From 8580c00e8c3fddc48bc20b4ad249cb543bd8a064 Mon Sep 17 00:00:00 2001 From: clarkmilbert Date: Fri, 24 Apr 2026 23:07:23 -0500 Subject: [PATCH 01/14] reduce choreo max motor torque and start cleaning up some poses --- src/main/deploy/choreo/BumpIIfuelShoot.traj | 1727 ++++++++-------- src/main/deploy/choreo/CentershootDepot.traj | 217 +- src/main/deploy/choreo/CenterstartBackup.traj | 2 +- .../deploy/choreo/CenterstartCentershoot.traj | 259 +-- .../deploy/choreo/CloserShootIIfuelPark.traj | 1567 ++++++++------- .../deploy/choreo/CloserShootIfuelPark.traj | 1613 ++++++++------- .../choreo/ClosershootIfuelOutpost.traj | 12 +- src/main/deploy/choreo/DepotShoot.traj | 51 +- src/main/deploy/choreo/Orbit.traj | 1761 +++++++++-------- .../deploy/choreo/PlayerStationPickup.traj | 858 ++++---- src/main/deploy/choreo/ShootHubfuelShoot.traj | 454 +++-- src/main/deploy/choreo/ShootIIfuelPark.traj | 1122 ++++++----- src/main/deploy/choreo/ShootIIfuelShoot.traj | 1475 ++++++++------ src/main/deploy/choreo/ShootIfuelPark.traj | 1329 +++++++------ src/main/deploy/choreo/ShootIfuelShoot.traj | 1558 ++++++++------- src/main/deploy/choreo/ShootPark.traj | 151 +- .../choreo/SnowblowingStartIIfuelShoot.traj | 1335 +++++++------ .../deploy/choreo/StartIIfuelClosershoot.traj | 1671 +++++++++------- src/main/deploy/choreo/StartIIfuelShoot.traj | 378 ++-- src/main/deploy/choreo/ZTLDR.chor | 102 +- 20 files changed, 9764 insertions(+), 7878 deletions(-) diff --git a/src/main/deploy/choreo/BumpIIfuelShoot.traj b/src/main/deploy/choreo/BumpIIfuelShoot.traj index 6cda6fe..6779665 100644 --- a/src/main/deploy/choreo/BumpIIfuelShoot.traj +++ b/src/main/deploy/choreo/BumpIIfuelShoot.traj @@ -3,13 +3,13 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.6, "y":5.06, "heading":3.141592653589793, "intervals":87, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.428030252456665, "y":6.918483734130859, "heading":3.141592653589793, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.399157762527466, "y":7.452416896820068, "heading":3.141592653589793, "intervals":98, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.70665979385376, "y":7.41403624535, "heading":3.141592653589793, "intervals":149, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.6, "y":5.06, "heading":3.141592653589793, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.428030252456665, "y":6.918483734130859, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.399157762527466, "y":7.452416896820068, "heading":3.141592653589793, "intervals":122, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.70665979385376, "y":7.41403624535, "heading":3.141592653589793, "intervals":179, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":183, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":128, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -23,13 +23,13 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", "val":5.06}, "heading":{"exp":"BumpStart.heading", "val":3.141592653589793}, "intervals":87, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.428030252456665 m", "val":3.428030252456665}, "y":{"exp":"6.918483734130859 m", "val":6.918483734130859}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.399157762527466 m", "val":3.399157762527466}, "y":{"exp":"7.452416896820068 m", "val":7.452416896820068}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":98, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.70665979385376 m", "val":5.70665979385376}, "y":{"exp":"7.41403624535 m", "val":7.41403624535}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":149, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", "val":5.06}, "heading":{"exp":"BumpStart.heading", "val":3.141592653589793}, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.428030252456665 m", "val":3.428030252456665}, "y":{"exp":"6.918483734130859 m", "val":6.918483734130859}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.399157762527466 m", "val":3.399157762527466}, "y":{"exp":"7.452416896820068 m", "val":7.452416896820068}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":122, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.70665979385376 m", "val":5.70665979385376}, "y":{"exp":"7.41403624535 m", "val":7.41403624535}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":179, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":183, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":128, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -59,7 +59,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":1.1886, + "tmax":0.75, "cof":1.5, "bumper":{ "front":0.4305, @@ -69,773 +69,938 @@ "differentialTrackWidth":0.5588 }, 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b/src/main/deploy/choreo/CentershootDepot.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DepotPickup.x", "val":0.52}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -47,7 +47,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":1.1886, + "tmax":0.75, "cof":1.5, "bumper":{ "front":0.4305, @@ -57,111 +57,114 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - 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a/src/main/deploy/choreo/CenterstartBackup.traj b/src/main/deploy/choreo/CenterstartBackup.traj index abe9175..2716e73 100644 --- a/src/main/deploy/choreo/CenterstartBackup.traj +++ b/src/main/deploy/choreo/CenterstartBackup.traj @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":357, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":366, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/CenterstartCentershoot.traj b/src/main/deploy/choreo/CenterstartCentershoot.traj index b797f7a..db19c95 100644 --- a/src/main/deploy/choreo/CenterstartCentershoot.traj +++ b/src/main/deploy/choreo/CenterstartCentershoot.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.6, "y":4.035, "heading":3.141592653589793, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.6, "y":4.035, "heading":3.141592653589793, "intervals":139, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.85, "y":4.035, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":139, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CenterShoot.x", "val":2.85}, "y":{"exp":"CenterShoot.y", "val":4.035}, "heading":{"exp":"CenterShoot.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -39,7 +39,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":1.1886, + "tmax":0.75, 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b/src/main/deploy/choreo/CloserShootIfuelPark.traj @@ -3,12 +3,12 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.6558, "y":5.7011, "heading":3.141592653589793, "intervals":197, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.4878811836242676, "y":7.437780857086182, "heading":3.141592653589793, "intervals":66, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.913897609710693, "y":7.092910289764404, "heading":4.363323129985824, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.619192123413086, "y":6.834065914154053, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.65, 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"fy":[-72.70228,-67.24926,-67.70859,-73.6442]}, + {"t":6.67428, "x":6.59587, "y":6.85592, "heading":-0.7854, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/ClosershootIfuelOutpost.traj b/src/main/deploy/choreo/ClosershootIfuelOutpost.traj index 6e41f94..1d34c03 100644 --- a/src/main/deploy/choreo/ClosershootIfuelOutpost.traj +++ b/src/main/deploy/choreo/ClosershootIfuelOutpost.traj @@ -24,12 +24,12 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CloserShoot.x", "val":2.6558}, "y":{"exp":"CloserShoot.y", "val":5.7011}, "heading":{"exp":"CloserShoot.heading", "val":3.141592653589793}, "intervals":191, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.358118772506714 m", "val":3.358118772506714}, "y":{"exp":"7.3674116134643555 m", "val":7.3674116134643555}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.084970951080322 m", "val":6.084970951080322}, "y":{"exp":"7.395205497741699 m", "val":7.395205497741699}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":158, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"IOuterFuel.y", "val":6.8}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":127, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.675616264343262 m", "val":8.675616264343262}, "y":{"exp":"3.9544076919555664 m", "val":3.9544076919555664}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":247, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.29848861694336 m", "val":8.29848861694336}, "y":{"exp":"0.6733983755111694 m", "val":0.6733983755111694}, "heading":{"exp":"181 deg", "val":3.1590459461097367}, "intervals":227, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CloserShoot.x", "val":2.6558}, "y":{"exp":"CloserShoot.y", "val":5.7011}, "heading":{"exp":"CloserShoot.heading", "val":3.141592653589793}, "intervals":197, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.358118772506714 m", "val":3.358118772506714}, "y":{"exp":"7.3674116134643555 m", "val":7.3674116134643555}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":132, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.084970951080322 m", "val":6.084970951080322}, "y":{"exp":"7.395205497741699 m", "val":7.395205497741699}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":188, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"IOuterFuel.y", "val":6.8}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":155, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.675616264343262 m", "val":8.675616264343262}, "y":{"exp":"3.9544076919555664 m", "val":3.9544076919555664}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":264, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.29848861694336 m", "val":8.29848861694336}, "y":{"exp":"0.6733983755111694 m", "val":0.6733983755111694}, "heading":{"exp":"181 deg", "val":3.1590459461097367}, "intervals":252, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.9256463646888733 m", "val":0.9256463646888732}, "y":{"exp":"0.5602601170539856 m", "val":0.5602601170539856}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/DepotShoot.traj b/src/main/deploy/choreo/DepotShoot.traj index e34394a..b93c7b9 100644 --- a/src/main/deploy/choreo/DepotShoot.traj +++ b/src/main/deploy/choreo/DepotShoot.