]> git.taranathan.com Git - FRC2026.git/commitdiff
add super shuttling auto
authorTaran Nathan <moogoesmeow123@gmail.com>
Sun, 3 May 2026 23:00:48 +0000 (18:00 -0500)
committerTaran Nathan <moogoesmeow123@gmail.com>
Sun, 3 May 2026 23:00:55 +0000 (18:00 -0500)
src/main/deploy/choreo/superShuttling.traj

index 76bafc4e5ed95f7ec181c182593bfe0867f83e5e..da0add9bc0356f43897d62cd937d6e466b5b0b6e 100644 (file)
  "name":"superShuttling",
  "version":3,
  "snapshot":{
-  "waypoints":[],
-  "constraints":[],
+  "waypoints":[
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+  "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}],
   "targetDt":0.05
  },
  "params":{
-  "waypoints":[],
+  "waypoints":[
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
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   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
   }
  },
  "trajectory":{
-  "config":null,
-  "sampleType":null,
-  "waypoints":[],
-  "samples":[],
-  "splits":[]
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+   "backLeft":{
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+   "inertia":7.0,
+   "gearing":7.03125,
+   "radius":0.0508,
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+   "tmax":7.0,
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+   "bumper":{
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+    "side":0.4064,
+    "back":0.4064
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+   "differentialTrackWidth":0.5588
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+  "sampleType":"Swerve",
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