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‎src/main/java/frc/paths/FiveBallPartFour.java

Lines changed: 101 additions & 101 deletions
Original file line numberDiff line numberDiff line change
@@ -4,107 +4,107 @@
44

55
public class FiveBallPartFour extends Path {
66
private final static double[][] points = {
7-
{0,6.47,0.2,-2.4416,0.0,0.0,0.0},
8-
{0.0319,6.47,0.2,-2.4416,-0.08,-0.0072,0.0025},
9-
{0.0637,6.4675,0.1998,-2.4415,-0.1599,-0.0144,0.0051},
10-
{0.0956,6.4624,0.1993,-2.4413,-0.2399,-0.0217,0.0076},
11-
{0.1275,6.4547,0.1986,-2.4411,-0.3198,-0.0289,0.0102},
12-
{0.1593,6.4445,0.1977,-2.4408,-0.3998,-0.0361,0.0127},
13-
{0.1912,6.4318,0.1966,-2.4404,-0.4797,-0.0433,0.0152},
14-
{0.2231,6.4165,0.1952,-2.4399,-0.5597,-0.0505,0.0178},
15-
{0.2549,6.3987,0.1936,-2.4393,-0.6396,-0.0577,0.0203},
16-
{0.2868,6.3783,0.1917,-2.4387,-0.7196,-0.065,0.0229},
17-
{0.3187,6.3553,0.1897,-2.438,-0.7996,-0.0722,0.0254},
18-
{0.3505,6.3299,0.1874,-2.4371,-0.8795,-0.0794,0.0279},
19-
{0.3824,6.3018,0.1848,-2.4363,-0.9595,-0.0866,0.0305},
20-
{0.4143,6.2713,0.1821,-2.4353,-1.0394,-0.0938,0.033},
21-
{0.4462,6.2381,0.1791,-2.4342,-1.1194,-0.101,0.0356},
22-
{0.478,6.2025,0.1759,-2.4331,-1.1993,-0.1083,0.0381},
23-
{0.5099,6.1642,0.1724,-2.4319,-1.2793,-0.1155,0.0406},
24-
{0.5418,6.1235,0.1687,-2.4306,-1.3592,-0.1227,0.0432},
25-
{0.5736,6.0802,0.1648,-2.4292,-1.4392,-0.1299,0.0457},
26-
{0.6055,6.0343,0.1607,-2.4278,-1.5191,-0.1371,0.0482},
27-
{0.6374,5.9859,0.1563,-2.4262,-1.5991,-0.1443,0.0508},
28-
{0.6692,5.9349,0.1517,-2.4246,-1.6791,-0.1516,0.0533},
29-
{0.7011,5.8814,0.1469,-2.4229,-1.759,-0.1588,0.0558},
30-
{0.733,5.8254,0.1418,-2.4211,-1.839,-0.166,0.0584},
31-
{0.7648,5.7668,0.1365,-2.4193,-1.9189,-0.1732,0.0609},
32-
{0.7967,5.7056,0.131,-2.4173,-1.9989,-0.1804,0.0634},
33-
{0.8286,5.6419,0.1253,-2.4153,-2.0788,-0.1876,0.066},
34-
{0.8604,5.5757,0.1193,-2.4132,-2.1588,-0.1949,0.0685},
35-
{0.8923,5.5069,0.1131,-2.411,-2.2387,-0.2021,0.071},
36-
{0.9242,5.4355,0.1066,-2.4087,-2.3187,-0.2093,0.0736},
37-
{0.956,5.3616,0.1,-2.4064,-2.3987,-0.2165,0.0761},
38-
{0.9879,5.2852,0.0931,-2.404,-2.4786,-0.2237,0.0786},
39-
{1.0198,5.2062,0.0859,-2.4015,-2.5586,-0.231,0.0811},
40-
{1.0516,5.1247,0.0786,-2.3989,-2.6385,-0.2382,0.0837},
41-
{1.0835,5.0406,0.071,-2.3962,-2.7185,-0.2454,0.0862},
42-
{1.1154,4.9539,0.0632,-2.3935,-2.7984,-0.2526,0.0887},
43-
{1.1472,4.8648,0.0551,-2.3906,-2.8784,-0.2598,0.0912},
44-