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DepotPickup.x", "val":0.52}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"DepotPickup.x", "val":0.52}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -41,7 +41,7 @@ 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"alpha":-0.87134, "fx":[84.12885,84.89755,85.12374,84.39438], "fy":[28.66991,26.30198,25.57452,27.89114]}, + {"t":17.30687, "x":4.0046, "y":7.41798, "heading":3.14098, "vx":-0.15683, "vy":-0.05123, "omega":0.02328, "ax":5.96014, "ay":1.94684, "alpha":-0.88468, "fx":[83.95953,84.75313,84.98998,84.23739], "fy":[29.18167,26.78517,26.03723,28.38155]}, + {"t":17.33318, "x":4.00254, "y":7.4173, "heading":3.14159, "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":"startShooting", "from":{"target":1, "targetTimestamp":0.52004, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}, - {"name":"stopShooting", "from":{"target":6, "targetTimestamp":5.08263, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}, - {"name":"startShooting", "from":{"target":7, "targetTimestamp":6.28251, "offset":{"exp":"0.8 s", "val":0.8}}, "event":{"type":"named", "data":{"name":"startShooting"}}}, - {"name":"stopShooting", "from":{"target":11, "targetTimestamp":11.59222, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}] + {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.64004, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}, + {"name":"stopShooting", "from":{"target":6, "targetTimestamp":5.5799, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}, + {"name":"startShooting", "from":{"target":7, "targetTimestamp":6.78006, "offset":{"exp":"0.8 s", "val":0.8}}, "event":{"type":"named", "data":{"name":"startShooting"}}}, + {"name":"stopShooting", "from":{"target":11, "targetTimestamp":12.29974, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}] } diff --git a/src/main/deploy/choreo/PlayerStationPickup.traj b/src/main/deploy/choreo/PlayerStationPickup.traj index f2fb4c2..001e98c 100644 --- a/src/main/deploy/choreo/PlayerStationPickup.traj +++ b/src/main/deploy/choreo/PlayerStationPickup.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":205, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.6, "y":2.3, "heading":-1.5707963267948966, "intervals":171, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":253, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.6, "y":2.3, "heading":-1.5707963267948966, "intervals":215, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.6, "y":0.5, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.4 m", "val":2.4}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":205, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"2.3 m", "val":2.3}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":171, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.4 m", "val":2.4}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":253, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"2.3 m", "val":2.3}, "heading":{"exp":"CenterStop.heading", 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diff --git a/src/main/deploy/choreo/ShootIIfuelPark.traj b/src/main/deploy/choreo/ShootIIfuelPark.traj index 2a7c2a7..96820b8 100644 --- a/src/main/deploy/choreo/ShootIIfuelPark.traj +++ b/src/main/deploy/choreo/ShootIIfuelPark.traj @@ -3,10 +3,10 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":86, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":146, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":155, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":108, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.829519748687744, "y":7.337780857086182, "heading":3.141592653589793, "intervals":175, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":185, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ 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"heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,7 +17,7 @@ "params":{ "waypoints":[ {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":28, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.337780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -45,7 +45,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":1.1886, + "tmax":0.75, "cof":1.5, "bumper":{ "front":0.4305, @@ -55,79 +55,80 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.00348,1.79295], + "waypoints":[0.0,0.99521,1.78998], "samples":[ - {"t":0.0, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.96109, "ay":0.53989, "alpha":-1.59224, "fx":[54.79378,54.79838,57.50259,57.4992], 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b/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj index 1e59d7b..18ac703 100644 --- a/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj +++ b/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj @@ -3,11 +3,11 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":72, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":150, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.536667346954346, 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"targetTimestamp":0.5219, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}] + {"name":"stopShooting", "from":{"target":3, "targetTimestamp":2.46667, "offset":{"exp":"0.4 s", "val":0.4}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}, + {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.64242, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}] } diff --git a/src/main/deploy/choreo/StartIIfuelClosershoot.traj b/src/main/deploy/choreo/StartIIfuelClosershoot.traj index 8abda7f..9b271d5 100644 --- a/src/main/deploy/choreo/StartIIfuelClosershoot.traj +++ b/src/main/deploy/choreo/StartIIfuelClosershoot.traj @@ -3,13 +3,13 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.70665979385376, 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"vy":-0.0001, "omega":0.01106, "ax":4.60042, "ay":0.00268, "alpha":-0.30187, "fx":[65.21015,65.21068,65.21171,65.2112], "fy":[0.48927,-0.41248,-0.40722,0.48225]}, + {"t":5.37372, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor index 200a0ed..5d69e45 100644 --- a/src/main/deploy/choreo/ZTLDR.chor +++ b/src/main/deploy/choreo/ZTLDR.chor @@ -103,6 +103,76 @@ "val":4.363323129985824 } }, + "HubInnerFuel":{ + "x":{ + "exp":"5.9 m", + "val":5.9 + }, + "y":{ + "exp":"5 m", + "val":5.0 + }, + "heading":{ + "exp":"250 deg", + "val":4.363323129985824 + } + }, + "HubOuterFuel":{ + "x":{ + "exp":"HubInnerFuel.x", + "val":5.9 + }, + "y":{ + "exp":"IIOuterFuel.y", + "val":6.82694191456 + }, + "heading":{ + "exp":"IIOuterFuel.heading", + "val":4.363323129985824 + } + }, + "IIInnerFuel":{ + "x":{ + "exp":"7.74509859085083 m", + "val":7.74509859085083 + }, + "y":{ + "exp":"4.726553554534912 m", + "val":4.726553554534912 + }, + "heading":{ + "exp":"4.1887902047863905 rad", + "val":4.1887902047863905 + } + }, + "IIOuterFuel":{ + "x":{ + "exp":"7.924712657928467 m", + "val":7.924712657928467 + }, + "y":{ + "exp":"6.82694191456 m", + "val":6.82694191456 + }, + "heading":{ + "exp":"4.363323129985824 rad", + "val":4.363323129985824 + } + }, + "NeutralClearTrench":{ + "x":{ + "exp":"6.03 m", + "val":6.03 + }, + "y":{ + "exp":"SideShoot.y", + "val":7.41730172157 + }, + "heading":{ + "exp":"180 deg", + "val":3.141592653589793 + } + }, "Park":{ "x":{ "exp":"6.595874309539795 m", @@ -117,6 +187,34 @@ "val":-0.7853981633974483 } }, + "ReenterTrench":{ + "x":{ + "exp":"6.536667346954346 m", + "val":6.536667346954346 + }, + "y":{ + "exp":"7.103303797245026 m", + "val":7.103303797245026 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "ShootExitTrench":{ + "x":{ + "exp":"5.829519748687744 m", + "val":5.829519748687744 + }, + "y":{ + "exp":"7.337780857086182 m", + "val":7.337780857086182 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, "SideShoot":{ "x":{ "exp":"4.002538681030273 m", @@ -189,8 +287,8 @@ "val":484.6430266937854 }, "tmax":{ - "exp":"1.1886 N * m", - "val":1.1886 + "exp":"0.55 N * m", + "val":0.55 }, "cof":{ "exp":"1.5", From e2047d6fbbbe44863a0c2adbf2cc7cccfb1d2992 Mon Sep 17 00:00:00 2001 From: henry Date: Sat, 25 Apr 2026 16:17:19 -0500 Subject: [PATCH 02/14] clean up existing auto paths and pose variables --- src/main/deploy/choreo/BumpIIfuelShoot.traj | 1185 ++++------------ src/main/deploy/choreo/CentershootDepot.traj | 231 ++-- src/main/deploy/choreo/CenterstartBackup.traj | 417 ------ .../deploy/choreo/CenterstartCentershoot.traj | 533 ++++++-- .../deploy/choreo/CloserShootIIfuelPark.traj | 1059 +++------------ .../deploy/choreo/CloserShootIfuelPark.traj | 1192 ++++------------- .../choreo/ClosershootIfuelOutpost.traj | 1139 ---------------- src/main/deploy/choreo/DepotShoot.traj | 58 +- src/main/deploy/choreo/Orbit.traj | 1009 -------------- .../deploy/choreo/PlayerStationPickup.traj | 530 -------- src/main/deploy/choreo/ShootHubfuelShoot.traj | 462 +++---- src/main/deploy/choreo/ShootIIfuelPark.traj | 778 +++-------- src/main/deploy/choreo/ShootIIfuelShoot.traj | 1042 +++----------- src/main/deploy/choreo/ShootIfuelPark.traj | 910 +++---------- src/main/deploy/choreo/ShootIfuelShoot.traj | 1073 +++------------ src/main/deploy/choreo/ShootPark.traj | 171 +-- .../choreo/SnowblowingStartIIfuelShoot.traj | 932 +++---------- .../deploy/choreo/StartIIfuelClosershoot.traj | 1154 ++++------------ src/main/deploy/choreo/StartIIfuelShoot.traj | 4 +- src/main/deploy/choreo/ZTLDR.chor | 124 +- ...pot Pickup.auto => [DM] Center Depot.auto} | 2 +- .../autos/[DM] Center Shoot Preload.auto | 2 +- src/main/deploy/pathplanner/navgrid.json | 2 +- 23 files changed, 2732 insertions(+), 11277 deletions(-) delete mode 100644 src/main/deploy/choreo/CenterstartBackup.traj delete mode 100644 src/main/deploy/choreo/ClosershootIfuelOutpost.traj delete mode 100644 src/main/deploy/choreo/Orbit.traj delete mode 100644 src/main/deploy/choreo/PlayerStationPickup.traj rename src/main/deploy/pathplanner/autos/{[DM] Depot Pickup.auto => [DM] Center Depot.auto} (95%) diff --git a/src/main/deploy/choreo/BumpIIfuelShoot.traj b/src/main/deploy/choreo/BumpIIfuelShoot.traj index 6779665..2b3ddd7 100644 --- a/src/main/deploy/choreo/BumpIIfuelShoot.traj +++ b/src/main/deploy/choreo/BumpIIfuelShoot.traj @@ -3,45 +3,45 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.6, "y":5.06, "heading":3.141592653589793, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.428030252456665, "y":6.918483734130859, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.399157762527466, "y":7.452416896820068, "heading":3.141592653589793, "intervals":122, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.70665979385376, "y":7.41403624535, "heading":3.141592653589793, "intervals":179, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":183, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":128, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.6, "y":6.054, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.221188, "y":7.41730172157, "heading":3.141592653589793, "intervals":32, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "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":0.07450246810913086, "y":0.04413539171218872, "w":16.541, "h":8.0692}}, "enabled":true}, - {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "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":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], - "targetDt":0.01 + {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":5, "to":6, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", "val":5.06}, "heading":{"exp":"BumpStart.heading", "val":3.141592653589793}, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.428030252456665 m", "val":3.428030252456665}, "y":{"exp":"6.918483734130859 m", "val":6.918483734130859}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.399157762527466 m", "val":3.399157762527466}, "y":{"exp":"7.452416896820068 m", "val":7.452416896820068}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":122, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.70665979385376 m", "val":5.70665979385376}, "y":{"exp":"7.41403624535 m", "val":7.41403624535}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":179, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":183, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":128, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", "val":6.054}, "heading":{"exp":"BumpStart.