Skip to content

Commit b2d4fb5

Browse files
LucienMoreyLucienMorey
committed
recalibrate paths
1 parent 362202b commit b2d4fb5

15 files changed

+1827
-1569
lines changed

‎deploy/choreo/AlgaeEFToShoot.traj‎

Lines changed: 117 additions & 117 deletions
Large diffs are not rendered by default.

‎deploy/choreo/AlgaeKLToShoot.traj‎

Lines changed: 106 additions & 106 deletions
Large diffs are not rendered by default.

‎deploy/choreo/BranchCToAlgaeCD.traj‎

Lines changed: 88 additions & 88 deletions
Large diffs are not rendered by default.

‎deploy/choreo/BranchGToAlgaeGH.traj‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@
1717
},
1818
"params":{
1919
"waypoints":[
20-
{"x":{"exp":"BranchG.x", "val":5.851999999999999}, "y":{"exp":"BranchG.y", "val":3.86}, "heading":{"exp":"BranchG.heading", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
20+
{"x":{"exp":"BranchG.x", "val":5.952}, "y":{"exp":"BranchG.y", "val":3.86}, "heading":{"exp":"BranchG.heading", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
2121
{"x":{"exp":"6.961350917816162 m", "val":6.961350917816162}, "y":{"exp":"3.9446654319763184 m", "val":3.9446654319763184}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
2222
{"x":{"exp":"AlgaeGH.x", "val":5.851999999999999}, "y":{"exp":"AlgaeGH.y", "val":4.02}, "heading":{"exp":"AlgaeGH.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
2323
"constraints":[

‎deploy/choreo/BranchLToAlgaeKL.traj‎

Lines changed: 84 additions & 84 deletions
Large diffs are not rendered by default.

