W.I.P. auto

Author: Noah-It-All

src/main/deploy/choreo/CollectFuel.traj

@@ -0,0 +1,92 @@
+{
+ "name":"FuelToShotB",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.685800075531006, "y":3.391429901123047, "heading":1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.5568366050720215, "y":2.3671467304229736, "heading":1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.662621021270752, "y":2.4298689365386963, "heading":1.5707963267948966, "intervals":15, "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}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"7.685800075531006 m", "val":7.685800075531006}, "y":{"exp":"3.391429901123047 m", "val":3.391429901123047}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.5568366050720215 m", "val":5.5568366050720215}, "y":{"exp":"2.3671467304229736 m", "val":2.3671467304229736}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.662621021270752 m", "val":3.662621021270752}, "y":{"exp":"2.4298689365386963 m", "val":2.4298689365386963}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":15, "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}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":43.54486752,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0497078,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.55245,
+    "side":0.3302,
+    "back":0.33654999999999996
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.66067,1.22358],
+  "samples":[
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+    {"t":0.07773, "x":7.64717, "y":3.37146, "heading":1.5708, "vx":-0.99403, "vy":-0.51396, "omega":0.0, "ax":-12.78531, "ay":-6.61064, "alpha":0.0, "fx":[-139.18369,-139.18369,-139.18369,-139.18369], "fy":[-71.96488,-71.96488,-71.96488,-71.96488]},
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+    {"t":0.15545, "x":7.53129, "y":3.31154, "heading":1.5708, "vx":-1.98763, "vy":-1.02771, "omega":0.0, "ax":-12.77596, "ay":-6.60581, "alpha":0.0, "fx":[-139.08187,-139.08187,-139.08187,-139.08187], "fy":[-71.91224,-71.91224,-71.91224,-71.91224]},
+    {"t":0.19431, "x":7.4444, "y":3.26661, "heading":1.5708, "vx":-2.48414, "vy":-1.28443, "omega":0.0, "ax":-12.76662, "ay":-6.60098, "alpha":0.0, "fx":[-138.98017,-138.98017,-138.98017,-138.98017], "fy":[-71.85965,-71.85965,-71.85965,-71.85965]},
+    {"t":0.23318, "x":7.33821, "y":3.21171, "heading":1.5708, "vx":-2.98029, "vy":-1.54096, "omega":0.0, "ax":-12.74798, "ay":-6.59134, "alpha":0.0, "fx":[-138.77729,-138.77729,-138.77729,-138.77729], "fy":[-71.75475,-71.75475,-71.75475,-71.75475]},
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+  "splits":[0]
+ },
+ "events":[]
+}