{1.1791,4.773,0.0468,-2.3877,-2.9583,-0.267,0.0937},
45-
{1.211,4.6788,0.0383,-2.3848,-3.0383,-0.2743,0.0962},
46-
{1.2428,4.5819,0.0296,-2.3817,-3.1183,-0.2815,0.0987},
47-
{1.2747,4.4826,0.0206,-2.3785,-3.1982,-0.2887,0.1012},
48-
{1.3066,4.3806,0.0114,-2.3753,-3.2782,-0.2959,0.1038},
49-
{1.3385,4.2762,0.002,-2.372,-3.3581,-0.3031,0.1062},
50-
{1.3703,4.1692,-0.0077,-2.3686,-3.4381,-0.3103,0.1087},
51-
{1.4022,4.0596,-0.0176,-2.3652,-3.518,-0.3176,0.1112},
52-
{1.4341,3.9475,-0.0277,-2.3616,-3.598,-0.3248,0.1137},
53-
{1.4659,3.8328,-0.038,-2.358,-3.6779,-0.332,0.1162},
54-
{1.4978,3.7156,-0.0486,-2.3543,-3.7579,-0.3392,0.1186},
55-
{1.5297,3.5959,-0.0594,-2.3505,-3.8378,-0.3464,0.1211},
56-
{1.5615,3.4736,-0.0705,-2.3466,-3.9178,-0.3536,0.1234},
57-
{1.5934,3.3487,-0.0817,-2.3427,-3.9978,-0.3609,0.1255},
58-
{1.6253,3.2213,-0.0932,-2.3387,-3.9178,-0.3536,0.1226},
59-
{1.6571,3.0964,-0.1045,-2.3348,-3.8378,-0.3464,0.1199},
60-
{1.689,2.9741,-0.1156,-2.331,-3.7579,-0.3392,0.1174},
61-
{1.7209,2.8544,-0.1264,-2.3272,-3.6779,-0.332,0.1148},
62-
{1.7527,2.7372,-0.1369,-2.3236,-3.598,-0.3248,0.1122},
63-
{1.7846,2.6225,-0.1473,-2.32,-3.518,-0.3176,0.1097},
64-
{1.8165,2.5104,-0.1574,-2.3165,-3.4381,-0.3103,0.1072},
65-
{1.8483,2.4008,-0.1673,-2.3131,-3.3581,-0.3031,0.1046},
66-
{1.8802,2.2938,-0.177,-2.3098,-3.2782,-0.2959,0.1021},
67-
{1.9121,2.1894,-0.1864,-2.3065,-3.1982,-0.2887,0.0996},
68-
{1.9439,2.0874,-0.1956,-2.3033,-3.1183,-0.2815,0.0971},
69-
{1.9758,1.9881,-0.2046,-2.3002,-3.0383,-0.2743,0.0946},
70-
{2.0077,1.8912,-0.2133,-2.2972,-2.9583,-0.267,0.092},
71-
{2.0395,1.797,-0.2218,-2.2943,-2.8784,-0.2598,0.0895},
72-
{2.0714,1.7052,-0.2301,-2.2914,-2.7984,-0.2526,0.087},
73-
{2.1033,1.6161,-0.2381,-2.2887,-2.7185,-0.2454,0.0845},
74-
{2.1351,1.5294,-0.246,-2.286,-2.6385,-0.2382,0.082},
75-
{2.167,1.4453,-0.2536,-2.2834,-2.5586,-0.231,0.0795},
76-
{2.1989,1.3638,-0.2609,-2.2808,-2.4786,-0.2237,0.077},
77-
{2.2308,1.2848,-0.268,-2.2784,-2.3987,-0.2165,0.0745},
78-
{2.2626,1.2084,-0.2749,-2.276,-2.3187,-0.2093,0.072},
79-
{2.2945,1.1345,-0.2816,-2.2737,-2.2387,-0.2021,0.0695},
80-
{2.3264,1.0631,-0.2881,-2.2715,-2.1588,-0.1949,0.0671},
81-
{2.3582,0.9943,-0.2943,-2.2693,-2.0788,-0.1877,0.0646},
82-
{2.3901,0.9281,-0.3002,-2.2673,-1.9989,-0.1804,0.0621},
83-
{2.422,0.8644,-0.306,-2.2653,-1.9189,-0.1732,0.0596},
84-
{2.4538,0.8032,-0.3115,-2.2634,-1.839,-0.166,0.0571},
85-
{2.4857,0.7446,-0.3168,-2.2616,-1.759,-0.1588,0.0546},
86-
