Iowa Regional

src/main/deploy/choreo/DepotToOutpost.traj

@@ -16,7 +16,7 @@
   "waypoints":[
     {"x":{"exp":"Depot.x", "val":1.15}, "y":{"exp":"Depot.y", "val":5.9625654220581055}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.899867296218872 m", "val":1.899867296218872}, "y":{"exp":"3.7941935062408447 m", "val":3.7941935062408447}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},

src/main/deploy/choreo/OutpostToDepot.traj

@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":4.71238898038469}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.794987678527832 m", "val":1.794987678527832}, "y":{"exp":"3.710289478302002 m", "val":3.710289478302002}, "heading":{"exp":"3.14 rad", "val":3.14}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Depot.x", "val":1.15}, "y":{"exp":"Depot.y", "val":5.9625654220581055}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[

src/main/deploy/choreo/OutpostToTower.traj

@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.6543505787849426, "y":0.6869499087333679, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6543505787849426, "y":0.6869499087333679, "heading":4.71238898038469, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.3544923067092896, "y":2.6405155658721924, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -13,7 +13,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":4.71238898038469}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"TowerRight.x", "val":1.3544923067092896}, "y":{"exp":"TowerRight.y", "val":2.6405155658721924}, "heading":{"exp":"TowerRight.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -49,39 +49,29 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.97514],
+  "waypoints":[0.0,0.95975],
   "samples":[
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-    {"t":0.0325, "x":0.65587, "y":0.69127, "heading":3.14159, "vx":0.09376, "vy":0.26574, "omega":0.25962, "ax":2.88947, "ay":8.17969, "alpha":7.90846, "fx":[102.51595,68.77305,9.08899,16.21811], "fy":[113.9831,137.09942,153.09341,152.36064]},
-    {"t":0.06501, "x":0.66045, "y":0.70423, "heading":-3.13315, "vx":0.18768, "vy":0.53162, "omega":0.51668, "ax":2.89552, "ay":8.18631, "alpha":7.79156, "fx":[102.00192,68.34106,9.25344,17.4112], "fy":[114.41761,137.2997,153.06755,152.20246]},
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+    {"t":0.71981, "x":1.26692, "y":2.39616, "heading":-1.5708, "vx":0.72988, "vy":2.03654, "omega":0.0, "ax":-3.04084, "ay":-8.48469, "alpha":0.0, "fx":[-51.72384,-51.72384,-51.72384,-51.72384], "fy":[-144.32209,-144.32209,-144.32209,-144.32209]},
+    {"t":0.7678, "x":1.29844, "y":2.48412, "heading":-1.5708, "vx":0.58395, "vy":1.62938, "omega":0.0, "ax":-3.04155, "ay":-8.48667, "alpha":0.0, "fx":[-51.73591,-51.73591,-51.73591,-51.73591], "fy":[-144.35578,-144.35578,-144.35578,-144.35578]},
+    {"t":0.81579, "x":1.32296, "y":2.55254, "heading":-1.5708, "vx":0.438, "vy":1.22212, "omega":0.0, "ax":-3.04207, "ay":-8.48812, "alpha":0.0, "fx":[-51.74477,-51.74477,-51.74477,-51.74477], "fy":[-144.38048,-144.38048,-144.38048,-144.38048]},
+    {"t":0.86378, "x":1.34048, "y":2.60141, "heading":-1.5708, "vx":0.29202, "vy":0.8148, "omega":0.0, "ax":-3.04247, "ay":-8.48923, "alpha":0.0, "fx":[-51.75153,-51.75153,-51.75153,-51.75153], "fy":[-144.39936,-144.39936,-144.39936,-144.39936]},
+    {"t":0.91176, "x":1.35099, "y":2.63074, "heading":-1.5708, "vx":0.14602, "vy":0.40742, "omega":0.0, "ax":-3.04278, "ay":-8.49011, "alpha":0.0, "fx":[-51.75688,-51.75688,-51.75688,-51.75688], "fy":[-144.41428,-144.41428,-144.41428,-144.41428]},
+    {"t":0.95975, "x":1.35449, "y":2.64052, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]

src/main/deploy/choreo/Rebuilt.chor

@@ -85,8 +85,8 @@
      "val":0.6869499087333679
     },
     "heading":{
-     "exp":"180 deg",
-     "val":3.141592653589793
+     "exp":"270 deg",
+     "val":4.71238898038469
     }
    },
    "RightBump":{

src/main/deploy/choreo/RightBumpToOutpost.traj

@@ -14,7 +14,7 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"RightBump.x", "val":3.616}, "y":{"exp":"RightBump.y", "val":2.511}, "heading":{"exp":"RightBump.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},

src/main/deploy/choreo/RightTrenchToOutpost.traj

@@ -18,7 +18,7 @@
   "waypoints":[
     {"x":{"exp":"RightTrench.x", "val":3.616}, "y":{"exp":"RightTrench.y", "val":0.62}, "heading":{"exp":"RightTrench.heading", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"2.168159246444702 m", "val":2.168159246444702}, "y":{"exp":"0.8994683027267456 m", "val":0.8994683027267456}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"Outpost.x", "val":0.6543505787849426}, "y":{"exp":"Outpost.y", "val":0.6869499087333679}, "heading":{"exp":"Outpost.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},