Feature/autos

src/main/deploy/choreo/DtoFL.traj

@@ -0,0 +1,107 @@
+{
+ "name":"DtoFL",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.307854413986206, "y":5.920979976654053, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.6102287769317627, "y":7.159779071807861, "heading":-1.855526215296752, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.722850799560547, "y":7.383526802062988, "heading":-1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.5875115394592285, "y":6.917223930358887, "heading":-1.1441691490021848, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "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":-0.02356243133544922, "y":-0.10602998733520508, "w":16.541, "h":8.0692}}, "enabled":true}],
+  "targetDt":0.04
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.6102287769317627 m", "val":2.6102287769317627}, "y":{"exp":"7.159779071807861 m", "val":7.159779071807861}, "heading":{"exp":"-1.8555262152967518 rad", "val":-1.855526215296752}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.722850799560547 m", "val":4.722850799560547}, "y":{"exp":"7.383526802062988 m", "val":7.383526802062988}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.5875115394592285 m", "val":7.5875115394592285}, "y":{"exp":"6.917223930358887 m", "val":6.917223930358887}, "heading":{"exp":"-1.1441691490021848 rad", "val":-1.1441691490021848}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "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":{"exp":"-23.56243133544922 mm", "val":-0.02356243133544922}, "y":{"exp":"-0.10602998733520508 m", "val":-0.10602998733520508}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.04 s",
+   "val":0.04
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2571369,
+    "y":0.2571369
+   },
+   "backLeft":{
+    "x":-0.2571369,
+    "y":0.2571369
+   },
+   "mass":51.91273956176,
+   "inertia":5.834321946299203,
+   "gearing":5.902777777777778,
+   "radius":0.050165,
+   "vmax":668.1120376634293,
+   "tmax":54.79744136460554,
+   "cof":1.48,
+   "bumper":{
+    "front":0.42037,
+    "side":0.42037,
+    "back":0.42037
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.71888,1.52652,2.77191,3.3183],
+  "samples":[
+    {"t":0.0, "x":1.30785, "y":5.92098, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.34459, "ay":8.64908, "alpha":10.55915, "fx":[126.29685,124.30822,65.34372,65.32916], "fy":[82.34611,141.03436,143.28944,82.32743]},
+    {"t":0.06535, "x":1.32354, "y":5.93945, "heading":3.14159, "vx":0.47999, "vy":0.56524, "omega":0.69007, "ax":6.78328, "ay":7.66012, "alpha":8.98518, "fx":[113.36097,113.67886,62.70852,62.39027], "fy":[73.78388,124.74869,125.04458,74.08061]},
+    {"t":0.13071, "x":1.36939, "y":5.99275, "heading":-3.09649, "vx":0.9233, "vy":1.06586, "omega":1.27728, "ax":6.0129, "ay":6.40927, "alpha":7.14722, "fx":[100.35915,96.10925,55.71311,59.96453], "fy":[65.12628,105.51441,101.23268,60.84929]},
+    {"t":0.19606, "x":1.44258, "y":6.07609, "heading":-3.01302, "vx":1.31626, "vy":1.48472, "omega":1.74438, "ax":5.2041, "ay":5.09003, "alpha":5.38129, "fx":[85.65173,79.40296,49.4277,55.67691], "fy":[54.21393,84.18003,77.90211,47.94139]},