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"AllianceClearTrench.x", "val":3.221188}, "y":{"exp":"AllianceClearTrench.y", "val":7.41730172157}, "heading":{"exp":"AllianceClearTrench.heading", "val":3.141592653589793}, "intervals":32, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":90, "split":true, "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":"74.50246810913086 mm", "val":0.07450246810913086}, "y":{"exp":"44.13539171218872 mm", "val":0.04413539171218872}, "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":"0.01 m", "val":0.01}}}, "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":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":5, "to":6, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], "targetDt":{ - "exp":"0.01 s", - "val":0.01 + "exp":"0.05 s", + "val":0.05 } }, "trajectory":{ @@ -59,7 +59,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":0.75, + "tmax":0.55, "cof":1.5, "bumper":{ "front":0.4305, @@ -69,938 +69,209 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.9586,1.5756,2.34693,3.23056,4.17966,5.20207,6.19393], + "waypoints":[0.0,1.16652,2.12666,3.04592,4.16311,5.67321,6.66224], "samples":[ - {"t":0.0, "x":3.6, "y":5.06, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.4977, "ay":6.2318, "alpha":0.0, "fx":[-7.05488,-7.05488,-7.05488,-7.05488], "fy":[88.33578,88.33578,88.33578,88.33578]}, - {"t":0.00871, "x":3.59998, "y":5.06024, "heading":3.14159, "vx":-0.00434, "vy":0.05431, "omega":0.0, "ax":-0.49795, "ay":6.23132, "alpha":0.0, "fx":[-7.05849,-7.05849,-7.05849,-7.05849], "fy":[88.32894,88.32894,88.32894,88.32894]}, - 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b/src/main/deploy/choreo/CentershootDepot.traj index 54ec567..f1011f0 100644 --- a/src/main/deploy/choreo/CentershootDepot.traj +++ b/src/main/deploy/choreo/CentershootDepot.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"DepotPickup.x", "val":0.52}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"CenterShoot.x", "val":2.4}, "y":{"exp":"CenterShoot.y", "val":4.04}, "heading":{"exp":"CenterShoot.heading", 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{"x":3.6, "y":4.035, "heading":3.141592653589793, "intervals":139, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.85, "y":4.035, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.6, "y":4.035, "heading":1.5707963267948966, "intervals":374, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":43, "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":false}], + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":0.7}}, "enabled":true}], "targetDt":0.005 }, "params":{ "waypoints":[ - {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":139, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CenterShoot.x", "val":2.85}, "y":{"exp":"CenterShoot.y", "val":4.035}, "heading":{"exp":"CenterShoot.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":1.5707963267948966}, "intervals":374, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CenterShoot.x", "val":2.4}, "y":{"exp":"CenterShoot.y", "val":4.04}, "heading":{"exp":"CenterShoot.heading", "val":1.5707963267948966}, "intervals":43, "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":false}], + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.7 m / s", "val":0.7}}}, "enabled":true}], "targetDt":{ "exp":"0.005 s", "val":0.005 @@ -39,7 +41,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, 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a/src/main/deploy/choreo/CloserShootIfuelPark.traj b/src/main/deploy/choreo/CloserShootIfuelPark.traj index 66357a0..797b7db 100644 --- a/src/main/deploy/choreo/CloserShootIfuelPark.traj +++ b/src/main/deploy/choreo/CloserShootIfuelPark.traj @@ -3,43 +3,47 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.6558, "y":5.7011, "heading":3.141592653589793, "intervals":209, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.4878811836242676, "y":7.437780857086182, "heading":3.141592653589793, "intervals":123, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":174, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.913897609710693, "y":7.092910289764404, "heading":4.363323129985824, "intervals":92, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DepotPickup.x", "val":0.52}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"Depot.x", "val":0.52}, "y":{"exp":"Depot.y", "val":5.96}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"ClearDepot.x", "val":2.0}, "y":{"exp":"ClearDepot.y", "val":5.96}, "heading":{"exp":"ClearDepot.heading", "val":3.141592653589793}, "intervals":38, "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}, @@ -41,7 +41,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":0.75, + "tmax":0.55, "cof":1.5, "bumper":{ "front":0.4305, @@ -51,31 +51,33 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - 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a/src/main/deploy/choreo/ShootHubfuelShoot.traj b/src/main/deploy/choreo/ShootHubfuelShoot.traj index d865ae7..e8c43ad 100644 --- a/src/main/deploy/choreo/ShootHubfuelShoot.traj +++ b/src/main/deploy/choreo/ShootHubfuelShoot.traj @@ -3,42 +3,49 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":48, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":74, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.9, "y":5.0, "heading":4.363323129985824, "intervals":74, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.002538681030273, "y":7.41730172157, 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"props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true}], "targetDt":{ - "exp":"0.005 s", - "val":0.005 + "exp":"0.05 s", + "val":0.05 } }, "trajectory":{ @@ -57,7 +64,7 @@ "radius":0.0508, "vmax":484.6430266937854, "tmax":0.55, - "cof":0.3, + "cof":1.5, "bumper":{ "front":0.4305, "side":0.4305, @@ -66,253 +73,180 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.62165,3.36348,5.26193,6.63505], + "waypoints":[0.0,1.2679,1.8352,2.03777,2.8862,4.51707,5.69193], "samples":[ - {"t":0.0, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.93578, "ay":-0.0042, "alpha":-0.59336, "fx":[41.61453,41.61191,41.61493,41.61734], "fy":[0.83754,-0.95909,-0.91947,0.80298]}, - 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"fx":[36.18679,35.92956,36.3305,36.58819], "fy":[-54.23559,-54.4071,-54.14068,-53.96611]}, + {"t":5.60939, "x":2.7277, "y":7.11317, "heading":-3.12176, "vx":-1.09593, "vy":-1.566, "omega":0.02897, "ax":2.66388, "ay":-3.74861, "alpha":-0.19701, "fx":[37.69742,37.42978,37.82363,38.09143], "fy":[-53.18147,-53.37107,-53.09328,-52.9006]}, + {"t":5.65649, "x":2.67903, "y":7.03525, "heading":-3.12061, "vx":-0.97045, "vy":-1.74256, "omega":0.01969, "ax":2.80205, "ay":-3.64503, "alpha":-0.20179, "fx":[39.66827,39.38749,39.77008,40.05056], "fy":[-51.70733,-51.9226,-51.63091,-51.41258]}, + {"t":5.70359, "x":2.63643, "y":6.94913, "heading":-3.11991, "vx":-0.83847, "vy":-1.91425, "omega":0.01019, "ax":2.98853, "ay":-3.49167, "alpha":-0.20814, "fx":[42.32927,42.03245,42.39609,42.69193], "fy":[-49.5226,-49.7761,-49.46781,-49.2114]}, + {"t":5.75069, "x":2.60025, "y":6.85509, "heading":-3.11966, "vx":-0.69771, "vy":-2.07871, "omega":0.00039, "ax":3.25024, "ay":-3.24618, "alpha":-0.21672, "fx":[46.06502,45.75093,46.08036,46.39241], "fy":[-46.02128,-46.33524,-46.00926,-45.69289]}, + {"t":5.79779, "x":2.57099, "y":6.75358, "heading":-3.11988, "vx":-0.54462, "vy":-2.23161, "omega":-0.00982, "ax":3.63004, "ay":-2.80921, "alpha":-0.22805, "fx":[51.4861,51.16426,51.42735,51.74562], "fy":[-39.78022,-40.19567,-39.86139,-39.44502]}, + {"t":5.84489, "x":2.54937, "y":6.64536, "heading":-3.1206, "vx":-0.37364, "vy":-2.36393, "omega":-0.02056, "ax":4.16249, "ay":-1.92085, "alpha":-0.23962, "fx":[59.07088,58.80296,58.93801,59.20121], "fy":[-27.07812,-27.65853,-27.37653,-26.79917]}, + {"t":5.89199, "x":2.53639, "y":6.53188, "heading":-3.12183, "vx":-0.17758, "vy":-2.4544, "omega":-0.03185, "ax":4.57652, "ay":0.00887, "alpha":-0.22824, "fx":[64.86935,64.87067,64.87499,64.87355], "fy":[0.45821,-0.21881,-0.20333,0.46675]}, + {"t":5.9391, "x":2.5331, "y":6.41629, "heading":-3.12359, "vx":0.03798, "vy":-2.45398, "omega":-0.0426, "ax":3.64144, "ay":2.76979, "alpha":-0.13576, "fx":[51.44734,51.6424,51.78675,51.59305], "fy":[39.48443,39.22633,39.03916,39.29737]}, + {"t":5.9862, "x":2.53893, "y":6.30377, "heading":-3.12574, "vx":0.20949, "vy":-2.32352, "omega":-0.04899, "ax":1.87607, "ay":4.181, "alpha":-0.02434, "fx":[26.5497,26.57737,26.63689,26.60919], "fy":[59.28531,59.27256,59.246,59.2588]}, + {"t":6.0333, "x":2.55088, "y":6.19897, "heading":-3.12808, "vx":0.29786, "vy":-2.12659, "omega":-0.05014, "ax":0.72252, "ay":4.53178, "alpha":0.03887, "fx":[10.3074,10.28797,10.17611,10.19535], "fy":[64.22733,64.23086,64.24861,64.24514]}, + {"t":6.0804, "x":2.56571, "y":6.10383, "heading":-3.1304, "vx":0.33189, "vy":-1.91314, "omega":-0.04831, "ax":0.06748, "ay":4.59251, "alpha":0.07249, "fx":[1.06675,1.06085,0.84659,0.85178], "fy":[65.09699,65.09767,65.1008,65.10014]}, + {"t":6.1275, "x":2.58141, "y":6.01882, "heading":-3.13259, "vx":0.33507, "vy":-1.69683, "omega":-0.0449, "ax":-0.33083, "ay":4.58364, "alpha":0.09222, "fx":[-4.56176,-4.54519,-4.81669,-4.83439], "fy":[64.98195,64.98372,64.96419,64.96228]}, + {"t":6.1746, "x":2.59683, "y":5.94398, "heading":-3.1346, "vx":0.31948, "vy":-1.48093, "omega":-0.04055, "ax":-0.59309, "ay":4.55887, "alpha":0.10496, "fx":[-8.27229,-8.2354,-8.54098,-8.57928], "fy":[64.63923,64.64451,64.60491,64.59927]}, + {"t":6.2217, "x":2.61122, "y":5.87928, "heading":-3.1364, "vx":0.29155, "vy":-1.26621, "omega":-0.03561, "ax":-0.77715, "ay":4.53238, "alpha":0.1138, "fx":[-10.87877,-10.82514,-11.15251,-11.20772], "fy":[64.26977,64.27935,64.22345,64.21331]}, + {"t":6.2688, "x":2.62409, "y":5.82467, "heading":-3.13795, "vx":0.25494, "vy":-1.05272, "omega":-0.03025, "ax":-0.91282, "ay":4.50796, "alpha":0.12029, "fx":[-12.80132,-12.7341,-13.07629,-13.1452], "fy":[63.92802,63.94192,63.87292,63.85829]}, + {"t":6.31591, "x":2.63509, "y":5.78008, "heading":-3.13924, "vx":0.21195, "vy":-0.84039, "omega":-0.02458, "ax":-1.01671, "ay":4.4864, "alpha":0.12526, "fx":[-14.27411,-14.19582,-14.54861,-14.62866], "fy":[63.6258,63.64376,63.56414,63.54532]}, + {"t":6.36301, "x":2.64394, "y":5.74548, "heading":-3.14026, "vx":0.16406, "vy":-0.62908, "omega":-0.01868, "ax":-1.09867, "ay":4.46762, "alpha":0.12919, "fx":[-15.4366,-15.3492,-15.7099,-15.79912], "fy":[63.36214,63.38378,63.29544,63.27282]}, + {"t":6.41011, "x":2.65045, "y":5.7208, "heading":-3.141, "vx":0.11231, "vy":-0.41865, "omega":-0.0126, "ax":-1.16493, "ay":4.45128, "alpha":0.13239, "fx":[-16.37653,-16.28155,-16.64839,-16.74522], "fy":[63.13254,63.15749,63.06188,63.03586]}, + {"t":6.45721, "x":2.65445, "y":5.70602, "heading":-3.14144, "vx":0.05744, "vy":-0.20899, "omega":-0.00636, "ax":-1.21957, "ay":4.43702, "alpha":0.13505, "fx":[-17.15167,-17.05034,-17.42208,-17.52529], "fy":[62.93205,62.95993,62.85818,62.82912]}, + {"t":6.50431, "x":2.6558, "y":5.7011, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/StartIIfuelShoot.traj