‎deploy/choreo/Coral.chor‎

Lines changed: 98 additions & 98 deletions
Original file line numberDiff line numberDiff line change
@@ -5,90 +5,62 @@
55
"variables":{
66
"expressions":{},
77
"poses":{
8-
"AlgaeAB":{
8+
"Shoot":{
99
"x":{
10-
"exp":"3.13 m",
11-
"val":3.13
10+
"exp":"6.898591041564941 m",
11+
"val":6.898591041564941
1212
},
1313
"y":{
14-
"exp":"4.02 m",
15-
"val":4.02
14+
"exp":"5.13 m",
15+
"val":5.13
1616
},
1717
"heading":{
1818
"exp":"180 deg",
1919
"val":3.141592653589793
2020
}
2121
},
22-
"AlgaeCD":{
22+
"BranchG":{
2323
"x":{
24-
"exp":"3.81 m",
25-
"val":3.81
24+
"exp":"Reef.x * 2 - BranchB.x",
25+
"val":5.952
2626
},
2727
"y":{
28-
"exp":"2.82 m",
29-
"val":2.82
28+
"exp":"BranchB.y",
29+
"val":3.86
3030
},
3131
"heading":{
32-
"exp":"240 deg",
33-
"val":4.1887902047863905
32+
"exp":"180 deg - BranchB.heading",
33+
"val":0.0
3434
}
3535
},
36-
"AlgaeEF":{
36+
"BranchF":{
3737
"x":{
38-
"exp":"Reef.x * 2 - AlgaeCD.x",
39-
"val":5.171999999999999
38+
"exp":"Reef.x * 2 - BranchC.x",
39+
"val":5.321
4040
},
4141
"y":{
42-
"exp":"AlgaeCD.y",
43-
"val":2.82
42+
"exp":"BranchC.y",
43+
"val":2.922
4444
},
4545
"heading":{
46-
"exp":"540 deg - AlgaeCD.heading",
46+
"exp":"540 deg - BranchC.heading",
4747
"val":5.235987755982989
4848
}
4949
},
50-
"AlgaeGH":{
50+
"CentreStart":{
5151
"x":{
52-
"exp":"Reef.x * 2 - AlgaeAB.x",
53-
"val":5.851999999999999
52+
"exp":"7.5 m",
53+
"val":7.5
5454
},
5555
"y":{
56-
"exp":"AlgaeAB.y",
57-
"val":4.02
56+
"exp":"4 m",
57+
"val":4.0
5858
},
5959
"heading":{
6060
"exp":"0 rad",
6161
"val":0.0
6262
}
6363
},
64-
"AlgaeIJ":{
65-
"x":{
66-
"exp":"AlgaeEF.x",
67-
"val":5.171999999999999
68-
},
69-
"y":{
70-
"exp":"Reef.y * 2 - AlgaeEF.y",
71-
"val":5.231999999999999
72-
},
73-
"heading":{
74-
"exp":"360 deg - AlgaeEF.heading",
75-
"val":1.0471975511965974
76-
}
77-
},
78-
"AlgaeKL":{
79-
"x":{
80-
"exp":"AlgaeCD.x",
81-
"val":3.81
82-
},
83-
"y":{
84-
"exp":"Reef.y * 2 - AlgaeCD.y",
85-
"val":5.231999999999999
86-
},
87-
"heading":{
88-
"exp":"360 deg - AlgaeCD.heading",
89-
"val":2.0943951023931957
90-
}
91-
},
9264
"AllianceStart":{
9365
"x":{
9466
"exp":"7.5 m",
@@ -103,20 +75,6 @@
10375
"val":0.0
10476
}
10577
},
106-
"BranchB":{
107-
"x":{
108-
"exp":"3.13 m",
109-
"val":3.13
110-
},
111-
"y":{
112-
"exp":"3.86 m",
113-
"val":3.86
114-
},
115-
"heading":{
116-
"exp":"180 deg",
117-
"val":3.141592653589793
118-
}
119-
},
12078
"BranchC":{
12179
"x":{
12280
"exp":"3.661 m",
@@ -131,6 +89,34 @@
13189
"val":4.1887902047863905
13290
}
13391
},
92+
"AlgaeKL":{
93+
"x":{
94+
"exp":"AlgaeCD.x",
95+
"val":3.81
96+
},
97+
"y":{
98+
"exp":"Reef.y * 2 - AlgaeCD.y",
99+
"val":5.231999999999999
100+
},
101+
"heading":{
102+
"exp":"360 deg - AlgaeCD.heading",
103+
"val":2.0943951023931957
104+
}
105+
},
106+
"AlgaeEF":{
107+
"x":{
108+
"exp":"Reef.x * 2 - AlgaeCD.x",
109+
"val":5.171999999999999
110+
},
111+
"y":{
112+
"exp":"AlgaeCD.y",
113+
"val":2.82
114+
},
115+
"heading":{
116+
"exp":"540 deg - AlgaeCD.heading",
117+
"val":5.235987755982989
118+
}
119+
},
134120
"BranchD":{
135121
"x":{
136122
"exp":"3.95 m",
@@ -145,32 +131,32 @@
145131
"val":4.1887902047863905
146132
}
147133
},
148-
"BranchF":{
134+
"Reef":{
149135
"x":{
150-
"exp":"Reef.x * 2 - BranchC.x",
151-
"val":5.321
136+
"exp":"4.491 m",
137+
"val":4.491
152138
},
153139
"y":{
154-
"exp":"BranchC.y",
155-
"val":2.922
140+
"exp":"4.026 m",
141+
"val":4.026
156142
},
157143
"heading":{
158-
"exp":"540 deg - BranchC.heading",
159-
"val":5.235987755982989
144+
"exp":"0 rad",
145+
"val":0.0
160146
}
161147
},
162-
"BranchG":{
148+
"AlgaeCD":{
163149
"x":{
164-
"exp":"Reef.x * 2 - BranchB.x",
165-
"val":5.851999999999999
150+
"exp":"3.81 m",
151+
"val":3.81
166152
},
167153
"y":{
168-
"exp":"BranchB.y",
169-
"val":3.86
154+
"exp":"2.82 m",
155+
"val":2.82
170156
},
171157
"heading":{
172-
"exp":"180 deg - BranchB.heading",
173-
"val":0.0
158+
"exp":"240 deg",
159+
"val":4.1887902047863905
174160
}
175161
},
176162
"BranchL":{
@@ -187,18 +173,18 @@
187173
"val":2.0943951023931957
188174
}
189175
},
190-
"CentreStart":{
176+
"AlgaeIJ":{
191177
"x":{
192-
"exp":"7.5 m",
193-
"val":7.5
178+
"exp":"AlgaeEF.x",
179+
"val":5.171999999999999
194180
},
195181
"y":{
196-
"exp":"4 m",
197-
"val":4.0
182+
"exp":"Reef.y * 2 - AlgaeEF.y",
183+
"val":5.231999999999999
198184
},
199185
"heading":{
200-
"exp":"0 rad",
201-
"val":0.0
186+
"exp":"360 deg - AlgaeEF.heading",
187+
"val":1.0471975511965974
202188
}
203189
},
204190
"OppositionStart":{
@@ -215,33 +201,47 @@
215201
"val":0.0
216202
}
217203
},
218-
"Reef":{
204+
"BranchB":{
219205
"x":{
220-
"exp":"4.491 m",
221-
"val":4.491
206+
"exp":"3.03 m",
207+
"val":3.03
222208
},
223209
"y":{
224-
"exp":"4.026 m",
225-
"val":4.026
210+
"exp":"3.86 m",
211+
"val":3.86
226212
},
227213
"heading":{
228-
"exp":"0 rad",
229-
"val":0.0
214+
"exp":"180 deg",
215+
"val":3.141592653589793
230216
}
231217
},
232-
"Shoot":{
218+
"AlgaeAB":{
233219
"x":{
234-
"exp":"6.898591041564941 m",
235-
"val":6.898591041564941
220+
"exp":"3.13 m",
221+
"val":3.13
236222
},
237223
"y":{
238-
"exp":"5.13 m",
239-
"val":5.13
224+
"exp":"4.02 m",
225+
"val":4.02
240226
},
241227
"heading":{
242228
"exp":"180 deg",
243229
"val":3.141592653589793
244230
}
231+
},
232+
"AlgaeGH":{
233+
"x":{
234+
"exp":"Reef.x * 2 - AlgaeAB.x",
235+
"val":5.851999999999999
236+
},
237+
"y":{
238+
"exp":"AlgaeAB.y",
239+
"val":4.02
240+
},
241+
"heading":{
242+
"exp":"0 rad",
243+
"val":0.0
244+
}
245245
}
246246
}
247247
},

0 commit comments

Comments
 (0)