+    {"t":0.26141, "x":1.53971, "y":6.18399, "heading":-2.89902, "vx":1.65637, "vy":1.81737, "omega":2.09606, "ax":4.4034, "ay":3.77567, "alpha":3.7111, "fx":[70.69577,63.51279,43.60103,50.7829], "fy":[42.65465,62.55599,55.34499,35.4499]},
+    {"t":0.32677, "x":1.65736, "y":6.31083, "heading":-2.76203, "vx":1.94414, "vy":2.06413, "omega":2.33859, "ax":3.62203, "ay":2.48007, "alpha":2.03298, "fx":[54.91484,49.26493,39.10162,44.74821], "fy":[29.94536,40.09983,34.42429,24.27768]},
+    {"t":0.39212, "x":1.79215, "y":6.45102, "heading":-2.6092, "vx":2.18086, "vy":2.22621, "omega":2.47146, "ax":2.8588, "ay":1.19504, "alpha":0.39302, "fx":[38.73122,37.10324,35.47593,37.09761], "fy":[15.52491,17.14456,15.48917,13.87911]},
+    {"t":0.45747, "x":1.94078, "y":6.59906, "heading":-2.44768, "vx":2.36769, "vy":2.30431, "omega":2.49714, "ax":2.11093, "ay":-0.08971, "alpha":-1.26407, "fx":[22.33393,27.07675,32.4637,27.7098], "fy":[-0.82646,-6.21894,-1.50807,3.89656]},
+    {"t":0.52283, "x":2.10003, "y":6.74947, "heading":-2.28449, "vx":2.50564, "vy":2.29844, "omega":2.41453, "ax":1.37861, "ay":-1.37923, "alpha":-2.91433, "fx":[6.26275,19.1716,29.52994,16.60333], "fy":[-19.15656,-29.51928,-16.65036,-6.27319]},
+    {"t":0.58818, "x":2.26672, "y":6.89673, "heading":-2.12669, "vx":2.59574, "vy":2.20831, "omega":2.22407, "ax":0.66604, "ay":-2.67251, "alpha":-4.57427, "fx":[-9.12135,13.26799,26.42287,4.00633], "fy":[-39.27783,-52.43683,-30.099,-16.92364]},
+    {"t":0.65353, "x":2.43779, "y":7.03534, "heading":-1.98134, "vx":2.63927, "vy":2.03365, "omega":1.92513, "ax":-0.01977, "ay":-3.96635, "alpha":-6.25149, "fx":[-23.49756,9.18066,23.00449,-9.71369], "fy":[-60.87126,-74.7001,-42.08946,-28.24324]},
+    {"t":0.71888, "x":2.61023, "y":7.15978, "heading":-1.85553, "vx":2.63798, "vy":1.77444, "omega":1.51657, "ax":0.02486, "ay":-5.8998, "alpha":-5.88665, "fx":[-20.3884,11.67506,21.04936,-11.04571], "fy":[-87.87713,-97.27504,-65.26242,-55.86022]},
+    {"t":0.79231, "x":2.80398, "y":7.27416, "heading":-1.74418, "vx":2.6398, "vy":1.34126, "omega":1.08436, "ax":0.02284, "ay":-5.2972, "alpha":-4.99858, "fx":[-17.10103,10.41194,17.70295,-9.82802], "fy":[-78.83583,-86.15268,-58.65945,-51.34445]},
+    {"t":0.86573, "x":2.99786, "y":7.35836, "heading":-1.66456, "vx":2.64148, "vy":0.95233, "omega":0.71736, "ax":-0.02762, "ay":-4.52786, "alpha":-4.00402, "fx":[-14.05835,8.27574,13.3442,-8.99558], "fy":[-67.38833,-72.47234,-50.13692,-45.05601]},
+    {"t":0.93915, "x":3.19173, "y":7.41608, "heading":-1.61189, "vx":2.63945, "vy":0.61989, "omega":0.42338, "ax":-0.07064, "ay":-3.75552, "alpha":-2.97167, "fx":[-10.53607,6.23068,8.70285,-8.06481], "fy":[-55.88624,-58.36422,-41.59257,-39.11637]},
+    {"t":1.01257, "x":3.38533, "y":7.45147, "heading":-1.58081, "vx":2.63426, "vy":0.34416, "omega":0.20519, "ax":-0.10069, "ay":-3.05275, "alpha":-2.08352, "fx":[-7.28503,4.53217,4.67155,-7.14564], "fy":[-45.45802,-45.59864,-33.78019,-33.63998]},
+    {"t":1.08599, "x":3.57847, "y":7.46851, "heading":-1.56574, "vx":2.62687, "vy":0.12002, "omega":0.05222, "ax":-0.11931, "ay":-2.39413, "alpha":-1.2464, "fx":[-4.06484,2.99713,0.96793,-6.0939], "fy":[-35.61265,-33.58813,-26.52999,-28.55497]},