b/src/main/deploy/choreo/StartIIfuelShoot.traj index 2cc7d28..0777730 100644 --- a/src/main/deploy/choreo/StartIIfuelShoot.traj +++ b/src/main/deploy/choreo/StartIIfuelShoot.traj @@ -21,10 +21,10 @@ "params":{ "waypoints":[ {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":24, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.03 m", "val":6.03}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.03 m", "val":6.03}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor index 5d69e45..91f29ab 100644 --- a/src/main/deploy/choreo/ZTLDR.chor +++ b/src/main/deploy/choreo/ZTLDR.chor @@ -5,21 +5,35 @@ "variables":{ "expressions":{}, "poses":{ + "AllianceClearTrench":{ + "x":{ + "exp":"3.221188 m", + "val":3.221188 + }, + "y":{ + "exp":"SideShoot.y", + "val":7.41730172157 + }, + "heading":{ + "exp":"180 deg", + "val":3.141592653589793 + } + }, "BumpStart":{ "x":{ "exp":"CenterStart.x", "val":3.6 }, "y":{ - "exp":"5.06 m", - "val":5.06 + "exp":"6.054 m", + "val":6.054 }, "heading":{ "exp":"180 deg", "val":3.141592653589793 } }, - "CSMT":{ + "CenterShoot":{ "x":{ "exp":"2.4 m", "val":2.4 @@ -43,22 +57,22 @@ "val":4.035 }, "heading":{ - "exp":"180 deg", - "val":3.141592653589793 + "exp":"90 deg", + "val":1.5707963267948966 } }, - "CenterStop":{ + "ClearDepot":{ "x":{ - "exp":"2.4 m", - "val":2.4 + "exp":"2 m", + "val":2.0 }, "y":{ - "exp":"CenterStart.y", - "val":4.035 + "exp":"Depot.y", + "val":5.96 }, "heading":{ - "exp":"-90 deg", - "val":-1.5707963267948966 + "exp":"Depot.heading", + "val":3.141592653589793 } }, "CloserShoot":{ @@ -75,7 +89,7 @@ "val":3.141592653589793 } }, - "DepotPickup":{ + "Depot":{ "x":{ "exp":"0.52 m", "val":0.52 @@ -89,20 +103,6 @@ "val":3.141592653589793 } }, - "GreedyEnterFuel":{ - "x":{ - "exp":"8.65 m", - "val":8.65 - }, - "y":{ - "exp":"6.8 m", - "val":6.8 - }, - "heading":{ - "exp":"250 deg", - "val":4.363323129985824 - } - }, "HubInnerFuel":{ "x":{ "exp":"5.9 m", @@ -113,7 +113,7 @@ "val":5.0 }, "heading":{ - "exp":"250 deg", + "exp":"HubOuterFuel.heading", "val":4.363323129985824 } }, @@ -123,11 +123,11 @@ "val":5.9 }, "y":{ - "exp":"IIOuterFuel.y", - "val":6.82694191456 + "exp":"6.42 m", + "val":6.42 }, "heading":{ - "exp":"IIOuterFuel.heading", + "exp":"IOuterFuel.heading", "val":4.363323129985824 } }, @@ -137,11 +137,11 @@ "val":7.74509859085083 }, "y":{ - "exp":"4.726553554534912 m", + "exp":"IInnerFuel.y", "val":4.726553554534912 }, "heading":{ - "exp":"4.1887902047863905 rad", + "exp":"IInnerFuel.heading", "val":4.1887902047863905 } }, @@ -150,12 +150,40 @@ "exp":"7.924712657928467 m", "val":7.924712657928467 }, + "y":{ + "exp":"IOuterFuel.y", + "val":6.82694191456 + }, + "heading":{ + "exp":"IOuterFuel.heading", + "val":4.363323129985824 + } + }, + "IInnerFuel":{ + "x":{ + "exp":"IOuterFuel.x", + "val":8.6 + }, + "y":{ + "exp":"4.726553554534912 m", + "val":4.726553554534912 + }, + "heading":{ + "exp":"240 deg", + "val":4.1887902047863905 + } + }, + "IOuterFuel":{ + "x":{ + "exp":"8.6 m", + "val":8.6 + }, "y":{ "exp":"6.82694191456 m", "val":6.82694191456 }, "heading":{ - "exp":"4.363323129985824 rad", + "exp":"250 deg", "val":4.363323129985824 } }, @@ -187,32 +215,18 @@ "val":-0.7853981633974483 } }, - "ReenterTrench":{ + "PreIOuterFuel":{ "x":{ - "exp":"6.536667346954346 m", - "val":6.536667346954346 + "exp":"7.81 m", + "val":7.81 }, "y":{ - "exp":"7.103303797245026 m", - "val":7.103303797245026 + "exp":"7.11 m", + "val":7.11 }, "heading":{ - "exp":"3.141592653589793 rad", - "val":3.141592653589793 - } - }, - "ShootExitTrench":{ - "x":{ - "exp":"5.829519748687744 m", - "val":5.829519748687744 - }, - "y":{ - "exp":"7.337780857086182 m", - "val":7.337780857086182 - }, - "heading":{ - "exp":"3.141592653589793 rad", - "val":3.141592653589793 + "exp":"IOuterFuel.heading", + "val":4.363323129985824 } }, "SideShoot":{ diff --git a/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto b/src/main/deploy/pathplanner/autos/[DM] Center Depot.auto similarity index 95% rename from src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto rename to src/main/deploy/pathplanner/autos/[DM] Center Depot.auto index aceaa27..226764b 100644 --- a/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto +++ b/src/main/deploy/pathplanner/autos/[DM] Center Depot.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "CenterstartBackup" + "pathName": "CenterstartCentershoot" } }, { diff --git a/src/main/deploy/pathplanner/autos/[DM] Center Shoot Preload.auto b/src/main/deploy/pathplanner/autos/[DM] Center Shoot Preload.auto index 45fd094..ee5be05 100644 --- a/src/main/deploy/pathplanner/autos/[DM] Center Shoot Preload.auto +++ b/src/main/deploy/pathplanner/autos/[DM] Center Shoot Preload.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "CenterstartBackup" + "pathName": "CenterstartCentershoot" } }, { diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json index 23e0db9..ac5f521 100644 --- a/src/main/deploy/pathplanner/navgrid.json +++ b/src/main/deploy/pathplanner/navgrid.json @@ -1 +1 @@ -{"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,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\ No newline at end of file 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\ No newline at end of file From aefaaffa0c464add75db722bf4cb8b01033d97a7 Mon Sep 17 00:00:00 2001 From: henry Date: Sun, 26 Apr 2026 22:28:44 -0500 Subject: [PATCH 03/14] add going over the bump and a bit more cleanup --- src/main/deploy/choreo/BumpIIfuelShoot.traj | 277 ----------- .../choreo/BumpstartHubfuelBumpshoot.traj | 412 +++++++++++++++++ .../deploy/choreo/BumpstartIIfuelShoot.traj | 275 +++++++++++ .../deploy/choreo/BumpstartIfuelShoot.traj | 303 ++++++++++++ .../deploy/choreo/CloserShootIIfuelPark.traj | 389 ++++++++-------- .../deploy/choreo/CloserShootIfuelPark.traj | 435 +++++++++--------- src/main/deploy/choreo/ShootHubfuelShoot.traj | 2 +- .../deploy/choreo/ShootIIfuelBumpshoot.traj | 248 ++++++++++ src/main/deploy/choreo/ShootIIfuelPark.traj | 299 ++++++------ src/main/deploy/choreo/ShootIIfuelShoot.traj | 355 +++++++------- src/main/deploy/choreo/ShootIfuelPark.traj | 345 +++++++------- src/main/deploy/choreo/ShootIfuelShoot.traj | 401 ++++++++-------- .../choreo/SnowblowingStartIIfuelShoot.traj | 355 +++++++------- .../deploy/choreo/StartIIfuelClosershoot.traj | 413 ++++++++--------- src/main/deploy/choreo/StartIIfuelShoot.traj | 349 +++++++------- src/main/deploy/choreo/StartIfuelShoot.traj | 270 +++++++++++ src/main/deploy/choreo/ZTLDR.chor | 56 +++ .../autos/Bump Close Shoot, Far Park.auto | 2 +- 18 files changed, 3240 insertions(+), 1946 deletions(-) delete mode 100644 src/main/deploy/choreo/BumpIIfuelShoot.traj create mode 100644 src/main/deploy/choreo/BumpstartHubfuelBumpshoot.traj create mode 100644 src/main/deploy/choreo/BumpstartIIfuelShoot.traj create mode 100644 src/main/deploy/choreo/BumpstartIfuelShoot.traj create mode 100644 src/main/deploy/choreo/ShootIIfuelBumpshoot.traj create mode 100644 src/main/deploy/choreo/StartIfuelShoot.traj diff --git a/src/main/deploy/choreo/BumpIIfuelShoot.traj b/src/main/deploy/choreo/BumpIIfuelShoot.traj deleted file mode 100644 index 2b3ddd7..0000000 --- a/src/main/deploy/choreo/BumpIIfuelShoot.traj +++ /dev/null @@ -1,277 +0,0 @@ -{ - "name":"BumpIIfuelShoot", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":3.6, "y":6.054, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.221188, "y":7.41730172157, "heading":3.141592653589793, "intervals":32, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -15,16 +15,17 @@ {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -13,14 +13,15 @@ {"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":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":27, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -28,7 +29,8 @@ {"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":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.8 rad / s", "val":0.8}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -59,151 +61,152 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.94149,1.86388,2.93156,4.41352], + "waypoints":[0.0,0.94148,1.862,2.9286,4.4138], "samples":[ - {"t":0.0, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.60018, "ay":-0.03294, "alpha":-0.01755, "fx":[65.20772,65.20735,65.20741,65.20778], "fy":[-0.44108,-0.49316,-0.49276,-0.44073]}, - {"t":0.03487, "x":4.00534, "y":7.41728, "heading":3.14158, "vx":0.16041, "vy":-0.00115, "omega":-0.00061, "ax":4.59997, "ay":-0.03142, "alpha":-0.01734, "fx":[65.20467,65.20432,65.20439,65.20474], "fy":[-0.41983,-0.47128,-0.47091,-0.4195]}, - {"t":0.06974, "x":4.01373, "y":7.41722, "heading":3.14155, "vx":0.32081, "vy":-0.00224, "omega":-0.00122, "ax":4.59973, "ay":-0.02986, "alpha":-0.01712, "fx":[65.20135,65.20102,65.20109,65.20142], "fy":[-0.39807,-0.44887,-0.44852,-0.39776]}, - {"t":0.10461, 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"overrideIntervals":false}], @@ -15,14 +15,15 @@ {"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":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":27, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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"props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.8 rad / s", "val":0.8}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -63,179 +65,180 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.94143,1.86064,2.97799,4.48795,5.47697], + "waypoints":[0.0,0.94148,1.86294,2.9814,4.48824,5.47732], "samples":[ - {"t":0.0, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.60029, "ay":-0.00796, "alpha":-0.01425, "fx":[65.20914,65.20907,65.20912,65.20919], 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{"t":5.40405, "x":4.01489, "y":7.41731, "heading":3.14036, "vx":-0.33703, "vy":-0.00027, "omega":0.03358, "ax":4.60001, "ay":0.00476, "alpha":-0.45538, "fx":[65.20359,65.20503,65.20672,65.20537], "fy":[0.75145,-0.61341,-0.6025,0.73441]}, + {"t":5.44069, "x":4.00563, "y":7.4173, "heading":3.14128, "vx":-0.16852, "vy":-0.0001, "omega":0.0169, "ax":4.60028, "ay":0.00262, "alpha":-0.46122, "fx":[65.20766,65.20847,65.21012,65.20937], "fy":[0.72911,-0.6535,-0.64037,0.71357]}, + {"t":5.47732, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/ShootIfuelPark.traj b/src/main/deploy/choreo/ShootIfuelPark.traj index 054c086..986231a 100644 --- a/src/main/deploy/choreo/ShootIfuelPark.traj +++ b/src/main/deploy/choreo/ShootIfuelPark.traj @@ -6,7 +6,7 @@ {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.81, "y":7.11, "heading":4.363323129985824, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.6, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.6, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.6, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -15,7 +15,8 @@ {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -23,7 +24,7 @@ {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, 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"heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.6, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -17,7 +17,8 @@ {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":5, "to":6, "data":{"type":"KeepInLane", 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -15,14 +15,15 @@ {"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":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, - {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":24, "split":true, 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+ {"t":5.30078, "x":4.01488, "y":7.41731, "heading":3.14037, "vx":-0.33703, "vy":-0.00027, "omega":0.03325, "ax":4.60002, "ay":0.00476, "alpha":-0.45071, "fx":[65.20368,65.20511,65.20678,65.20544], "fy":[0.74439,-0.60634,-0.59566,0.72768]}, + {"t":5.33741, "x":4.00563, "y":7.4173, "heading":3.14129, "vx":-0.16852, "vy":-0.0001, "omega":0.01674, "ax":4.60028, "ay":0.00263, "alpha":-0.457, "fx":[65.20774,65.20853,65.21018,65.20942], "fy":[0.72275,-0.64709,-0.6342,0.70748]}, + {"t":5.37404, "x":4.00254, "y":7.4173, "heading":3.14159, "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":"stopShooting", "from":{"target":3, "targetTimestamp":2.87437, "offset":{"exp":"0.4 s", "val":0.4}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}, - {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.83681, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}] + {"name":"stopShooting", "from":{"target":3, "targetTimestamp":2.8788, "offset":{"exp":"0.4 s", "val":0.4}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}, + {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.83686, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}] } diff --git a/src/main/deploy/choreo/StartIIfuelClosershoot.traj b/src/main/deploy/choreo/StartIIfuelClosershoot.traj index d134cd8..b8e47ce 100644 --- a/src/main/deploy/choreo/StartIIfuelClosershoot.traj +++ b/src/main/deploy/choreo/StartIIfuelClosershoot.traj @@ -5,7 +5,7 @@ "waypoints":[ {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.221188, "y":7.41730172157, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -18,14 +18,15 @@ {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":5, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"AllianceClearTrench.x", "val":3.221188}, "y":{"exp":"AllianceClearTrench.y", "val":7.41730172157}, "heading":{"exp":"AllianceClearTrench.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -38,7 +39,8 @@ {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true}, {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":5, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.8 rad / s", "val":0.8}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -69,208 +71,209 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.83681,1.7562,2.87496,4.39228,5.27968,6.50431], + "waypoints":[0.0,0.83686,1.75887,2.87928,4.39263,5.28003,6.50465], "samples":[ - {"t":0.0, "x":4.42523, "y":7.51404, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.58327, "ay":-0.39518, "alpha":-0.13423, "fx":[64.98323,64.94898,64.95259,64.98643], "fy":[-5.4204,-5.81688,-5.78165,-5.38754]}, - {"t":0.03487, "x":4.42801, "y":7.5138, "heading":3.14151, "vx":0.1598, "vy":-0.01378, "omega":-0.00468, "ax":4.58366, "ay":-0.38789, "alpha":-0.12724, "fx":[64.9877,64.95584,64.95916,64.99066], "fy":[-5.32624,-5.70211,-5.66939,-5.29565]}, - {"t":0.06973, "x":4.43637, 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b/src/main/deploy/choreo/StartIIfuelShoot.traj @@ -5,7 +5,7 @@ "waypoints":[ {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":24, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -15,14 +15,15 @@ {"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":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.8}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":24, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":33, "split":false, 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"heading":3.13953, "vx":-0.49032, "vy":-0.00022, "omega":0.03834, "ax":4.59972, "ay":0.00443, "alpha":-0.35283, "fx":[65.19975,65.20079,65.20215,65.20118], "fy":[0.59181,-0.46319,-0.45796,0.58026]}, + {"t":6.01082, "x":4.01415, "y":7.4173, "heading":3.14067, "vx":-0.32689, "vy":-0.00006, "omega":0.0258, "ax":4.59998, "ay":0.00199, "alpha":-0.35986, "fx":[65.20384,65.20432,65.20566,65.20522], "fy":[0.56701,-0.50924,-0.50195,0.55684]}, + {"t":6.04635, "x":4.00544, "y":7.4173, "heading":3.14136, "vx":-0.16345, "vy":0.00001, "omega":0.01301, "ax":4.60023, "ay":-0.00032, "alpha":-0.36627, "fx":[65.20757,65.2075,65.20882,65.2089], "fy":[0.54332,-0.55232,-0.54345,0.5341]}, + {"t":6.08188, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor index 91f29ab..9db6260 100644 --- a/src/main/deploy/choreo/ZTLDR.chor +++ b/src/main/deploy/choreo/ZTLDR.chor @@ -5,6 +5,20 @@ "variables":{ "expressions":{}, "poses":{ + "AllianceBump":{ + "x":{ + "exp":"AllianceClearTrench.x", + "val":3.221188 + }, + "y":{ + "exp":"NeutralBump.y", + "val":5.55 + }, + "heading":{ + "exp":"NeutralBump.heading", + "val":2.356194490192345 + } + }, "AllianceClearTrench":{ "x":{ "exp":"3.221188 m", @@ -187,6 +201,20 @@ "val":4.363323129985824 } }, + "NeutralBump":{ + "x":{ + "exp":"NeutralClearTrench.x", + "val":6.03 + }, + "y":{ + "exp":"5.55 m", + "val":5.55 + }, + "heading":{ + "exp":"135 deg", + "val":2.356194490192345 + } + }, "NeutralClearTrench":{ "x":{ "exp":"6.03 m", @@ -201,6 +229,20 @@ "val":3.141592653589793 } }, + "NeutralTrench":{ + "x":{ + "exp":"AllianceClearTrench.x", + "val":3.221188 + }, + "y":{ + "exp":"NeutralBump.y", + "val":5.55 + }, + "heading":{ + "exp":"135 deg", + "val":2.356194490192345 + } + }, "Park":{ "x":{ "exp":"6.595874309539795 m", @@ -215,6 +257,20 @@ "val":-0.7853981633974483 } }, + "PreHubOuterFuel":{ + "x":{ + "exp":"NeutralClearTrench.x", + "val":6.03 + }, + "y":{ + "exp":"IOuterFuel.y", + "val":6.82694191456 + }, + "heading":{ + "exp":"HubOuterFuel.heading", + "val":4.363323129985824 + } + }, "PreIOuterFuel":{ "x":{ "exp":"7.81 m", diff --git a/src/main/deploy/pathplanner/autos/Bump Close Shoot, Far Park.auto b/src/main/deploy/pathplanner/autos/Bump Close Shoot, Far Park.auto index 6c136d7..a29562c 100644 --- a/src/main/deploy/pathplanner/autos/Bump Close Shoot, Far Park.auto +++ b/src/main/deploy/pathplanner/autos/Bump Close Shoot, Far Park.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "BumpIIfuelShoot" + "pathName": "BumpstartIIfuelShoot" } }, { From a568ac839fc08bac3631dacbb465812ca1e0b1b5 Mon Sep 17 00:00:00 2001 From: henry Date: Wed, 29 Apr 2026 17:19:50 -0500 Subject: [PATCH 04/14] remove slip current, lower some launch velocities, and some auto changes --- .../deploy/choreo/BumpshootIfuelShoot.traj | 316 +++++++++++++ .../choreo/BumpstartIIfuelBumpshoot.traj | 430 ++++++++++++++++++ .../deploy/pathplanner/autos/Bump Test.auto | 43 ++ .../Close Shoot, Hubfuel Shoot, Park.auto | 2 +- .../com/team1816/season/RobotContainer.java | 36 ++ src/main/resources/yaml/ztldr.yml | 12 +- 6 files changed, 832 insertions(+), 7 deletions(-) create mode 100644 src/main/deploy/choreo/BumpshootIfuelShoot.traj create mode 100644 src/main/deploy/choreo/BumpstartIIfuelBumpshoot.traj create mode 100644 src/main/deploy/pathplanner/autos/Bump Test.auto diff --git a/src/main/deploy/choreo/BumpshootIfuelShoot.traj b/src/main/deploy/choreo/BumpshootIfuelShoot.traj new file mode 100644 index 0000000..0e5996f --- /dev/null +++ b/src/main/deploy/choreo/BumpshootIfuelShoot.traj @@ -0,0 +1,316 @@ +{ + "name":"BumpshootIfuelShoot", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.221188, "y":5.55, "heading":2.356194490192345, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.221188, "y":7.41730172157, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.81, "y":7.11, "heading":4.363323129985824, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.6, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.6, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "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":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":0.8}}, "enabled":true}, + {"from":6, "to":7, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + 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"omega":0.00281, "ax":4.5967, "ay":-0.00213, "alpha":-0.03177, "fx":[65.1582,65.15807,65.15814,65.15833], "fy":[0.0364,-0.03022,-0.09679,-0.03017]}, + {"t":6.20782, "x":3.22557, "y":5.55, "heading":2.35615, "vx":-0.20072, "vy":0.00012, "omega":0.00212, "ax":4.59693, "ay":-0.00254, "alpha":-0.04195, "fx":[65.16145,65.16129,65.16135,65.16163], "fy":[0.05193,-0.03606,-0.12396,-0.03597]}, + {"t":6.22965, "x":3.22228, "y":5.55, "heading":2.35618, "vx":-0.10036, "vy":0.00006, "omega":0.00121, "ax":4.59714, "ay":-0.00294, "alpha":-0.05521, "fx":[65.16452,65.16434,65.16438,65.16477], "fy":[0.07412,-0.04169,-0.15736,-0.04155]}, + {"t":6.25149, "x":3.22119, "y":5.55, "heading":2.35619, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/pathplanner/autos/Bump Test.auto b/src/main/deploy/pathplanner/autos/Bump Test.auto new file mode 100644 index 0000000..7b062e7 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Bump Test.auto @@ -0,0 +1,43 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "path", + "data": { + "pathName": "BumpstartHubfuelBumpshoot" + } + }, + { + "type": "named", + "data": { + "name": "shootWithIntake4s" + } + }, + { + "type": "path", + "data": { + "pathName": "BumpshootIfuelShoot" + } + }, + { + "type": "named", + "data": { + "name": "shootWithIntake" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Close Shoot, Hubfuel Shoot, Park.auto b/src/main/deploy/pathplanner/autos/Close Shoot, Hubfuel Shoot, Park.auto index 7a87a52..42792f5 100644 --- a/src/main/deploy/pathplanner/autos/Close Shoot, Hubfuel Shoot, Park.auto +++ b/src/main/deploy/pathplanner/autos/Close Shoot, Hubfuel Shoot, Park.auto @@ -13,7 +13,7 @@ { "type": "named", "data": { - "name": "shootWithIntake" + "name": "shootWithIntake4s" } }, { diff --git a/src/main/java/com/team1816/season/RobotContainer.java b/src/main/java/com/team1816/season/RobotContainer.java index 7c49329..f605268 100644 --- a/src/main/java/com/team1816/season/RobotContainer.java +++ b/src/main/java/com/team1816/season/RobotContainer.java @@ -142,6 +142,42 @@ public final void registerCommands() { Commands.runOnce(() -> superstructure.setInclineDucking(true)), Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.CLOSE)) )); + NamedCommands.registerCommand("shootWithIntake4s", Commands.sequence( + Commands.runOnce(() -> GreenLogger.log("Running named command: shootWithIntake4s")), + Commands.runOnce(() -> superstructure.setInclineDucking(false)), + Commands.runOnce(() -> Commands.waitSeconds(1)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.OPEN)), + Commands.race( + Commands.repeatingSequence( + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.STOW)), + Commands.waitSeconds(0.3), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.waitSeconds(0.3) + ), + Commands.waitSeconds(3) + ), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.runOnce(() -> superstructure.setInclineDucking(true)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.CLOSE)) + )); + NamedCommands.registerCommand("shootWithIntake3s", Commands.sequence( + Commands.runOnce(() -> GreenLogger.log("Running