{2.5176,0.6886,-0.3219,-2.2599,-1.6791,-0.1516,0.0521},
87-
{2.5494,0.6351,-0.3267,-2.2582,-1.5991,-0.1443,0.0496},
88-
{2.5813,0.5841,-0.3313,-2.2566,-1.5191,-0.1371,0.0471},
89-
{2.6132,0.5357,-0.3357,-2.2551,-1.4392,-0.1299,0.0447},
90-
{2.645,0.4898,-0.3398,-2.2537,-1.3592,-0.1227,0.0422},
91-
{2.6769,0.4465,-0.3437,-2.2523,-1.2793,-0.1155,0.0397},
92-
{2.7088,0.4058,-0.3474,-2.2511,-1.1993,-0.1083,0.0372},
93-
{2.7406,0.3675,-0.3508,-2.2499,-1.1194,-0.101,0.0347},
94-
{2.7725,0.3319,-0.3541,-2.2488,-1.0394,-0.0938,0.0322},
95-
{2.8044,0.2987,-0.3571,-2.2478,-0.9595,-0.0866,0.0298},
96-
{2.8362,0.2682,-0.3598,-2.2468,-0.8795,-0.0794,0.0273},
97-
{2.8681,0.2401,-0.3623,-2.2459,-0.7996,-0.0722,0.0248},
98-
{2.9,0.2147,-0.3646,-2.2451,-0.7196,-0.065,0.0223},
99-
{2.9318,0.1917,-0.3667,-2.2444,-0.6396,-0.0577,0.0198},
100-
{2.9637,0.1713,-0.3686,-2.2438,-0.5597,-0.0505,0.0174},
101-
{2.9956,0.1535,-0.3702,-2.2433,-0.4797,-0.0433,0.0149},
102-
{3.0274,0.1382,-0.3715,-2.2428,-0.3998,-0.0361,0.0124},
103-
{3.0593,0.1255,-0.3727,-2.2424,-0.3198,-0.0289,0.0099},
104-
{3.0912,0.1153,-0.3736,-2.2421,-0.2399,-0.0217,0.0074},
105-
{3.1231,0.1076,-0.3743,-2.2418,-0.1599,-0.0144,0.005},
106-
{3.1549,0.1025,-0.3748,-2.2417,-0.08,-0.0072,0.0025},
107-
{3.1868,0.1,-0.375,-2.2416,0.0,0.0,0.0},
7+
{0,6.15,0.3,-2.4416,-0.0,0.0,-0.0},
8+
{0.0311,6.15,0.3,-2.4416,-0.0778,-0.0087,0.0073},
9+
{0.0622,6.1476,0.2997,-2.4414,-0.1557,-0.0174,0.0146},
10+
{0.0933,6.1427,0.2992,-2.4409,-0.2335,-0.0261,0.022},
11+
{0.1244,6.1355,0.2984,-2.4402,-0.3113,-0.0347,0.0293},
12+
{0.1555,6.1258,0.2973,-2.4393,-0.3892,-0.0434,0.0366},
13+
{0.1866,6.1137,0.2959,-2.4382,-0.467,-0.0521,0.0439},
14+
{0.2176,6.0992,0.2943,-2.4368,-0.5448,-0.0608,0.0512},
15+
{0.2487,6.0822,0.2924,-2.4352,-0.6227,-0.0695,0.0586},
16+
{0.2798,6.0629,0.2903,-2.4334,-0.7005,-0.0782,0.0659},
17+
{0.3109,6.0411,0.2878,-2.4313,-0.7783,-0.0868,0.0732},
18+
{0.342,6.0169,0.2851,-2.4291,-0.8562,-0.0955,0.0805},
19+
{0.3731,5.9903,0.2822,-2.4266,-0.934,-0.1042,0.0879},
20+
{0.4042,5.9612,0.2789,-2.4238,-1.0118,-0.1129,0.0952},
21+
{0.4353,5.9298,0.2754,-2.4209,-1.0896,-0.1216,0.1025},
22+
{0.4664,5.8959,0.2716,-2.4177,-1.1675,-0.1303,0.1098},
23+
{0.4975,5.8596,0.2676,-2.4143,-1.2453,-0.1389,0.1171},
24+
{0.5286,5.8209,0.2633,-2.4106,-1.3231,-0.1476,0.1244},
25+
{0.5597,5.7797,0.2587,-2.4068,-1.401,-0.1563,0.1317},
26+
{0.5908,5.7362,0.2538,-2.4027,-1.4788,-0.165,0.139},
27+
{0.6218,5.6902,0.2487,-2.3984,-1.5566,-0.1737,0.1463},
