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Merged
shishghate merged 14 commits into from
Jul 6, 2026
Merged

Houston changes #204

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8580c00
reduce choreo max motor torque and start cleaning up some poses
clarkmilbert Apr 25, 2026
e2047d6
clean up existing auto paths and pose variables
henrymilbert Apr 25, 2026
aefaaff
add going over the bump and a bit more cleanup
henrymilbert Apr 27, 2026
a568ac8
remove slip current, lower some launch velocities, and some auto changes
henrymilbert Apr 29, 2026
04e1d62
speed up depot auto, flip bump heading, and move in IFuel poses
henrymilbert Apr 29, 2026
7582c90
make auto intake movement only go halfway out again
henrymilbert Apr 29, 2026
8e29244
lower ducking angle and launch velocities
henrymilbert Apr 30, 2026
fbe34f2
decrease launch velocities again and lower long preset velocity
henrymilbert Apr 30, 2026
b2f9b3b
add automatic far snowblow shooting when across opposing alliance line
henrymilbert Apr 30, 2026
428b95a
slow down shooting while moving and only slow down while hub shooting
henrymilbert Apr 30, 2026
79c08c4
increase shooting while moving speed a little
henrymilbert Apr 30, 2026
2cb99b8
decrease launch velocities again because it was far again for some re…
henrymilbert Apr 30, 2026
f3c9135
reduce incline stator current limit
henrymilbert May 1, 2026
7da0b4b
remove an unnecessary todo and clarify comment on isAllianceZone method
henrymilbert May 21, 2026
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841 changes: 0 additions & 841 deletions src/main/deploy/choreo/BumpIIfuelShoot.traj
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315 changes: 315 additions & 0 deletions src/main/deploy/choreo/BumpshootIfuelShoot.traj
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367 changes: 367 additions & 0 deletions src/main/deploy/choreo/BumpstartHubfuelBumpshoot.traj
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398 changes: 398 additions & 0 deletions src/main/deploy/choreo/BumpstartIIfuelBumpshoot.traj
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275 changes: 275 additions & 0 deletions src/main/deploy/choreo/BumpstartIIfuelShoot.traj
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302 changes: 302 additions & 0 deletions src/main/deploy/choreo/BumpstartIfuelShoot.traj
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197 changes: 85 additions & 112 deletions src/main/deploy/choreo/CentershootDepot.traj
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417 changes: 0 additions & 417 deletions src/main/deploy/choreo/CenterstartBackup.traj
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504 changes: 385 additions & 119 deletions src/main/deploy/choreo/CenterstartCentershoot.traj
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935 changes: 203 additions & 732 deletions src/main/deploy/choreo/CloserShootIIfuelPark.traj
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905 changes: 232 additions & 673 deletions src/main/deploy/choreo/CloserShootIfuelPark.traj
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1,139 changes: 0 additions & 1,139 deletions src/main/deploy/choreo/ClosershootIfuelOutpost.traj
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53 changes: 27 additions & 26 deletions src/main/deploy/choreo/DepotShoot.traj
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,8 @@
"version":3,
"snapshot":{
"waypoints":[
{"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":19, "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},
Expand All @@ -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":19, "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":20, "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":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},
Expand All @@ -41,7 +41,7 @@
"gearing":6.03,
"radius":0.0508,
"vmax":484.6430266937854,
"tmax":1.1886,
"tmax":0.55,
"cof":1.5,
"bumper":{
"front":0.4305,
Expand All @@ -51,28 +51,29 @@
"differentialTrackWidth":0.5588
},
"sampleType":"Swerve",
"waypoints":[0.0,0.94199],
"waypoints":[0.0,0.97535],
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"splits":[0]
},
"events":[]
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