Skip to content

Commit

Permalink
added E side center auton
Browse files Browse the repository at this point in the history
  • Loading branch information
CrolineCrois committed Apr 6, 2024
1 parent d41f1fb commit 1c37713
Show file tree
Hide file tree
Showing 13 changed files with 3,891 additions and 3,076 deletions.
3,176 changes: 1,789 additions & 1,387 deletions src/main/ChoreoDoc.chor

Large diffs are not rendered by default.

386 changes: 193 additions & 193 deletions src/main/deploy/choreo/6Y.traj

Large diffs are not rendered by default.

488 changes: 298 additions & 190 deletions src/main/deploy/choreo/7Y.traj

Large diffs are not rendered by default.

362 changes: 199 additions & 163 deletions src/main/deploy/choreo/8Z.traj
Original file line number Diff line number Diff line change
@@ -1,175 +1,211 @@
{
"samples": [
{
"x": 8.288,
"y": 0.753,
"heading": -0.359,
"x": 7.842076778411865,
"y": 0.8892878890037537,
"heading": -0.2,
"angularVelocity": 0,
"velocityX": 7.848060634472957e-33,
"velocityY": -3.2516900550847044e-31,
"velocityX": 3.543965029852756e-29,
"velocityY": 6.066534800985091e-29,
"timestamp": 0
},
{
"x": 8.257857688531061,
"y": 0.7607198575910491,
"heading": -0.36259382076295077,
"angularVelocity": -0.04144012470689956,
"velocityX": -0.34756912729323597,
"velocityY": 0.08901719990897015,
"timestamp": 0.08672321303010541
},
{
"x": 8.19757306595335,
"y": 0.7761595734074377,
"heading": -0.36978140180451197,
"angularVelocity": -0.08287955197261455,
"velocityX": -0.6951382504334015,
"velocityY": 0.1780344071319038,
"timestamp": 0.17344642606021082
},
{
"x": 8.107146132657443,
"y": 0.7993191483957665,
"heading": -0.3805626441664111,
"angularVelocity": -0.12431783815661841,
"velocityX": -1.0427073690698763,
"velocityY": 0.2670516252700299,
"timestamp": 0.2601696390903162
},
{
"x": 7.986576889086077,
"y": 0.8301985838111292,
"heading": -0.3949373988890941,
"angularVelocity": -0.16575440669722594,
"velocityX": -1.3902764826011484,
"velocityY": 0.35606885788056725,
"timestamp": 0.34689285212042165
},
{
"x": 7.835865335793746,
"y": 0.8687978812136647,
"heading": -0.4129054484754803,
"angularVelocity": -0.20718846729246293,
"velocityX": -1.7378455897386196,
"velocityY": 0.4450861084809666,
"timestamp": 0.4336160651505271
},
{
"x": 7.655011473615787,
"y": 0.9151170424750372,
"heading": -0.4344664737940713,
"angularVelocity": -0.24861884800215203,
"velocityX": -2.085414687243842,
"velocityY": 0.5341033806634112,
"timestamp": 0.5203392781806325
},
{
"x": 7.444015304197123,
"y": 0.9691560698341772,
"heading": -0.45961997962793794,
"angularVelocity": -0.29004351839609516,
"velocityX": -2.432983765781574,
"velocityY": 0.6231206786628246,
"timestamp": 0.607062491210738
},
{
"x": 7.20287683222139,
"y": 1.030914966202055,
"heading": -0.48836503954685173,
"angularVelocity": -0.33145750618043834,
"velocityX": -2.78055279031259,
"velocityY": 0.7121380102284524,
"timestamp": 0.6937857042408434
},
{
"x": 6.931596093838579,
"y": 1.1003937371130306,
"heading": -0.5206978932748437,
"angularVelocity": -0.3728281344555003,
"velocityX": -3.1281213980002853,
"velocityY": 0.8011554056104477,
"timestamp": 0.7805089172709488
},
{
"x": 6.6904576020716755,
"y": 1.162152672705266,
"heading": -0.549434263924052,
"angularVelocity": -0.3313573107494592,
"velocityX": -2.780553018523351,
"velocityY": 0.7121384625220937,