28+
{0.6529,5.6418,0.2433,-2.3938,-1.6345,-0.1824,0.1536},
29+
{0.684,5.591,0.2376,-2.389,-1.7123,-0.191,0.1609},
30+
{0.7151,5.5377,0.2317,-2.384,-1.7901,-0.1997,0.1681},
31+
{0.7462,5.4821,0.2255,-2.3788,-1.868,-0.2084,0.1754},
32+
{0.7773,5.424,0.219,-2.3733,-1.9458,-0.2171,0.1827},
33+
{0.8084,5.3635,0.2122,-2.3677,-2.0236,-0.2258,0.1899},
34+
{0.8395,5.3006,0.2052,-2.3618,-2.1015,-0.2345,0.1972},
35+
{0.8706,5.2352,0.1979,-2.3556,-2.1793,-0.2431,0.2044},
36+
{0.9017,5.1675,0.1904,-2.3493,-2.2571,-0.2518,0.2117},
37+
{0.9328,5.0973,0.1825,-2.3427,-2.335,-0.2605,0.2189},
38+
{0.9639,5.0247,0.1744,-2.3359,-2.4128,-0.2692,0.2261},
39+
{0.995,4.9497,0.1661,-2.3289,-2.4906,-0.2779,0.2333},
40+
{1.0261,4.8722,0.1574,-2.3216,-2.5685,-0.2866,0.2405},
41+
{1.0571,4.7924,0.1485,-2.3141,-2.6463,-0.2953,0.2477},
42+
{1.0882,4.7101,0.1393,-2.3064,-2.7241,-0.3039,0.2548},
43+
{1.1193,4.6254,0.1299,-2.2985,-2.802,-0.3126,0.262},
44+
{1.1504,4.5383,0.1202,-2.2904,-2.8798,-0.3213,0.2691},
45+
{1.1815,4.4487,0.1102,-2.282,-2.9576,-0.33,0.2763},
46+
{1.2126,4.3568,0.0999,-2.2734,-3.0355,-0.3387,0.2834},
47+
{1.2437,4.2624,0.0894,-2.2646,-3.1133,-0.3474,0.2905},
48+
{1.2748,4.1656,0.0786,-2.2556,-3.1911,-0.356,0.2975},
49+
{1.3059,4.0664,0.0675,-2.2463,-3.269,-0.3647,0.3046},
50+
{1.337,3.9647,0.0562,-2.2368,-3.3468,-0.3734,0.3116},
51+
{1.3681,3.8607,0.0446,-2.2271,-3.4246,-0.3821,0.3186},
52+
{1.3992,3.7542,0.0327,-2.2172,-3.5024,-0.3908,0.3255},
53+
{1.4303,3.6453,0.0205,-2.2071,-3.5803,-0.3995,0.3324},
54+
{1.4613,3.534,0.0081,-2.1968,-3.6581,-0.4081,0.3392},
55+
{1.4924,3.4202,-0.0046,-2.1862,-3.7359,-0.4168,0.3458},
56+
{1.5235,3.3041,-0.0175,-2.1755,-3.8138,-0.4255,0.352},
57+
{1.5546,3.1855,-0.0308,-2.1645,-3.8916,-0.4342,0.3489},
58+
{1.5857,3.0645,-0.0443,-2.1537,-3.8138,-0.4255,0.3408},
59+
{1.6168,2.9459,-0.0575,-2.1431,-3.736,-0.4168,0.3332},
60+
{1.6479,2.8298,-0.0704,-2.1327,-3.6581,-0.4081,0.3258},
61+
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62+
{1.7101,2.6047,-0.0956,-2.1127,-3.5025,-0.3908,0.3113},
63+
{1.7412,2.4958,-0.1077,-2.103,-3.4246,-0.3821,0.3041},
64+
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65+
{1.8034,2.2853,-0.1312,-2.0843,-3.269,-0.3647,0.2899},
66+
{1.8345,2.1836,-0.1425,-2.0753,-3.1911,-0.356,0.2828},
67+
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68+
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69+
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70+
