Skip to content

Commit

Permalink
OP auto on choreo
Browse files Browse the repository at this point in the history
  • Loading branch information
@fcuellar13
fcuellar13 committed May 22, 2024
1 parent dfa9e33 commit 9e46552
Show file tree
Hide file tree
Showing 7 changed files with 3,209 additions and 1 deletion.
1,190 changes: 1,189 additions & 1 deletion Choreo_Trajectories.chor
View file

Large diffs are not rendered by default.

105 changes: 105 additions & 0 deletions src/main/deploy/choreo/Red OP Path.1.traj
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,105 @@
{
"samples": [
{
"x": 15.810750007629396,
"y": 6.713456153869629,
"heading": -1.0349856705699774,
"angularVelocity": 4.884246845786317e-29,
"velocityX": -5.585484635533752e-28,
"velocityY": 4.757632818597621e-28,
"timestamp": 0
},
{
"x": 15.76150981586685,
"y": 6.722688146012577,
"heading": -1.0233410054760648,
"angularVelocity": 0.1500687234312182,
"velocityX": -0.634574945669897,
"velocityY": 0.1189757940177689,
"timestamp": 0.07759554974324644
},
{
"x": 15.663029444477894,
"y": 6.741152234252258,
"heading": -1.0000524376971933,
"angularVelocity": 0.30012762144131144,
"velocityX": -1.2691497349372944,
"velocityY": 0.23795292772299792,
"timestamp": 0.15519109948649287
},
{
"x": 15.515308922960793,
"y": 6.7688485743317965,
"heading": -0.96512031703737,
"angularVelocity": 0.45018201140927705,
"velocityX": -1.903724144050656,
"velocityY": 0.35693206854236087,
"timestamp": 0.2327866492297393
},
{
"x": 15.318348321012273,
"y": 6.805777366894211,
"heading": -0.9185433764897887,
"angularVelocity": 0.6002527297209492,
"velocityX": -2.5382976549587837,
"velocityY": 0.47591379511591486,
"timestamp": 0.31038219897298575
},
{
"x": 15.121388817101115,
"y": 6.842708779235855,
"heading": -0.8719226827537317,
"angularVelocity": 0.6008165918060855,
"velocityX": -2.538283504181257,
"velocityY": 0.47594755709374104,
"timestamp": 0.3879777487162322
},
{
"x": 14.97366923414955,
"y": 6.870407418985583,
"heading": -0.8369539845001209,
"angularVelocity": 0.45065339918742303,
"velocityX": -1.9037120484402614,
"velocityY": 0.35696170516710657,
"timestamp": 0.46557329845947865
},
{
"x": 14.87518952634327,
"y": 6.888873204690618,
"heading": -0.8136405069254311,
"angularVelocity": 0.3004486423748671,
"velocityX": -1.2691411831237327,
"velocityY": 0.23797480353107417,
"timestamp": 0.543168848202725
},
{
"x": 14.825949668884276,
"y": 6.898106098175049,
"heading": -0.8019838997287868,
"angularVelocity": 0.15022262533372682,
"velocityX": -0.6345706373873645,
"velocityY": 0.11898740990921922,
"timestamp": 0.6207643979459715
},
{
"x": 14.825949668884276,
"y": 6.898106098175049,
"heading": -0.8019838997287868,
"angularVelocity": -5.339864920565155e-27,
"velocityX": 1.3194794507125316e-26,
"velocityY": 1.1618551889685723e-26,
"timestamp": 0.6983599476892179
}
],
"eventMarkers": [
{
"timestamp": 0.6983599476892179,
"command": {
"type": "named",
"data": {
"name": "intakeFloor"
}
}
}
]
}
195 changes: 195 additions & 0 deletions src/main/deploy/choreo/Red OP Path.2.traj
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,195 @@
{
"samples": [
{
"x": 14.825949668884276,
"y": 6.898106098175049,
"heading": -0.8019838997287868,
"angularVelocity": -5.339864920565155e-27,
"velocityX": 1.3194794507125316e-26,
"velocityY": 1.1618551889685723e-26,
"timestamp": 0
},
{
"x": 14.809568956614742,
"y": 6.902143297660371,
"heading": -0.7569964050579399,
"angularVelocity": 0.8989370398307848,
"velocityX": -0.3273182715692973,
"velocityY": 0.08067104383328674,
"timestamp": 0.05004521193087719
},
{
"x": 14.776067066787089,
"y": 6.909363169599397,
"heading": -0.6696214106103948,
"angularVelocity": 1.7459211596151898,
"velocityX": -0.669432469861979,
"velocityY": 0.14426698699963264,
"timestamp": 0.10009042386175437
},
{
"x": 14.724702022004612,
"y": 6.918888059578495,
"heading": -0.5428370877791484,
"angularVelocity": 2.533395662433439,
