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Feature/autos #23

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a295449
autos
vivi-o Jan 14, 2026
65bd9aa
debug outline commands for autos
vivi-o Jan 15, 2026
16aa438
import autp trajectories
vivi-o Jan 18, 2026
efccd48
adding action paths in autos
vivi-o Jan 18, 2026
1ef61d8
update auto paths for each auto
vivi-o Jan 19, 2026
fbe11c0
debugging and renaming
vivi-o Jan 19, 2026
d33809c
Merge branch 'main' into feature/autos
vivi-o Jan 19, 2026
bad1b3b
Merge branch 'main' into feature/autos
vivi-o Jan 19, 2026
f24f5f5
shoot preload at the start of each auto routine
vivi-o Jan 22, 2026
41f9041
fix running path twice
vivi-o Jan 23, 2026
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191 changes: 191 additions & 0 deletions src/main/deploy/choreo/DtoFL.traj
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149 changes: 149 additions & 0 deletions src/main/deploy/choreo/FLMtoPL.traj
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77 changes: 77 additions & 0 deletions src/main/deploy/choreo/FLtoFLM.traj
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Original file line number Diff line number Diff line change
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{
"name":"FLtoFLM",
"version":3,
"snapshot":{
"waypoints":[
{"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
"targetDt":0.05
},
"params":{
"waypoints":[
{"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
"targetDt":{
"exp":"0.05 s",
"val":0.05
}
},
"trajectory":{
"config":{
"frontLeft":{
"x":0.301625,
"y":0.295275
},
"backLeft":{
"x":-0.301625,
"y":0.295275
},
"mass":65.39238106842257,
"inertia":6.590492861012039,
"gearing":5.902777777777778,
"radius":0.0508,
"vmax":523.5987755982989,
"tmax":0.9,
"cof":1.5,
"bumper":{
"front":0.46609,
"side":0.46609,
"back":0.46609
},
"differentialTrackWidth":0.5588
},
"sampleType":"Swerve",
"waypoints":[0.0,0.30312],
"samples":[
{"t":0.0, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.0, "vy":-4.4846, "omega":0.0, "ax":0.0, "ay":-0.62949, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-10.29094,-10.29094,-10.29094,-10.29094]},
{"t":0.01595, "x":7.82037, "y":5.79428, "heading":-1.5708, "vx":0.0, "vy":-4.49464, "omega":0.0, "ax":0.0, "ay":-0.01508, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.24659,-0.24659,-0.24659,-0.24659]},
{"t":0.03191, "x":7.82037, "y":5.72257, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "omega":0.0, "ax":0.0, "ay":-0.00035, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00573,-0.00573,-0.00573,-0.00573]},
{"t":0.04786, "x":7.82037, "y":5.65086, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "omega":0.0, "ax":0.0, "ay":-0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00013,-0.00013,-0.00013,-0.00013]},
{"t":0.06382, "x":7.82037, "y":5.57915, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.07977, "x":7.82037, "y":5.50743, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.09572, "x":7.82037, "y":5.43572, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.11168, "x":7.82037, "y":5.36401, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.12763, "x":7.82037, "y":5.2923, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.14358, "x":7.82037, "y":5.22059, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.15954, "x":7.82037, "y":5.14888, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.17549, "x":7.82037, "y":5.07717, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.19145, "x":7.82037, "y":5.00546, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.2074, "x":7.82037, "y":4.93375, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.22335, "x":7.82037, "y":4.86204, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "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]},
{"t":0.23931, "x":7.82037, "y":4.79033, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "omega":0.0, "ax":0.0, "ay":0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00013,0.00013,0.00013,0.00013]},
{"t":0.25526, "x":7.82037, "y":4.71862, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "omega":0.0, "ax":0.0, "ay":0.00035, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00573,0.00573,0.00573,0.00573]},
{"t":0.27121, "x":7.82037, "y":4.64691, "heading":-1.5708, "vx":0.0, "vy":-4.49489, "omega":0.0, "ax":0.0, "ay":0.01508, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.24659,0.24659,0.24659,0.24659]},
{"t":0.28717, "x":7.82037, "y":4.5752, "heading":-1.5708, "vx":0.0, "vy":-4.49464, "omega":0.0, "ax":0.0, "ay":0.62949, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[10.29094,10.29094,10.29094,10.29094]},
{"t":0.30312, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":0.0, "vy":-4.4846, "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":[]
}
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