+    {"t":1.15941, "x":3.77102, "y":7.47087, "heading":-1.56191, "vx":2.61811, "vy":-0.05576, "omega":-0.03929, "ax":-0.13005, "ay":-1.75182, "alpha":-0.45014, "fx":[-0.98497,1.53773,-2.39113,-4.91285], "fy":[-25.94918,-22.03677,-19.52064,-23.43531]},
+    {"t":1.23284, "x":3.96289, "y":7.46205, "heading":-1.56479, "vx":2.60856, "vy":-0.18438, "omega":-0.07234, "ax":-0.13655, "ay":-1.11579, "alpha":0.15632, "fx":[1.40626,0.49183,-4.95266,-4.0341], "fy":[-16.72284,-11.31708,-12.23594,-17.6481]},
+    {"t":1.30626, "x":4.15405, "y":7.4455, "heading":-1.5701, "vx":2.59854, "vy":-0.26631, "omega":-0.06087, "ax":-0.14213, "ay":-0.48529, "alpha":0.66812, "fx":[3.17026,-0.62041,-6.86494,-3.06339], "fy":[-7.48865,-1.31552,-5.10149,-11.28711]},
+    {"t":1.37968, "x":4.34445, "y":7.42464, "heading":-1.57457, "vx":2.5881, "vy":-0.30194, "omega":-0.01181, "ax":-0.14976, "ay":0.14197, "alpha":1.02219, "fx":[3.96698,-1.80918,-7.86566,-2.06681], "fy":[1.75371,7.69518,1.94158,-4.02019]},
+    {"t":1.4531, "x":4.53407, "y":7.40286, "heading":-1.57544, "vx":2.5771, "vy":-0.29151, "omega":0.06324, "ax":-0.16204, "ay":0.76887, "alpha":1.33835, "fx":[3.74941,-3.83112,-7.97595,-0.35443], "fy":[11.76329,15.73845,8.2084,4.20393]},
+    {"t":1.52652, "x":4.72285, "y":7.38353, "heading":-1.5708, "vx":2.56521, "vy":-0.23506, "omega":0.1615, "ax":1.29643, "ay":1.30773, "alpha":4.68571, "fx":[30.14582,3.56017,3.49075,30.10468], "fy":[30.28843,30.21405,3.66596,3.71935]},
+    {"t":1.60955, "x":4.9403, "y":7.36852, "heading":-1.55739, "vx":2.67285, "vy":-0.12649, "omega":0.55054, "ax":0.91466, "ay":0.99636, "alpha":3.42773, "fx":[21.38164,1.94296,2.35073,21.80698], "fy":[22.9043,22.38812,2.965,3.46657]},
+    {"t":1.69257, "x":5.16537, "y":7.36145, "heading":-1.51168, "vx":2.74879, "vy":-0.04376, "omega":0.83513, "ax":0.53259, "ay":0.78949, "alpha":2.19151, "fx":[12.73356,0.33083,1.08489,13.49883], "fy":[16.86545,16.03002,3.63143,4.45749]},
+    {"t":1.7756, "x":5.39542, "y":7.36054, "heading":-1.44234, "vx":2.793, "vy":0.02178, "omega":1.01708, "ax":0.14863, "ay":0.56505, "alpha":0.99237, "fx":[4.37739,-1.20245,-0.5227,5.06345], "fy":[10.49435,9.758,4.17489,4.90592]},
+    {"t":1.85863, "x":5.62783, "y":7.36429, "heading":-1.3579, "vx":2.80534, "vy":0.0687, "omega":1.09948, "ax":-0.23716, "ay":0.26552, "alpha":-0.14949, "fx":[-3.52159,-2.64363,-2.63557,-3.51081], "fy":[3.03227,2.99021,3.86085,3.90046]},
+    {"t":1.94165, "x":5.85993, "y":7.37091, "heading":-1.26661, "vx":2.78565, "vy":0.09074, "omega":1.08706, "ax":-0.62398, "ay":-0.09639, "alpha":-1.2208, "fx":[-10.86739,-4.01551,-5.32916,-12.18031], "fy":[-5.32241,-4.02442,2.82071,1.522]},
+    {"t":2.02468, "x":6.08906, "y":7.37811, "heading":-1.17636, "vx":2.73385, "vy":0.08274, "omega":0.98571, "ax":-1.01079, "ay":-0.53148, "alpha":-1.78866, "fx":[-16.83307,-6.88871,-9.40343,-19.34769], "fy":[-13.12514,-10.61316,-0.6701,-3.18219]},
+    {"t":2.10771, "x":6.31256, "y":7.38315, "heading":-1.09452, "vx":2.64993, "vy":0.03861, "omega":0.8372, "ax":-1.39711, "ay":-0.8336, "alpha":-1.65125, "fx":[-21.48049,-12.25211,-14.78375,-24.01162], "fy":[-16.70462,-14.16931,-4.93213,-7.46827]},
+    {"t":2.19073, "x":6.52775, "y":7.38349, "heading":-1.02501, "vx":2.53393, "vy":-0.0306, "omega":0.7001, "ax":-1.78071, "ay":-1.22372, "alpha":-2.21891, "fx":[-27.15376,-14.94381,-19.06787,-31.27628], "fy":[-24.06055,-19.93413,-7.70109,-11.83066]},