named command: shootWithIntake3s")), + Commands.runOnce(() -> superstructure.setInclineDucking(false)), + Commands.runOnce(() -> Commands.waitSeconds(1)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.OPEN)), + Commands.race( + Commands.repeatingSequence( + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.STOW)), + Commands.waitSeconds(0.3), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.waitSeconds(0.3) + ), + Commands.waitSeconds(2) + ), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.runOnce(() -> superstructure.setInclineDucking(true)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.CLOSE)) + )); NamedCommands.registerCommand("waitForDucking", Commands.parallel( Commands.runOnce(() -> GreenLogger.log("Running named command: waitForDucking")), diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 2bdb171..89fa6cf 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -20,9 +20,9 @@ shooterSettings: launchVelocitiesRPS: - 38 # 48.5 - 40 # 60 - - 42 # 96 - - 43 #120 - - 44 # 156 + - 41.5 # 96 + - 42.5 #120 + - 43.5 # 156 - 49 # 210 - 54 # 272 - 58 # 272 @@ -148,9 +148,9 @@ subsystems: maxDriveRPS: 98 # measured motor max speed rps maxAngularRate: 8.285 # rad/sec wheelCOF: 1.7 - slipCurrentAmps: 42 + slipCurrentAmps: 120 constants: - translationKp: 20 + translationKp: 10 translationKd: 0 rotationKp: 10 rotationKi: 0 @@ -244,7 +244,7 @@ subsystems: kV: 0.081 constants: topClosedVelocity: 0 - topOpenVelocity: 30 + topOpenVelocity: 45 shooter: implemented: true canBusName: shootercanivore From 04e1d62b6a0070635cebe2cb24cb3ae8eae3df18 Mon Sep 17 00:00:00 2001 From: henry Date: Wed, 29 Apr 2026 17:44:40 -0500 Subject: [PATCH 05/14] speed up depot auto, flip bump heading, and move in IFuel poses --- .../deploy/choreo/BumpshootIfuelShoot.traj | 495 +++++++------ .../choreo/BumpstartHubfuelBumpshoot.traj | 627 ++++++++-------- .../choreo/BumpstartIIfuelBumpshoot.traj | 680 +++++++++--------- .../deploy/choreo/BumpstartIfuelShoot.traj | 465 ++++++------ src/main/deploy/choreo/CentershootDepot.traj | 201 +++--- .../deploy/choreo/CloserShootIfuelPark.traj | 419 ++++++----- src/main/deploy/choreo/DepotShoot.traj | 56 +- .../deploy/choreo/ShootIIfuelBumpshoot.traj | 351 +++++---- src/main/deploy/choreo/ShootIfuelPark.traj | 347 +++++---- src/main/deploy/choreo/ShootIfuelShoot.traj | 406 +++++------ src/main/deploy/choreo/StartIfuelShoot.traj | 403 ++++++----- src/main/deploy/choreo/ZTLDR.chor | 20 +- 12 files changed, 2170 insertions(+), 2300 deletions(-) diff --git a/src/main/deploy/choreo/BumpshootIfuelShoot.traj b/src/main/deploy/choreo/BumpshootIfuelShoot.traj index 0e5996f..aabd38c 100644 --- a/src/main/deploy/choreo/BumpshootIfuelShoot.traj +++ b/src/main/deploy/choreo/BumpshootIfuelShoot.traj @@ -3,12 +3,12 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.221188, "y":5.55, "heading":2.356194490192345, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.221188, "y":5.55, "heading":3.9269908169872414, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.221188, "y":7.41730172157, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.81, "y":7.11, "heading":4.363323129985824, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.6, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.6, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.71, "y":7.11, "heading":4.363323129985824, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.5, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.5, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -24,12 +24,12 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"AllianceBump.x", "val":3.221188}, "y":{"exp":"AllianceBump.y", "val":5.55}, "heading":{"exp":"AllianceBump.heading", "val":2.356194490192345}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"AllianceBump.x", "val":3.221188}, "y":{"exp":"AllianceBump.y", "val":5.55}, "heading":{"exp":"AllianceBump.heading", "val":3.9269908169872414}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"AllianceClearTrench.x", "val":3.221188}, "y":{"exp":"AllianceClearTrench.y", "val":7.41730172157}, "heading":{"exp":"AllianceClearTrench.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PreIOuterFuel.x", "val":7.81}, "y":{"exp":"PreIOuterFuel.y", "val":7.11}, "heading":{"exp":"PreIOuterFuel.heading", "val":4.363323129985824}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IOuterFuel.x", "val":8.6}, "y":{"exp":"IOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"IInnerFuel.x", "val":8.6}, "y":{"exp":"IInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IInnerFuel.heading", "val":4.1887902047863905}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PreIOuterFuel.x", "val":7.71}, "y":{"exp":"PreIOuterFuel.y", "val":7.11}, "heading":{"exp":"PreIOuterFuel.heading", "val":4.363323129985824}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IOuterFuel.x", "val":8.5}, "y":{"exp":"IOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"IInnerFuel.x", "val":8.5}, "y":{"exp":"IInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IInnerFuel.heading", "val":4.1887902047863905}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -71,245 +71,244 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.31461,2.20299,2.90144,3.78585,4.95451,6.48825,7.44758], + "waypoints":[0.0,1.31462,2.20382,2.87897,3.76341,4.93414,6.46356,7.42536], "samples":[ - {"t":0.0, "x":3.22119, "y":5.55, "heading":2.35619, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.04747, "ay":4.11747, "alpha":1.30747, "fx":[-30.16443,-26.77545,-27.97893,-31.17276], "fy":[57.81271,59.45987,58.9076,57.28017]}, - {"t":0.03652, "x":3.21982, "y":5.55275, "heading":2.35707, "vx":-0.07477, "vy":0.15036, "omega":0.04774, "ax":-2.02658, "ay":4.12738, "alpha":1.31503, "fx":[-29.86446,-26.45444,-27.68726,-30.90081], "fy":[57.96249,59.59794,59.04007,57.42188]}, - {"t":0.07303, "x":3.21574, "y":5.56099, "heading":2.35969, "vx":-0.14877, "vy":0.30108, "omega":0.09577, "ax":-2.00265, "ay":4.13857, "alpha":1.32367, "fx":[-29.51685,-26.08512,-27.35704,-30.59117], "fy":[58.13373,59.75433,59.18792,57.58121]}, - {"t":0.10955, "x":3.20897, "y":5.57474, "heading":2.36407, "vx":-0.2219, "vy":0.45221, "omega":0.1441, "ax":-1.97497, 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index 915a246..2ebfbb1 100644 --- a/src/main/deploy/choreo/BumpstartHubfuelBumpshoot.traj +++ b/src/main/deploy/choreo/BumpstartHubfuelBumpshoot.traj @@ -8,9 +8,9 @@ {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":6.82694191456, "heading":4.363323129985824, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.9, "y":6.42, "heading":4.363323129985824, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.9, "y":5.0, "heading":4.363323129985824, "intervals":81, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.03, "y":5.55, "heading":2.356194490192345, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.221188, "y":5.55, "heading":2.356194490192345, 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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -29,9 +29,9 @@ {"x":{"exp":"AllianceClearTrench.x", "val":3.221188}, "y":{"exp":"AllianceClearTrench.y", "val":7.41730172157}, "heading":{"exp":"AllianceClearTrench.heading", "val":3.141592653589793}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":65, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, 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"intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NeutralBump.x", "val":6.03}, "y":{"exp":"NeutralBump.y", "val":5.55}, "heading":{"exp":"NeutralBump.heading", "val":3.9269908169872414}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"AllianceBump.x", "val":3.221188}, "y":{"exp":"AllianceBump.y", "val":5.55}, "heading":{"exp":"AllianceBump.heading", "val":3.9269908169872414}, "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}, @@ -73,357 +73,325 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.16897,2.12772,3.04904,4.09033,5.09441,6.25149], + 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.221188, "y":7.41730172157, "heading":3.141592653589793, "intervals":32, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.81, "y":7.11, "heading":4.363323129985824, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.6, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.6, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.71, "y":7.11, "heading":4.363323129985824, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.5, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.5, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -26,10 +26,10 @@ "waypoints":[ {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", 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"fixHeading":true, "overrideIntervals":false}, - {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6, "y":5.96, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -12,13 +12,14 @@ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.2}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"CenterShoot.x", "val":2.4}, "y":{"exp":"CenterShoot.y", "val":4.04}, "heading":{"exp":"CenterShoot.heading", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"ClearDepot.x", "val":2.0}, "y":{"exp":"ClearDepot.y", "val":5.96}, "heading":{"exp":"ClearDepot.heading", "val":3.141592653589793}, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CenterShoot.x", "val":2.4}, "y":{"exp":"CenterShoot.y", "val":4.04}, "heading":{"exp":"CenterShoot.heading", "val":1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"ClearDepot.x", "val":1.6}, "y":{"exp":"ClearDepot.y", "val":5.96}, "heading":{"exp":"ClearDepot.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Depot.x", "val":0.52}, "y":{"exp":"Depot.y", "val":5.96}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,7 +27,8 @@ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, 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b/src/main/deploy/choreo/DepotShoot.