"timestamp": 0.8672321303010543
},
{
"x": 6.479461402681092,
"y": 1.2161917502632715,
"heading": -0.5745770990267204,
"angularVelocity": -0.28992047485532396,
"velocityX": -2.4329841113859345,
"velocityY": 0.6231212575028354,
"timestamp": 0.9539553433311597
},
{
"x": 6.298607507686841,
"y": 1.262510964025961,
"heading": -0.5961272493805595,
"angularVelocity": -0.24849344945692042,
"velocityX": -2.085415065646478,
"velocityY": 0.5341039860528463,
"timestamp": 1.040678556361265
},
{
"x": 6.1478959228927685,
"y": 1.301110311282906,
"heading": -0.6140851971616693,
"angularVelocity": -0.20707198400127302,
"velocityX": -1.737845952983236,
"velocityY": 0.4450866833490784,
"timestamp": 1.1274017693913705
},
{
"x": 6.027326651802776,
"y": 1.3319897904748126,
"heading": -0.6284512647131738,
"angularVelocity": -0.16565423546423083,
"velocityX": -1.3902767999167456,
"velocityY": 0.3560693626651814,
"timestamp": 1.214124982421476
},
{
"x": 5.9368996967234855,
"y": 1.3551494006238816,
"heading": -0.6392256722190083,
"angularVelocity": -0.12423902585451516,
"velocityX": -1.0427076202527152,
"velocityY": 0.2670520307063474,
"timestamp": 1.3008481954515814
},
{
"x": 5.8766150591914466,
"y": 1.3705891410920916,
"heading": -0.6464085601564894,
"angularVelocity": -0.08282543608004028,
"velocityX": -0.6951384228708393,
"velocityY": 0.17803469139053074,
"timestamp": 1.3875714084816868
},
{
"x": 5.84647274017334,
"y": 1.3783090114593506,
"heading": -0.65,
"angularVelocity": -0.041412670472249856,
"velocityX": -0.34756921434221283,
"velocityY": 0.08901734723065605,
"timestamp": 1.4742946215117922
},
{
"x": 5.84647274017334,
"y": 1.3783090114593506,
"heading": -0.65,
"x": 7.812598945860675,
"y": 0.8944424472583185,
"heading": -0.20496622782556165,
"angularVelocity": -0.05838115294284956,
"velocityX": -0.34653058841526674,
"velocityY": 0.06059509639568072,
"timestamp": 0.08506560037310541
},
{
"x": 7.753643280710999,
"y": 0.9047515675559099,
"heading": -0.21489854838800776,
"angularVelocity": -0.11676071783272662,
"velocityX": -0.6930611773865226,
"velocityY": 0.1211902373271282,
"timestamp": 0.17013120074621083
},
{
"x": 7.665209782688016,
"y": 0.9202152555182115,
"heading": -0.2297967433211858,
"angularVelocity": -0.17513771569016606,
"velocityX": -1.039591769588472,
"velocityY": 0.1817854443450271,
"timestamp": 0.25519680111931625
},
{
"x": 7.547298450975015,
"y": 0.9408335185902585,
"heading": -0.24966046486395704,
"angularVelocity": -0.23351062539515693,
"velocityX": -1.386122371391394,
"velocityY": 0.24238073888402914,
"timestamp": 0.34026240149242165
},
{
"x": 7.399909283767824,
"y": 0.9666063659909732,
"heading": -0.2744891709604369,
"angularVelocity": -0.29187716288991106,
"velocityX": -1.732652994403474,
"velocityY": 0.30297614179729954,
"timestamp": 0.42532800186552705
},
{
"x": 7.223042277660287,
"y": 0.9975338086066862,
"heading": -0.3042820351108166,
"angularVelocity": -0.3502339843559568,
"velocityX": -2.079183657457103,
"velocityY": 0.3635716726862842,
"timestamp": 0.5103936022386325
},
{
"x": 7.016697426765236,
"y": 1.0336158588375843,
"heading": -0.33903781326789106,
"angularVelocity": -0.40857618125920553,
"velocityX": -2.4257143897180984,
"velocityY": 0.42416734934731337,
"timestamp": 0.5954592026117379
},
{
"x": 6.780874721269294,
"y": 1.0748525305163557,
"heading": -0.37875461009111894,