+    {"t":2.27376, "x":6.732, "y":7.37673, "heading":-0.96688, "vx":2.38608, "vy":-0.1322, "omega":0.51588, "ax":-2.15918, "ay":-1.91012, "alpha":-3.06322, "fx":[-32.64851,-16.3894,-23.39744,-39.65366], "fy":[-36.43789,-29.43822,-13.1382,-20.14544]},
+    {"t":2.35678, "x":6.92267, "y":7.35917, "heading":-0.92405, "vx":2.20681, "vy":-0.29079, "omega":0.26155, "ax":-2.52777, "ay":-2.72348, "alpha":-3.89878, "fx":[-37.54475,-17.6879,-28.06897,-47.92165], "fy":[-50.47661,-40.12583,-20.20786,-30.57321]},
+    {"t":2.43981, "x":7.09718, "y":7.32564, "heading":-0.90233, "vx":1.99694, "vy":-0.51691, "omega":-0.06215, "ax":-2.87784, "ay":-3.55562, "alpha":-4.74912, "fx":[-41.98268,-18.72138,-32.71799,-55.97429], "fy":[-64.77665,-50.8451,-27.50204,-41.45812]},
+    {"t":2.52284, "x":7.25306, "y":7.27047, "heading":-0.90749, "vx":1.75801, "vy":-0.81212, "omega":-0.45645, "ax":-3.19546, "ay":-4.39642, "alpha":-5.63342, "fx":[-46.1807,-19.28578,-36.76422,-63.65442], "fy":[-79.22759,-61.86319,-34.8686,-52.27076]},
+    {"t":2.60586, "x":7.388, "y":7.18789, "heading":-0.94539, "vx":1.4927, "vy":-1.17714, "omega":-0.92418, "ax":-3.46059, "ay":-5.24105, "alpha":-6.57392, "fx":[-50.44257,-19.08766,-39.38269,-70.73568], "fy":[-93.79604,-73.68005,-42.21527,-62.38589]},
+    {"t":2.68889, "x":7.50001, "y":7.07209, "heading":-1.02212, "vx":1.20538, "vy":-1.61228, "omega":-1.46998, "ax":-3.64846, "ay":-6.09373, "alpha":-7.60651, "fx":[-55.13168,-17.82068,-39.56587,-76.88342], "fy":[-108.51444,-87.03374,-49.61854,-71.17576]},
+    {"t":2.77191, "x":7.58751, "y":6.91722, "heading":-1.14417, "vx":0.90246, "vy":-2.11822, "omega":-2.10152, "ax":-2.46448, "ay":-4.55088, "alpha":8.10436, "fx":[-20.56925,-62.40853,-43.39569,-1.56423], "fy":[-28.61499,-47.63629,-89.50881,-70.48879]},
+    {"t":2.86298, "x":7.65948, "y":6.70546, "heading":-1.33554, "vx":0.67804, "vy":-2.53265, "omega":-1.3635, "ax":-1.80647, "ay":-1.09428, "alpha":6.29473, "fx":[-13.42253,-46.90036,-33.4661,0.00994], "fy":[9.27464,-4.16056,-37.67974,-24.24124]},
+    {"t":2.95404, "x":7.71373, "y":6.47029, "heading":-1.45971, "vx":0.51353, "vy":-2.6323, "omega":-0.79027, "ax":-1.17391, "ay":2.50825, "alpha":4.68423, "fx":[-6.88339,-32.22916,-23.56717,1.73902], "fy":[49.81737,41.53729,15.2166,23.63877]},
+    {"t":3.04511, "x":7.75563, "y":6.24098, "heading":-1.53168, "vx":0.40663, "vy":-2.40388, "omega":-0.3637, "ax":-0.99963, "ay":5.91384, "alpha":2.98862, "fx":[-8.10461,-23.47015,-17.796,-2.52295], "fy":[87.76004,83.97518,65.48207,69.78656]},
+    {"t":3.13617, "x":7.78851, "y":6.04659, "heading":-1.5648, "vx":0.3156, "vy":-1.86534, "omega":-0.09154, "ax":-1.35736, "ay":8.93715, "alpha":1.28715, "fx":[-17.44266,-22.19969,-17.69888,-13.12287], "fy":[121.01305,120.86887,110.47843,111.59162]},
+    {"t":3.22724, "x":7.81162, "y":5.91378, "heading":-1.57313, "vx":0.19199, "vy":-1.05148, "omega":0.02567, "ax":-2.10826, "ay":11.54645, "alpha":-0.2819, "fx":[-32.17623,-26.98366,-22.36642,-27.91914], "fy":[149.53417,152.34976,149.50017,148.02392]},
+    {"t":3.3183, "x":7.82037, "y":5.8659, "heading":-1.5708, "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":[]
+}