.1243, "ax":7.90869, "ay":-4.69888, "alpha":-13.31051, "fx":[137.62672,116.18389,75.19813,119.40618], "fy":[-9.12313,-72.10273,-115.64631,-69.55009]},
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-    {"t":1.36889, "x":0.41035, "y":5.40321, "heading":1.57087, "vx":0.0635, "vy":1.99858, "omega":-0.0037, "ax":-0.32484, "ay":0.00904, "alpha":0.09659, "fx":[-4.76474,-4.44439,-4.4444,-4.76475], "fy":[-0.03233,-0.03231,0.28877,0.2887]},
-    {"t":1.41704, "x":0.41303, "y":5.49946, "heading":1.5708, "vx":0.04786, "vy":1.99902, "omega":0.00095, "ax":-0.2228, "ay":0.00473, "alpha":-0.0094, "fx":[-3.14248,-3.17368,-3.17368,-3.14248], "fy":[0.0827,0.0827,0.05147,0.05147]},
-    {"t":1.4652, "x":0.41508, "y":5.59573, "heading":1.57084, "vx":0.03713, "vy":1.99925, "omega":0.0005, "ax":-0.17826, "ay":0.00293, "alpha":-0.00788, "fx":[-2.51374,-2.5399,-2.5399,-2.51374], "fy":[0.05456,0.05455,0.02838,0.02838]},
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-    {"t":1.94674, "x":0.41589, "y":6.55858, "heading":1.57111, "vx":-0.03286, "vy":1.99932, "omega":0.00981, "ax":-0.19986, "ay":-0.00377, "alpha":-0.20639, "fx":[-2.49051,-3.17552,-3.1753,-2.49028], "fy":[0.28955,0.28927,-0.39625,-0.39611]},
-    {"t":1.99489, "x":0.41407, "y":6.65485, "heading":1.57135, "vx":-0.04249, "vy":1.99914, "omega":-0.00012, "ax":-0.32621, "ay":-0.00821, "alpha":-2.66634, "fx":[-0.20472,-9.04856,-9.04274,-0.1998], "fy":[4.32668,4.30348,-4.54075,-4.55516]},
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diff --git a/src/main/deploy/choreo/loopBumpDepot.traj b/src/main/deploy/choreo/loopBumpDepot.traj
new file mode 100644 (file)
index 0000000..68d97b0
--- /dev/null
@@ -0,0 +1,252 @@
+{
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