From 38d6750eb2c6523b4ede9343f28724935bca4a15 Mon Sep 17 00:00:00 2001 From: Taran Nathan Date: Sun, 3 May 2026 10:49:33 -0500 Subject: [PATCH] improve shallow swipe on liberal --- src/main/deploy/choreo/liberal.traj | 187 ++++++++++++++-------------- 1 file changed, 94 insertions(+), 93 deletions(-) diff --git a/src/main/deploy/choreo/liberal.traj b/src/main/deploy/choreo/liberal.traj index 3b86ec5..c13f30b 100644 --- a/src/main/deploy/choreo/liberal.traj +++ b/src/main/deploy/choreo/liberal.traj @@ -10,8 +10,8 @@ {"x":3.9274368286132817, "y":7.657727718353272, "heading":0.0, "intervals":19, "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":7.322737216949463, "y":4.6251654624938965, "heading":1.3569870388467742, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.571913242340088, "y":6.780756950378418, "heading":-0.22347657213134992, "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":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.9274368286132817, "y":7.657727718353272, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -19,7 +19,8 @@ {"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":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":{ @@ -31,8 +32,8 @@ {"x":{"exp":"3.9274368286132812 m", "val":3.9274368286132817}, "y":{"exp":"7.6577277183532715 m", "val":7.657727718353272}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "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":"7.322737216949463 m", "val":7.322737216949463}, "y":{"exp":"4.6251654624938965 m", "val":4.6251654624938965}, "heading":{"exp":"1.3569870388467742 rad", "val":1.3569870388467742}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.571913242340088 m", "val":6.571913242340088}, "y":{"exp":"6.780756950378418 m", "val":6.780756950378418}, "heading":{"exp":"-0.22347657213134994 rad", "val":-0.22347657213134992}, "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":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.9274368286132812 m", "val":3.9274368286132817}, "y":{"exp":"7.6577277183532715 m", "val":7.657727718353272}, "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}, @@ -40,7 +41,8 @@ {"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":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 @@ -71,7 +73,7 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.34566,2.0759,3.01312,3.70343,4.6926,5.23956,5.92846,6.71733,7.57693], + "waypoints":[0.0,1.34566,2.0759,3.01312,3.70343,4.69442,5.25277,5.90804,6.35244,7.51436], "samples":[ {"t":0.0, "x":4.42074, "y":7.65268, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.66679, "ay":-1.35691, 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