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71+
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72+
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73+
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74+
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75+
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76+
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77+
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78+
{2.2076,1.1527,-0.2576,-1.9842,-2.2571,-0.2518,0.1989},
79+
{2.2387,1.0825,-0.2654,-1.978,-2.1793,-0.2431,0.192},
80+
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81+
{2.3008,0.9494,-0.2802,-1.9663,-2.0237,-0.2258,0.1782},
82+
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83+
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84+
{2.3941,0.7679,-0.3005,-1.9503,-1.7902,-0.1997,0.1575},
85+
{2.4252,0.7123,-0.3067,-1.9454,-1.7123,-0.191,0.1507},
86+
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87+
{2.4874,0.6082,-0.3183,-1.9363,-1.5567,-0.1737,0.1369},
88+
{2.5185,0.5598,-0.3237,-1.932,-1.4788,-0.165,0.13},
89+
{2.5496,0.5138,-0.3288,-1.928,-1.401,-0.1563,0.1232},
90+
{2.5807,0.4703,-0.3337,-1.9241,-1.3232,-0.1476,0.1163},
91+
{2.6118,0.4291,-0.3383,-1.9205,-1.2453,-0.1389,0.1095},
92+
{2.6429,0.3904,-0.3426,-1.9171,-1.1675,-0.1303,0.1026},
93+
{2.674,0.3541,-0.3467,-1.9139,-1.0897,-0.1216,0.0958},
94+
{2.705,0.3202,-0.3504,-1.9109,-1.0118,-0.1129,0.0889},
95+
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96+
{2.7672,0.2597,-0.3572,-1.9056,-0.8562,-0.0955,0.0752},
97+
{2.7983,0.2331,-0.3602,-1.9033,-0.7783,-0.0868,0.0684},
98+
{2.8294,0.2089,-0.3629,-1.9012,-0.7005,-0.0782,0.0616},
99+
{2.8605,0.1871,-0.3653,-1.8992,-0.6227,-0.0695,0.0547},
100+
{2.8916,0.1678,-0.3674,-1.8975,-0.5448,-0.0608,0.0479},
101+
{2.9227,0.1508,-0.3693,-1.8961,-0.467,-0.0521,0.041},
102+
{2.9538,0.1363,-0.371,-1.8948,-0.3892,-0.0434,0.0342},
103+
{2.9849,0.1242,-0.3723,-1.8937,-0.3113,-0.0347,0.0274},
104+
{3.016,0.1145,-0.3734,-1.8929,-0.2335,-0.0261,0.0205},
105+
{3.0471,0.1073,-0.3742,-1.8922,-0.1557,-0.0174,0.0137},
106+
{3.0782,0.1024,-0.3747,-1.8918,-0.0778,-0.0087,0.0068},
107+
{3.1092,0.1,-0.375,-1.8916,0.0,0.0,0.0},
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};
109109
public SwerveTrajectory getPath() {
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return new SwerveTrajectory(points);

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