diff --git a/autonomous/multi_algae_auto.py b/autonomous/multi_algae_auto.py index 27c83a90..57e4ab9c 100644 --- a/autonomous/multi_algae_auto.py +++ b/autonomous/multi_algae_auto.py @@ -7,12 +7,12 @@ class CentreAuto(AutoBase): def __init__(self): super().__init__( [ - "StartToAlgaeGH", - "AlgaeGHToShoot", - "ShootToAlgaeIJ", - "AlgaeIJToShoot", - "ShootToAlgaeEF", - "AlgaeEFToShoot", + "StartToAlgaeGH", # Seems good + "AlgaeGHToShoot", # Slight wiggle, rotates while moving but seems not major issue + "ShootToAlgaeIJ", # Goes outwards and takes a wide path while spinning + "AlgaeIJToShoot", # Spins right at the end of its path and moves fastest there + "ShootToAlgaeEF", # Slow long path, spins whole way, could perhaps start slow and spin fast, then speed up, slow down for the sharp corner + "AlgaeEFToShoot", # Funny backward spin at beginning, could perhaps spin the whole way while nearly stationary at end of sharp bend, then move to translational goal ] ) @@ -59,3 +59,35 @@ def __init__(self): "AlgaeKLToShootKL", ] ) + + +class RefinedQuickCentre(AutoBase): + MODE_NAME = "FAST REFINED Quick Centre GH>IJ>KL" + + def __init__(self): + super().__init__( + [ + "StartToAlgaeGH", + "RefinedAlgaeGHToShootGH", + "RefinedShootGHToAlgaeIJ", + "RefinedAlgaeIJToShootIJ", + "RefinedShootIJToAlgaeKL", + "RefinedAlgaeKLToShootKL", + ] + ) + + +class RefinedQuickCentreSlow(AutoBase): + MODE_NAME = "SLOW(ed) REFINED Quick Centre GH>IJ>KL" + + def __init__(self): + super().__init__( + [ + "StartToAlgaeGH", + "SlowedAlgaeGHToShootGH", + "SlowedShootGHToAlgaeIJ", + "RefinedAlgaeIJToShootIJ", + "RefinedShootIJToAlgaeKL", + "RefinedAlgaeKLToShootKL", + ] + ) diff --git a/deploy/choreo/RefinedAlgaeEFToShoot.traj b/deploy/choreo/RefinedAlgaeEFToShoot.traj new file mode 100644 index 00000000..cb917b94 --- /dev/null +++ b/deploy/choreo/RefinedAlgaeEFToShoot.traj @@ -0,0 +1,182 @@ +{ + "name":"RefinedAlgaeEFToShoot", + "version":1, + "snapshot":{ + "waypoints":[ + 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