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6, "y":5.96, "heading":3.141592653589793, "intervals":38, "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}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"Depot.x", "val":0.52}, 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"fixHeading":true, "overrideIntervals":false}, - {"x":8.6, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.6, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.71, "y":7.11, "heading":4.363323129985824, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.5, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.5, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, 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"omega":0.17224, "ax":4.49375, "ay":0.12982, "alpha":0.79012, "fx":[63.75707,63.70441,63.63471,63.69934], "fy":[0.57786,2.81071,3.1413,0.83105]}, + {"t":5.3095, "x":5.28866, "y":7.42355, "heading":3.0485, "vx":-3.43401, "vy":-0.03131, "omega":0.20039, "ax":4.54751, "ay":0.12016, "alpha":0.20251, "fx":[64.47274,64.45841,64.44887,64.46396], "fy":[1.37444,1.96157,2.03481,1.44244]}, + {"t":5.34512, "x":5.16922, "y":7.42251, "heading":3.05576, "vx":-3.27201, "vy":-0.02703, "omega":0.2076, "ax":4.56633, "ay":0.1064, "alpha":-0.00478, "fx":[64.72751,64.72783,64.72798,64.72767], "fy":[1.51601,1.50201,1.50048,1.51448]}, + {"t":5.38074, "x":5.05556, "y":7.42162, "heading":3.06315, "vx":-3.10935, "vy":-0.02324, "omega":0.20743, "ax":4.57597, "ay":0.09365, "alpha":-0.11121, "fx":[64.85972,64.8663,64.86891,64.86253], "fy":[1.50738,1.17996,1.1484,1.4742]}, + {"t":5.41637, "x":4.9477, "y":7.42085, "heading":3.07047, "vx":-2.94634, "vy":-0.01991, "omega":0.20347, "ax":4.58184, "ay":0.08236, "alpha":-0.1759, "fx":[64.94121,64.95051,64.95373,64.94487], "fy":[1.45045,0.93071,0.88655,1.40222]}, + {"t":5.45199, "x":4.84565, "y":7.42019, "heading":3.07761, "vx":-2.78313, "vy":-0.01697, "omega":0.1972, "ax":4.58579, "ay":0.07242, "alpha":-0.2192, "fx":[64.99668,65.00698,65.01021,65.00053], "fy":[1.37713,0.72773,0.67929,1.32234]}, + {"t":5.48761, "x":4.74942, "y":7.41963, "heading":3.0845, "vx":-2.61977, "vy":-0.01439, "omega":0.18939, "ax":4.58863, "ay":0.06365, "alpha":-0.25008, "fx":[65.03696,65.04737,65.05042,65.04072], "fy":[1.29967,0.55732,0.50903,1.24309]}, + {"t":5.52323, "x":4.65901, "y":7.41916, "heading":3.09108, "vx":-2.45631, "vy":-0.01213, "omega":0.18048, "ax":4.59077, "ay":0.05587, "alpha":-0.27312, "fx":[65.06757,65.0776,65.08042,65.07113], "fy":[1.22331,0.41133,0.36568,1.16773]}, + {"t":5.55886, "x":4.57442, "y":7.41877, "heading":3.09734, "vx":-2.29278, "vy":-0.01014, "omega":0.17076, "ax":4.59244, "ay":0.04894, "alpha":-0.29088, "fx":[65.09161,65.10102,65.1036,65.09493], "fy":[1.15034,0.28447,0.24287,1.09744]}, + {"t":5.59448, "x":4.49566, "y":7.41844, "heading":3.10324, "vx":-2.12919, "vy":-0.00839, "omega":0.16039, "ax":4.59377, "ay":0.04274, "alpha":-0.30496, "fx":[65.11101,65.11965,65.12201,65.11408], "fy":[1.08171,0.17305,0.13626,1.03248]}, + {"t":5.6301, "x":4.42273, "y":7.41816, "heading":3.10876, "vx":-1.96555, "vy":-0.00687, "omega":0.14953, "ax":4.59486, "ay":0.03717, "alpha":-0.31636, "fx":[65.12697,65.13479,65.13696,65.1298], "fy":[1.01773,0.07435,0.04273,0.97269]}, + {"t":5.66572, "x":4.35563, "y":7.41794, "heading":3.11388, "vx":-1.80187, "vy":-0.00555, "omega":0.13826, "ax":4.59577, "ay":0.03214, "alpha":-0.32576, "fx":[65.14033,65.1473,65.14932,65.14294], "fy":[0.95834,-0.01369,-0.04005,0.91775]}, + {"t":5.70135, "x":4.29436, "y":7.41777, "heading":3.1186, "vx":-1.63815, "vy":-0.0044, "omega":0.12666, "ax":4.59653, "ay":0.02758, "alpha":-0.33364, "fx":[65.15167,65.15781,65.15969,65.15408], "fy":[0.90335,-0.09272,-0.11389,0.86722]}, + {"t":5.73697, "x":4.23892, "y":7.41763, "heading":3.1229, "vx":-1.47442, "vy":-0.00342, "omega":0.11477, "ax":4.59718, "ay":0.02344, "alpha":-0.34033, "fx":[65.16141,65.16674,65.16851,65.16364], "fy":[0.85244,-0.16405,-0.18025,0.82067]}, + {"t":5.77259, "x":4.18931, "y":7.41752, "heading":3.12677, "vx":-1.31065, "vy":-0.00258, "omega":0.10265, "ax":4.59775, "ay":0.01965, "alpha":-0.34609, "fx":[65.16987,65.17441,65.17609,65.17193], "fy":[0.80529,-0.22876,-0.24028,0.77765]}, + {"t":5.80821, "x":4.14554, "y":7.41744, "heading":3.13021, "vx":-1.14687, "vy":-0.00188, "omega":0.09032, "ax":4.59824, "ay":0.01616, "alpha":-0.3511, "fx":[65.17727,65.18106,65.18267,65.17919], "fy":[0.76155,-0.28778,-0.29498,0.73775]}, + {"t":5.84383, "x":4.1076, "y":7.41738, "heading":3.13321, "vx":-0.98307, "vy":-0.00131, "omega":0.07781, "ax":4.59867, "ay":0.01295, "alpha":-0.3555, "fx":[65.18381,65.18688,65.18843,65.1856], "fy":[0.72089,-0.34186,-0.34516,0.70057]}, + {"t":5.87946, "x":4.0755, "y":7.41734, "heading":3.13575, "vx":-0.81926, "vy":-0.00085, "omega":0.06515, "ax":4.59906, "ay":0.00997, "alpha":-0.35941, "fx":[65.18962,65.19201,65.19351,65.1913], "fy":[0.68299,-0.39167,-0.3915,0.66576]}, + {"t":5.91508, "x":4.04924, "y":7.41732, "heading":3.13785, "vx":-0.65543, "vy":-0.00049, "omega":0.05235, "ax":4.5994, "ay":0.0072, "alpha":-0.36291, "fx":[65.19482,65.19656,65.19801,65.1964], "fy":[0.64756,-0.43775,-0.43459,0.63297]}, + {"t":5.9507, "x":4.02881, "y":7.41731, "heading":3.13948, "vx":-0.49158, "vy":-0.00023, "omega":0.03942, "ax":4.5997, "ay":0.0046, "alpha":-0.36607, "fx":[65.1995,65.20062,65.20203,65.20099], "fy":[0.61433,-0.48058,-0.47493,0.60192]}, + {"t":5.98632, "x":4.01421, "y":7.4173, "heading":3.14065, "vx":-0.32773, "vy":-0.00007, "omega":0.02638, "ax":4.59998, "ay":0.00215, "alpha":-0.36893, "fx":[65.20373,65.20426,65.20563,65.20514], "fy":[0.58305,-0.52057,-0.51294,0.57234]}, + {"t":6.02195, "x":4.00546, "y":7.4173, "heading":3.14136, "vx":-0.16387, "vy":0.00001, "omega":0.01324, "ax":4.60023, "ay":-0.00017, "alpha":-0.37155, "fx":[65.20757,65.20753,65.20888,65.20892], "fy":[0.55352,-0.55806,-0.54897,0.544]}, + {"t":6.05757, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor index 9db6260..63a2f7b 100644 --- a/src/main/deploy/choreo/ZTLDR.chor +++ b/src/main/deploy/choreo/ZTLDR.chor @@ -16,7 +16,7 @@ }, "heading":{ "exp":"NeutralBump.heading", - "val":2.356194490192345 + "val":3.9269908169872414 } }, "AllianceClearTrench":{ @@ -77,8 +77,8 @@ }, "ClearDepot":{ "x":{ - "exp":"2 m", - "val":2.0 + "exp":"1.6 m", + "val":1.6 }, "y":{ "exp":"Depot.y", @@ -176,7 +176,7 @@ "IInnerFuel":{ "x":{ "exp":"IOuterFuel.x", - "val":8.6 + "val":8.5 }, "y":{ "exp":"4.726553554534912 m", @@ -189,8 +189,8 @@ }, "IOuterFuel":{ "x":{ - "exp":"8.6 m", - "val":8.6 + "exp":"8.5 m", + "val":8.5 }, "y":{ "exp":"6.82694191456 m", @@ -211,8 +211,8 @@ "val":5.55 }, "heading":{ - "exp":"135 deg", - "val":2.356194490192345 + "exp":"225 deg", + "val":3.9269908169872414 } }, "NeutralClearTrench":{ @@ -273,8 +273,8 @@ }, "PreIOuterFuel":{ "x":{ - "exp":"7.81 m", - "val":7.81 + "exp":"7.71 m", + "val":7.71 }, "y":{ "exp":"7.11 m", From 7582c90ae62dd864bc69a71b247bc2ad509b9347 Mon Sep 17 00:00:00 2001 From: henry Date: Wed, 29 Apr 2026 18:14:19 -0500 Subject: [PATCH 06/14] make auto intake movement only go halfway out again --- src/main/java/com/team1816/season/RobotContainer.java | 6 +++--- .../java/com/team1816/season/subsystems/Intake.java | 10 +++++++++- .../com/team1816/season/subsystems/Superstructure.java | 2 ++ src/main/resources/yaml/ztldr.yml | 1 + 4 files changed, 15 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/team1816/season/RobotContainer.java b/src/main/java/com/team1816/season/RobotContainer.java index f605268..43d6fea 100644 --- a/src/main/java/com/team1816/season/RobotContainer.java +++ b/src/main/java/com/team1816/season/RobotContainer.java @@ -133,7 +133,7 @@ public final void registerCommands() { Commands.repeatingSequence( Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.STOW)), Commands.waitSeconds(0.3), - Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.HALF_IN)), Commands.waitSeconds(0.3) ), Commands.waitSeconds(4) @@ -151,7 +151,7 @@ public final void registerCommands() { Commands.repeatingSequence( Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.STOW)), Commands.waitSeconds(0.3), - Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.HALF_IN)), Commands.waitSeconds(0.3) ), Commands.waitSeconds(3) @@ -169,7 +169,7 @@ public final void registerCommands() { Commands.repeatingSequence( Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.STOW)), Commands.waitSeconds(0.3), - Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.HALF_IN)), Commands.waitSeconds(0.3) ), Commands.waitSeconds(2) diff --git a/src/main/java/com/team1816/season/subsystems/Intake.java b/src/main/java/com/team1816/season/subsystems/Intake.java index cbfda85..3484286 100644 --- a/src/main/java/com/team1816/season/subsystems/Intake.java +++ b/src/main/java/com/team1816/season/subsystems/Intake.java @@ -32,6 +32,7 @@ public class Intake extends SubsystemBase implements ITestableSubsystem { private final double FLIPPER_MOTOR_OUT_POSITION; private final double FLIPPER_MOTOR_IN_POSITION; + private final double FLIPPER_MOTOR_HALF_IN_POSITION; //MECHANISMS private double currentPosition = 0; @@ -46,6 +47,7 @@ public Intake () { SmartDashboard.putData("Intake", intakeMech); FLIPPER_MOTOR_OUT_POSITION = factory.getConstant(NAME, "flipperMotorOutPosition", 0); FLIPPER_MOTOR_IN_POSITION = factory.getConstant(NAME, "flipperMotorInPosition", 0); + FLIPPER_MOTOR_HALF_IN_POSITION = factory.getConstant(NAME, "flipperMotorHalfInPosition", 0); GreenLogger.periodicLog(NAME + "/Wanted State", () -> wantedState); GreenLogger.periodicLog(NAME + "/Wanted Flipper Position", () -> wantedFlipperPosition); @@ -81,6 +83,7 @@ private void setFlipperPosition(FlipperPosition position) { switch (position) { case IN -> flipperMotor.setControl(flipperMotorPositionRequest.withPosition(FLIPPER_MOTOR_IN_POSITION)); case OUT -> flipperMotor.setControl(flipperMotorPositionRequest.withPosition(FLIPPER_MOTOR_OUT_POSITION)); + case HALF_IN -> flipperMotor.setControl(flipperMotorPositionRequest.withPosition(FLIPPER_MOTOR_HALF_IN_POSITION)); } } @@ -90,7 +93,8 @@ public void setWantedState(IntakeState state) { public enum FlipperPosition { IN, - OUT + OUT, + HALF_IN } public enum IntakeState { @@ -109,6 +113,10 @@ public enum IntakeState { STOP_OUT( 0, FlipperPosition.OUT + ), + HALF_IN( + factory.getConstant(NAME, "intakeOnSpeed", .5, true), + FlipperPosition.HALF_IN ); private double intakeMotorValue; diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java index 97e0283..c9f38f2 100644 --- a/src/main/java/com/team1816/season/subsystems/Superstructure.java +++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java @@ -239,6 +239,7 @@ private void defaulting() { case OUTTAKE -> Intake.IntakeState.OUTTAKE; case STOP_OUT -> Intake.IntakeState.STOP_OUT; case STOW -> Intake.IntakeState.STOW; + case HALF_IN -> Intake.IntakeState.HALF_IN; } ); feeder.setWantedState( @@ -294,5 +295,6 @@ public enum WantedIntakeState { STOW, OUTTAKE, STOP_OUT, + HALF_IN } } diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 89fa6cf..dd694a1 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -230,6 +230,7 @@ subsystems: flipperMotorPullInOnePosition: 0.1 flipperMotorPullInTwoPosition: 0.05 flipperMotorInPosition: 0.025 + flipperMotorHalfInPosition: 0.1045 gatekeeper: canBusName: shootercanivore devices: From 8e29244d15be3a4e45fcbafa60eb1c24fa9a90a9 Mon Sep 17 00:00:00 2001 From: henry Date: Wed, 29 Apr 2026 20:21:16 -0500 Subject: [PATCH 07/14] lower ducking angle and launch velocities --- src/main/resources/yaml/ztldr.yml | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index dd694a1..714108d 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -18,14 +18,14 @@ shooterSettings: - 0.095 # 272 - 0.085 # 272 launchVelocitiesRPS: - - 38 # 48.5 - - 40 # 60 - - 41.5 # 96 - - 42.5 #120 - - 43.5 # 156 - - 49 # 210 - - 54 # 272 - - 58 # 272 + - 37.25 # 48.5 + - 39.25 # 60 + - 41.25 # 96 + - 42.25 #120 + - 43.25 # 156 + - 48.25 # 210 + - 53.25 # 272 + - 57.25 # 272 linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert. linearVelocitiesMPS: - 10 @@ -275,7 +275,7 @@ subsystems: remoteSensorId: 29 id: 27 motorRotation: Clockwise_Positive - reverseSoftLimit: 0.057 + reverseSoftLimit: 0.056 forwardSoftLimit: 0.1029 statorCurrentLimit: 35 pidConfig: @@ -315,7 +315,7 @@ subsystems: shooterOffsetXMeters: -0.111303 shooterOffsetYMeters: -0.112268 