Skip to content

Commit b5cc33a

Browse files
LucienMoreyLucienMorey
committed
parametrise accel and velocity
1 parent 76afdef commit b5cc33a

21 files changed

+242
-229
lines changed

‎deploy/choreo/AlgaeABToShoot.traj‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -25,8 +25,8 @@
2525
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2626
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
2727
{"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"0.95 m", "val":0.95}}}, "enabled":true},
28-
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
29-
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}],
28+
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.0}}}, "enabled":true},
29+
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":1.0}}}, "enabled":true}],
3030
"targetDt":{
3131
"exp":"0.05 s",
3232
"val":0.05

‎deploy/choreo/AlgaeCDToShoot.traj‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -26,8 +26,8 @@
2626
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2727
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2828
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
29-
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
30-
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true},
29+
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.0}}}, "enabled":true},
30+
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":1.0}}}, "enabled":true},
3131
{"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"0.95 m", "val":0.95}}}, "enabled":true}],
3232
"targetDt":{
3333
"exp":"0.05 s",

‎deploy/choreo/AlgaeEFToShoot.traj‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -24,8 +24,8 @@
2424
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2525
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2626
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
27-
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
28-
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true},
27+
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.0}}}, "enabled":true},
28+
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":1.0}}}, "enabled":true},
2929
{"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"0.95 m", "val":0.95}}}, "enabled":true}],
3030
"targetDt":{
3131
"exp":"0.05 s",

‎deploy/choreo/AlgaeGHToShoot.traj‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -22,8 +22,8 @@
2222
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2323
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2424
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
25-
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
26-
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true},
25+
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.0}}}, "enabled":true},
26+
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":1.0}}}, "enabled":true},
2727
{"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"0.95 m", "val":0.95}}}, "enabled":true}],
2828
"targetDt":{
2929
"exp":"0.05 s",

‎deploy/choreo/AlgaeIJToShoot.traj‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -22,8 +22,8 @@
2222
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2323
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2424
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
25-
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
26-
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true},
25+
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.0}}}, "enabled":true},
26+
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":1.0}}}, "enabled":true},
2727
{"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"0.95 m", "val":0.95}}}, "enabled":true}],
2828
"targetDt":{
2929
"exp":"0.05 s",

‎deploy/choreo/AlgaeKLToShoot.traj‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -24,8 +24,8 @@
2424
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2525
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2626
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
27-
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
28-
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true},
27+
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.0}}}, "enabled":true},
28+
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":1.0}}}, "enabled":true},
2929
{"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"0.95 m", "val":0.95}}}, "enabled":true}],
3030
"targetDt":{
3131
"exp":"0.05 s",

‎deploy/choreo/BranchCToAlgaeCD.traj‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -24,8 +24,8 @@
2424
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2525
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2626
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
27-
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
28-
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true},
27+
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.0}}}, "enabled":true},
28+
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":1.0}}}, "enabled":true},
2929
{"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"0.95 m", "val":0.95}}}, "enabled":true}],
3030
"targetDt":{
3131
"exp":"0.05 s",

‎deploy/choreo/BranchFToAlgaeEF.traj‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -24,8 +24,8 @@
2424
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2525
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
2626
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
27-
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
28-
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true},
27+
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.0}}}, "enabled":true},
28+
{"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":1.0}}}, "enabled":true},
2929
{"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"0.95 m", "val":0.95}}}, "enabled":true}],
3030
"targetDt":{
3131
"exp":"0.05 s",

0 commit comments

Comments
 (0)