"velocityX": -1.026372809719003,
"velocityY": 0.19032569973435035,
"timestamp": 0.15013563579263156
},
{
"x": 14.654193297012496,
"y": 6.929706058663633,
"heading": -0.385390935193963,
"angularVelocity": 3.1460782462596266,
"velocityX": -1.4089005175860456,
"velocityY": 0.21616451739839884,
"timestamp": 0.20018084772350875
},
{
"x": 14.562890671841334,
"y": 6.941218515223832,
"heading": -0.2215107923875281,
"angularVelocity": 3.274641798555822,
"velocityX": -1.824402807950327,
"velocityY": 0.23004111914042755,
"timestamp": 0.25022605965438594
},
{
"x": 14.453477448159935,
"y": 6.951994282480533,
"heading": -0.09817071822556304,
"angularVelocity": 2.464572921228175,
"velocityX": -2.1862875479979755,
"velocityY": 0.2153206438926697,
"timestamp": 0.3002712715852631
},
{
"x": 14.327454672854733,
"y": 6.959876050114043,
"heading": -0.024143838469645785,
"angularVelocity": 1.4792000453143,
"velocityX": -2.5181784718839055,
"velocityY": 0.15749294147051712,
"timestamp": 0.3503164835161403
},
{
"x": 14.184776349830353,
"y": 6.966739109300037,
"heading": -0.0012992950323582767,
"angularVelocity": 0.4564781036163972,
"velocityX": -2.850988486599879,
"velocityY": 0.13713717898675226,
"timestamp": 0.4003616954470175
},
{
"x": 14.03514409943968,
"y": 6.9752962063320565,
"heading": -0.0012990675848861437,
"angularVelocity": 0.000004544839822982049,
"velocityX": -2.989941387346796,
"velocityY": 0.17098732729592941,
"timestamp": 0.4504069073778947
},
{
"x": 13.885790195179819,
"y": 6.987795795087683,
"heading": -0.0012966288214259268,
"angularVelocity": 0.00004873120456729116,
"velocityX": -2.9843794940093433,
"velocityY": 0.24976592711589046,
"timestamp": 0.5004521193087719
},
{
"x": 13.7554783765215,
"y": 7.001573912600842,
"heading": 0.031102795845108208,
"angularVelocity": 0.6474030864587899,
"velocityX": -2.603881842648723,
"velocityY": 0.2753134012538314,
"timestamp": 0.5504973312396491
},
{
"x": 13.639816284179688,
"y": 7.0150346755981445,
"heading": 4.498936643347414e-26,
"angularVelocity": -0.6214939380827805,
"velocityX": -2.3111520139342514,
"velocityY": 0.26897204503589006,
"timestamp": 0.6005425431705262
},
{
"x": 13.546552882593682,
"y": 7.026413265469353,
"heading": -0.08518641108531189,
"angularVelocity": -1.8947705681090867,
"velocityX": -2.0744241499964984,
"velocityY": 0.2530898639802788,
"timestamp": 0.645501237652637
},
{
"x": 13.469403483635416,
"y": 7.036583691901959,
"heading": -0.18805633666193292,
"angularVelocity": -2.2880985927550306,
"velocityX": -1.716006210744466,
"velocityY": 0.2262171210654979,
"timestamp": 0.6904599321347478
},
{
"x": 13.409041642911644,
"y": 7.045284385243258,
"heading": -0.2900088233827388,
"angularVelocity": -2.2676923317106814,
"velocityX": -1.342606617453923,
"velocityY": 0.19352637885784665,
"timestamp": 0.7354186266168585
},
{
"x": 13.365070441505262,
"y": 7.052344662460481,
"heading": -0.3790633991481259,
"angularVelocity": -1.9808087577103082,
"velocityX": -0.978035548249278,
"velocityY": 0.1570391956116947,
"timestamp": 0.7803773210989693
},
{
"x": 13.336729811256287,
"y": 7.057488294369905,
"heading": -0.44596345986660196,
"angularVelocity": -1.4880338828587603,
"velocityX": -0.6303704005518339,
"velocityY": 0.11440794642001935,
"timestamp": 0.82533601558108
},
{
"x": 13.323101043701172,
"y": 7.060279369354248,
"heading": -0.4831257314495692,
"angularVelocity": -0.8265869819185749,
"velocityX": -0.30313975332488885,
"velocityY": 0.062080872598607124,
"timestamp": 0.8702947100631908
},
{
"x": 13.323101043701172,
"y": 7.060279369354248,
"heading": -0.4831257314495692,
"angularVelocity": 1.6010719955453443e-28,
"velocityX": 4.937823283827081e-27,
"velocityY": -2.8153706383615303e-27,
"timestamp": 0.9152534045453016
}
],
"eventMarkers": [
{
"timestamp": 0,
"command": {
"type": "named",
"data": {
"name": "intakeFloor"
}
}
}
]
}
Loading

0 comments on commit 9e46552

Please sign in to comment.