shooterOffsetZMeters: 0.508 - inclineDuckingLimitRotations: 0.057 + inclineDuckingLimitRotations: 0.056 distanceOneInclineAngleRotations: 0.064 distanceOneLaunchVelocityRPS: 35 distanceTwoInclineAngleRotations: 0.08 From fbe34f2b5470f34d622ae062b735526e9750e5da Mon Sep 17 00:00:00 2001 From: henry Date: Thu, 30 Apr 2026 12:19:22 -0500 Subject: [PATCH 08/14] decrease launch velocities again and lower long preset velocity --- src/main/resources/yaml/ztldr.yml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 714108d..8e1f512 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -18,14 +18,14 @@ shooterSettings: - 0.095 # 272 - 0.085 # 272 launchVelocitiesRPS: - - 37.25 # 48.5 - - 39.25 # 60 - - 41.25 # 96 - - 42.25 #120 - - 43.25 # 156 - - 48.25 # 210 - - 53.25 # 272 - - 57.25 # 272 + - 35.75 # 48.5 + - 37.75 # 60 + - 39.75 # 96 + - 40.75 #120 + - 41.75 # 156 + - 46.75 # 210 + - 51.75 # 272 + - 55.75 # 272 linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert. linearVelocitiesMPS: - 10 @@ -321,7 +321,7 @@ subsystems: distanceTwoInclineAngleRotations: 0.08 distanceTwoLaunchVelocityRPS: 47 distanceThreeInclineAngleRotations: 0.1113 - distanceThreeLaunchVelocityRPS: 100 + distanceThreeLaunchVelocityRPS: 90 brokenInclineAutoLaunchVelocityRPS: 55 # Set to the RPS required to score at a distance from shooter to hub of 101.283 inches. closeDistanceBetweenBeamBreaks: 0.026816 farDistanceBetweenBeamBreaks: 0.86848 From b2f9b3b9fb13240ad948bcac2a1d1a66c5e960c0 Mon Sep 17 00:00:00 2001 From: henry Date: Thu, 30 Apr 2026 14:12:49 -0500 Subject: [PATCH 09/14] add automatic far snowblow shooting when across opposing alliance line --- .../team1816/season/subsystems/Shooter.java | 32 +++++++++++++------ src/main/resources/yaml/ztldr.yml | 2 ++ 2 files changed, 25 insertions(+), 9 deletions(-) diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java index 7f9a2ca..017fd42 100644 --- a/src/main/java/com/team1816/season/subsystems/Shooter.java +++ b/src/main/java/com/team1816/season/subsystems/Shooter.java @@ -351,15 +351,25 @@ private void applyState() { setLaunchVelocities(wantedDistanceState.getLaunchVelocityRPS()); } case AUTOMATIC -> { - IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate( - getCurrentTurretPose3d().getTranslation(), - target, - calculatorAngleOfEntryDegrees, - useChassisSpeedForHoodAngleAndSpeed, - 0 - ); - setInclineAngle(calculatorResponse.inclineAngleDegrees()); - setLaunchVelocities(calculatorResponse.launchVelocityRPS()); + if ( + DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue + ? BaseRobotState.robotPose.getX() > FlippingUtil.fieldSizeX - ROBOT_STARTING_LINE + : BaseRobotState.robotPose.getX() < ROBOT_STARTING_LINE + ) { + setInclineAngle(ShooterDistanceState.PRESET_FAR_SNOWBLOW.getInclineAngleDegrees()); + setLaunchVelocities(ShooterDistanceState.PRESET_FAR_SNOWBLOW.getLaunchVelocityRPS()); + } + else { + IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate( + getCurrentTurretPose3d().getTranslation(), + target, + calculatorAngleOfEntryDegrees, + useChassisSpeedForHoodAngleAndSpeed, + 0 + ); + setInclineAngle(calculatorResponse.inclineAngleDegrees()); + setLaunchVelocities(calculatorResponse.launchVelocityRPS()); + } } } } @@ -772,6 +782,10 @@ public enum ShooterDistanceState { Units.rotationsToDegrees(factory.getConstant(NAME,"distanceThreeInclineAngleRotations",0)), factory.getConstant(NAME,"brokenInclineAutoLaunchVelocityRPS",0) ), + PRESET_FAR_SNOWBLOW( + Units.rotationsToDegrees(factory.getConstant(NAME,"farSnowblowInclineAngleRotations",0)), + factory.getConstant(NAME,"farSnowblowLaunchVelocityRPS",0) + ), AUTOMATIC(-1, -1), IDLE(0, 0); diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 8e1f512..8422cdc 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -323,6 +323,8 @@ subsystems: distanceThreeInclineAngleRotations: 0.1113 distanceThreeLaunchVelocityRPS: 90 brokenInclineAutoLaunchVelocityRPS: 55 # Set to the RPS required to score at a distance from shooter to hub of 101.283 inches. + farSnowblowInclineAngleRotations: 0.1029 + farSnowblowLaunchVelocityRPS: 95 closeDistanceBetweenBeamBreaks: 0.026816 farDistanceBetweenBeamBreaks: 0.86848 secondLowestBeamBreakToZero: 0.4337216 From 428b95a0cca0fee985cb4a1dc1c8ea8a92027931 Mon Sep 17 00:00:00 2001 From: henry Date: Thu, 30 Apr 2026 17:41:29 -0500 Subject: [PATCH 10/14] slow down shooting while moving and only slow down while hub shooting --- .../season/subsystems/Superstructure.java | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java index c9f38f2..6a30d9e 100644 --- a/src/main/java/com/team1816/season/subsystems/Superstructure.java +++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java @@ -1,10 +1,13 @@ package com.team1816.season.subsystems; +import com.pathplanner.lib.util.FlippingUtil; +import com.team1816.lib.BaseRobotState; import com.team1816.lib.Singleton; import com.team1816.lib.subsystems.BaseSuperstructure; import com.team1816.lib.subsystems.Vision; import com.team1816.lib.subsystems.drivetrain.Swerve; import com.team1816.lib.util.GreenLogger; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; public class Superstructure extends BaseSuperstructure { @@ -222,9 +225,9 @@ private void defaulting() { // Limit the drive speed if we are trying to shoot and in teleop. In auto, the speed should // be handled by the path. - double shootingLinearSpeedLimitMPS = 3; + double shootingLinearSpeedLimitMPS = 0.45; double shootingAngularSpeedLimitRadPerSec = 1.5; - if (wantedGatekeeperState == WantedGatekeeperState.OPEN && DriverStation.isTeleop()) { + if (wantedGatekeeperState == WantedGatekeeperState.OPEN && DriverStation.isTeleop() && isInAllianceZone()) { swerve.limitDriveSpeed(shootingLinearSpeedLimitMPS, shootingAngularSpeedLimitRadPerSec); } else { @@ -259,6 +262,17 @@ private void climbingL3() { // TODO: Handle Superstructure climbing behavior. } + private boolean isInAllianceZone() { + // This is really not clean code half copied from the shooter, but I don't have time right now to fix it + double ROBOT_STARTING_LINE = 4.2684; + Pose2d robotPose = BaseRobotState.robotPose; + double robotXMeters = robotPose.getX(); + boolean isBlueAlliance = DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue; + return isBlueAlliance + ? robotXMeters < ROBOT_STARTING_LINE + : robotXMeters > FlippingUtil.fieldSizeX - ROBOT_STARTING_LINE; + } + public enum WantedSuperState { DEFAULT, CLIMB_L1, From 79c08c454084cdc275495a748c62bb3787de238e Mon Sep 17 00:00:00 2001 From: henry Date: Thu, 30 Apr 2026 17:45:43 -0500 Subject: [PATCH 11/14] increase shooting while moving speed a little --- .../java/com/team1816/season/subsystems/Superstructure.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java index 6a30d9e..af7f765 100644 --- a/src/main/java/com/team1816/season/subsystems/Superstructure.java +++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java @@ -225,7 +225,7 @@ private void defaulting() { // Limit the drive speed if we are trying to shoot and in teleop. In auto, the speed should // be handled by the path. - double shootingLinearSpeedLimitMPS = 0.45; + double shootingLinearSpeedLimitMPS = 0.55; double shootingAngularSpeedLimitRadPerSec = 1.5; if (wantedGatekeeperState == WantedGatekeeperState.OPEN && DriverStation.isTeleop() && isInAllianceZone()) { swerve.limitDriveSpeed(shootingLinearSpeedLimitMPS, shootingAngularSpeedLimitRadPerSec); From 2cb99b857af65904043f1ad97aad8b66207c7675 Mon Sep 17 00:00:00 2001 From: henry Date: Thu, 30 Apr 2026 17:47:27 -0500 Subject: [PATCH 12/14] decrease launch velocities again because it was far again for some reason --- src/main/resources/yaml/ztldr.yml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 8422cdc..7807e3d 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -18,14 +18,14 @@ shooterSettings: - 0.095 # 272 - 0.085 # 272 launchVelocitiesRPS: - - 35.75 # 48.5 - - 37.75 # 60 - - 39.75 # 96 - - 40.75 #120 - - 41.75 # 156 - - 46.75 # 210 - - 51.75 # 272 - - 55.75 # 272 + - 35.25 # 48.5 + - 37.25 # 60 + - 39.25 # 96 + - 40.25 #120 + - 41.25 # 156 + - 46.25 # 210 + - 51.25 # 272 + - 55.25 # 272 linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert. linearVelocitiesMPS: - 10 From f3c91358633e02ae92cb0841f13dde18a882da8a Mon Sep 17 00:00:00 2001 From: henry Date: Fri, 1 May 2026 17:23:38 -0500 Subject: [PATCH 13/14] reduce incline stator current limit --- src/main/resources/yaml/ztldr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 7807e3d..6af309e 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -277,7 +277,7 @@ subsystems: motorRotation: Clockwise_Positive reverseSoftLimit: 0.056 forwardSoftLimit: 0.1029 - statorCurrentLimit: 35 + statorCurrentLimit: 20 pidConfig: slot0: kS: 0.01 From 7da0b4b7539e9948da0d962269dda8d6ae471ebc Mon Sep 17 00:00:00 2001 From: henry Date: Thu, 21 May 2026 16:05:26 -0500 Subject: [PATCH 14/14] remove an unnecessary todo and clarify comment on isAllianceZone method --- .../ShooterCalculator/LinearMPSToLauncherRPSLookup.java | 4 ++-- .../com/team1816/season/subsystems/Superstructure.java | 3 ++- src/main/resources/yaml/ztldr.yml | 7 ------- 3 files changed, 4 insertions(+), 10 deletions(-) diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java index 52614cb..07d8e49 100644 --- a/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java +++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java @@ -23,8 +23,8 @@ public class LinearMPSToLauncherRPSLookup { * velocity, in meters. */ public LinearMPSToLauncherRPSLookup(double deltaZMeters) { - // TODO: If we calibrate this using the linearMPSToLaunchRPS YAML, we can use the line below. - // For now we are just trying to use some physics to get data from the shooterSettings table. + // If we calibrated this using the linearMPSToLaunchRPS YAML, we could use the line below. + // Currently, we are using physics to get this data based on the shooterSettings table. // LinearMPSToLauncherRPSConfig table = factory.getLinearMPSToLauncherRPSConfig(); LinearMPSToLauncherRPSConfig table = factory.stealLinearMPSToLauncherRPSConfigFromShooterSettings(deltaZMeters); diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java index af7f765..1004dbe 100644 --- a/src/main/java/com/team1816/season/subsystems/Superstructure.java +++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java @@ -263,7 +263,8 @@ private void climbingL3() { } private boolean isInAllianceZone() { - // This is really not clean code half copied from the shooter, but I don't have time right now to fix it + // This has a lot of overlap with part of the getTargetTranslation3d method in the shooter + // and should probably be a single method used in both places. double ROBOT_STARTING_LINE = 4.2684; Pose2d robotPose = BaseRobotState.robotPose; double robotXMeters = robotPose.getX(); diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 6af309e..c32d289 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -26,13 +26,6 @@ shooterSettings: - 46.25 # 210 - 51.25 # 272 - 55.25 # 272 -linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert. - linearVelocitiesMPS: - - 10 - - 20 - launchVelocitiesRPS: - - 20 - - 40 subsystems: drivetrain: implemented: true