Autos

src/main/deploy/choreo/MRtoSRT.traj

@@ -0,0 +1,69 @@
+{
+ "name":"MRtoSRT",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.768587827682495, "y":0.7205682992935181, "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":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"3.141592653589793 rad", "val":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":{"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":0.2761996,
+    "y":0.2761996
+   },
+   "backLeft":{
+    "x":-0.2761996,
+    "y":0.2761996
+   },
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.54895],
+  "samples":[
+    {"t":0.0, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.51399, "ay":0.43334, "alpha":0.0, "fx":[-124.23209,-124.23209,-124.23209,-124.23209], "fy":[7.1646,7.1646,7.1646,7.1646]},
+    {"t":0.0499, "x":3.32031, "y":0.68875, "heading":3.14159, "vx":-0.37499, "vy":0.02163, "omega":0.0, "ax":-7.51235, "ay":0.43324, "alpha":0.0, "fx":[-124.20496,-124.20496,-124.20496,-124.20496], "fy":[7.16303,7.16303,7.16303,7.16303]},
+    {"t":0.09981, "x":3.29224, "y":0.69037, "heading":3.14159, "vx":-0.74989, "vy":0.04325, "omega":0.0, "ax":-7.50961, "ay":0.43309, "alpha":0.0, "fx":[-124.15975,-124.15975,-124.15975,-124.15975], "fy":[7.16042,7.16042,7.16042,7.16042]},
+    {"t":0.14971, "x":3.24547, "y":0.69307, "heading":3.14159, "vx":-1.12466, "vy":0.06486, "omega":0.0, "ax":-7.50415, "ay":0.43277, "alpha":0.0, "fx":[-124.06938,-124.06938,-124.06938,-124.06938], "fy":[7.15521,7.15521,7.15521,7.15521]},
+    {"t":0.19962, "x":3.18, "y":0.69684, "heading":3.14159, "vx":-1.49915, "vy":0.08646, "omega":0.0, "ax":-7.48777, "ay":0.43183, "alpha":0.0, "fx":[-123.79865,-123.79865,-123.79865,-123.79865], "fy":[7.1396,7.1396,7.1396,7.1396]},
+    {"t":0.24952, "x":3.09586, "y":0.70169, "heading":3.14159, "vx":-1.87283, "vy":0.10801, "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]},
+    {"t":0.29943, "x":3.0024, "y":0.70708, "heading":3.14159, "vx":-1.87283, "vy":0.10801, "omega":0.0, "ax":7.48777, "ay":-0.43183, "alpha":0.0, "fx":[123.79865,123.79865,123.79865,123.79865], "fy":[-7.1396,-7.1396,-7.1396,-7.1396]},
+    {"t":0.34933, "x":2.91826, "y":0.71194, "heading":3.14159, "vx":-1.49915, "vy":0.08646, "omega":0.0, "ax":7.50415, "ay":-0.43277, "alpha":0.0, "fx":[124.06938,124.06938,124.06938,124.06938], "fy":[-7.15521,-7.15521,-7.15521,-7.15521]},
+    {"t":0.39924, "x":2.85279, "y":0.71571, "heading":3.14159, "vx":-1.12466, "vy":0.06486, "omega":0.0, "ax":7.50961, "ay":-0.43309, "alpha":0.0, "fx":[124.15975,124.15975,124.15975,124.15975], "fy":[-7.16042,-7.16042,-7.16042,-7.16042]},
+    {"t":0.44914, "x":2.80601, "y":0.71841, "heading":3.14159, "vx":-0.74989, "vy":0.04325, "omega":0.0, "ax":7.51235, "ay":-0.43324, "alpha":0.0, "fx":[124.20496,124.20496,124.20496,124.20496], "fy":[-7.16303,-7.16303,-7.16303,-7.16303]},
+    {"t":0.49905, "x":2.77794, "y":0.72003, "heading":3.14159, "vx":-0.37499, "vy":0.02163, "omega":0.0, "ax":7.51399, "ay":-0.43334, "alpha":0.0, "fx":[124.23209,124.23209,124.23209,124.23209], "fy":[-7.1646,-7.1646,-7.1646,-7.1646]},
+    {"t":0.54895, "x":2.76859, "y":0.72057, "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":[]
+}