"angularVelocity": -0.4668960972340024,
"velocityX": -2.7722452373415654,
"velocityY": 0.48476318862035184,
"timestamp": 0.6805248029848433
},
{
"x": 6.515574144192628,
"y": 1.1212438395106257,
"heading": -0.42342930599477324,
"angularVelocity": -0.5251793405028335,
"velocityX": -3.1187762845737237,
"velocityY": 0.5453592144273801,
"timestamp": 0.7655904033579487
},
{
"x": 6.220795658543064,
"y": 1.1727898092300164,
"heading": -0.47305507638202704,
"angularVelocity": -0.5833823563138879,
"velocityX": -3.4653077666723004,
"velocityY": 0.6059555154293409,
"timestamp": 0.8506560037310541
},
{
"x": 5.896539001466683,
"y": 1.2294906138948394,
"heading": -0.527568943776392,
"angularVelocity": -0.6408450320209716,
"velocityX": -3.8118423387850986,
"velocityY": 0.6665538645013592,
"timestamp": 0.9357216041041595
},
{
"x": 5.601760097539714,
"y": 1.281036808508122,
"heading": -0.5771161617191909,
"angularVelocity": -0.582458922590698,
"velocityX": -3.4653126837880555,
"velocityY": 0.6059581591994512,
"timestamp": 1.020787204477265
},
{
"x": 5.336459014638101,
"y": 1.3274283800189033,
"heading": -0.6217016980784473,
"angularVelocity": -0.5241312136014974,
"velocityX": -3.118782230866253,
"velocityY": 0.5453623004752052,
"timestamp": 1.1058528048503704
},
{
"x": 5.100635786430906,
"y": 1.3686653237117123,
"heading": -0.6613288423924588,
"angularVelocity": -0.46584217521829746,
"velocityX": -2.7722513821433346,
"velocityY": 0.48476638631762087,
"timestamp": 1.1909184052234758
},
{
"x": 4.894290433316691,
"y": 1.404747640025304,
"heading": -0.6959996876310143,
"angularVelocity": -0.40757774102030764,
"velocityX": -2.425720293622384,
"velocityY": 0.42417047731787116,
"timestamp": 1.2759840055965812
},
{
"x": 4.717422969310233,
"y": 1.4356753315766229,
"heading": -0.7257156923972772,
"angularVelocity": -0.34933045362611315,
"velocityX": -2.079189040348869,
"velocityY": 0.3635745990819682,
"timestamp": 1.3610496059696866
},
{
"x": 4.57003340445074,
"y": 1.4614484017859215,
"heading": -0.7504778958597699,
"angularVelocity": -0.29109538231590903,
"velocityX": -1.7326576690580915,
"velocityY": 0.3029787610533009,
"timestamp": 1.446115206342792
},
{
"x": 4.452121745929318,
"y": 1.4820668540702735,
"heading": -0.7702870288254154,
"angularVelocity": -0.23286890210383354,
"velocityX": -1.3861262132313132,
"velocityY": 0.24238296319449323,
"timestamp": 1.5311808067158974
},
{
"x": 4.363687998733753,
"y": 1.4975306913245487,
"heading": -0.785143583437153,
"angularVelocity": -0.17464820734362577,
"velocityX": -1.03959469876997,
"velocityY": 0.18178719936671658,
"timestamp": 1.6162464070890028
},
{
"x": 4.304732166058997,
"y": 1.5078399155840347,
"heading": -0.795047860373283,
"angularVelocity": -0.11643104724722543,
"velocityX": -0.6930631467499093,
"velocityY": 0.12119145946503349,
"timestamp": 1.7013120074621082
},
{
"x": 4.275254249572754,
"y": 1.5129945278167725,
"heading": -0.8,
"angularVelocity": -0.05821553724430813,
"velocityX": -0.3465315751249751,
"velocityY": 0.06059573094328386,
"timestamp": 1.7863776078352136
},
{
"x": 4.275254249572754,
"y": 1.5129945278167725,
"heading": -0.8,
"angularVelocity": 0,
"velocityX": -1.0272646100997073e-34,
"velocityX": 1.4177041903420033e-28,
"velocityY": 0,
"timestamp": 1.5610178345418977
"timestamp": 1.871443208208319
}
]
}
Loading

0 comments on commit 1c37713

Please sign in to comment.