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NandaGuntupalli merged 2 commits into from
Jan 22, 2026
Merged

Created Drive over Bump Command and Auto Trajectories #13

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b174f26
Created Drive over Bump Command and Auto Trajectories
NandaGuntupalli Jan 22, 2026
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Added Spotless Apply to my Code
NandaGuntupalli Jan 22, 2026
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85 changes: 85 additions & 0 deletions src/main/deploy/choreo/AllianceLSideToClimb.traj
View file
Open in desktop
Original file line number Diff line number Diff line change
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{
"name":"AllianceLSideToClimb",
"version":3,
"snapshot":{
"waypoints":[
{"x":3.606555223464966, "y":7.434945106506348, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":1.504361629486084, "y":4.103729248046875, "heading":0.0, "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},
{"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":"AllianceLSide.x", "val":3.606555223464966}, "y":{"exp":"AllianceLSide.y", "val":7.434945106506348}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"ClimbPose.x", "val":1.504361629486084}, "y":{"exp":"ClimbPose.y", "val":4.103729248046875}, "heading":{"exp":"0 deg", "val":0.0}, "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},
{"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":{
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},
"backLeft":{
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},
"mass":68.0388555,
"inertia":6.0,
"gearing":6.5,
"radius":0.0508,
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"splits":[0]
},
"events":[]
}
86 changes: 86 additions & 0 deletions src/main/deploy/choreo/AllianceRSideToClimb.traj
View file
Open in desktop
Original file line number Diff line number Diff line change
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{
"name":"AllianceRSideToClimb",
"version":3,
"snapshot":{
"waypoints":[
{"x":3.606555223464966, "y":0.6462193727493286, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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"constraints":[
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{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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"targetDt":0.05
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},
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{"t":1.36961, "x":1.50436, "y":4.10373, "heading":0.0, "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":[]
}
30 changes: 30 additions & 0 deletions src/main/deploy/choreo/BallPoseR2_To_MidRBumper.traj
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Original file line number Diff line number Diff line change
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{
"name":"BallPoseR2_To_MidRBumper",
"version":3,
"snapshot":{
"waypoints":[],
"constraints":[],
"targetDt":0.05
},
"params":{
"waypoints":[
{"x":{"exp":"MidBallPoseR2.x", "val":7.490900039672852}, "y":{"exp":"MidBallPoseR2.y", "val":3.0211198329925537}, "heading":{"exp":"MidBallPoseR2.heading", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"MidRBumper.x", "val":5.600369930267334}, "y":{"exp":"MidRBumper.y", "val":2.43641996383667}, "heading":{"exp":"MidRBumper.heading", "val":0.0}, "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},
{"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":null,
"sampleType":null,
"waypoints":[],
"samples":[],
"splits":[]
},
"events":[]
}
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