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trying to get simple trajectory following
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| @@ -1,9 +1,4 @@ | ||
| { | ||
| "FMS": { | ||
| "window": { | ||
| "visible": false | ||
| } | ||
| }, | ||
| "Keyboard 0 Settings": { | ||
| "window": { | ||
| "visible": true | ||
|
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This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,100 @@ | ||
| { | ||
| "name":"Simple Trajectory", | ||
| "version":1, | ||
| "snapshot":{ | ||
| "waypoints":[ | ||
| {"x":0.74199378490448, "y":4.257874488830566, "heading":0.0, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, | ||
| {"x":6.480556011199951, "y":3.866609096527099, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, | ||
| {"x":9.437779426574709, "y":1.0520118474960327, "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":16.54, "h":8.21}}, "enabled":true}], | ||
| "targetDt":0.05 | ||
| }, | ||
| "params":{ | ||
| "waypoints":[ | ||
| {"x":{"exp":"0.74199378490448 m", "val":0.74199378490448}, "y":{"exp":"4.257874488830566 m", "val":4.257874488830566}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, | ||
| {"x":{"exp":"6.480556011199951 m", "val":6.480556011199951}, "y":{"exp":"3.8666090965270996 m", "val":3.866609096527099}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, | ||
| {"x":{"exp":"9.437779426574707 m", "val":9.437779426574709}, "y":{"exp":"1.0520118474960327 m", "val":1.0520118474960327}, "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":"16.54 m", "val":16.54}, "h":{"exp":"8.21 m", "val":8.21}}}, "enabled":true}], | ||
| "targetDt":{ | ||
| "exp":"0.05 s", | ||
| "val":0.05 | ||
| } | ||
| }, | ||
| "trajectory":{ | ||
| "sampleType":"Swerve", | ||
| "waypoints":[0.0,1.4498,2.55899], | ||
| "samples":[ | ||
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| {"t":0.04142, "x":0.74973, "y":4.25764, "heading":0.0, "vx":0.37337, "vy":-0.01136, "omega":0.0, "ax":9.01297, "ay":-0.27427, "alpha":0.0, "fx":[153.30796,153.30796,153.30796,153.30796], "fy":[-4.66522,-4.66522,-4.66522,-4.66522]}, | ||
| {"t":0.08285, "x":0.77293, "y":4.25693, "heading":0.0, "vx":0.74671, "vy":-0.02272, "omega":0.0, "ax":9.01208, "ay":-0.27426, "alpha":0.0, "fx":[153.29287,153.29287,153.29287,153.29287], "fy":[-4.66508,-4.66508,-4.66508,-4.66508]}, | ||
| {"t":0.12427, "x":0.81159, "y":4.25576, "heading":0.0, "vx":1.12002, "vy":-0.03408, "omega":0.0, "ax":9.01101, "ay":-0.27424, "alpha":0.0, "fx":[153.27474,153.27474,153.27474,153.27474], "fy":[-4.6648,-4.6648,-4.6648,-4.6648]}, | ||
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| {"t":2.55899, "x":9.43778, "y":1.05201, "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":[] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| { | ||
| "name":"config", | ||
| "version":1, | ||
| "type":"Swerve", | ||
| "variables":{ | ||
| "expressions":{}, | ||
| "poses":{} | ||
| }, | ||
| "config":{ | ||
| "frontLeft":{ | ||
| "x":{ | ||
| "exp":"11 in", | ||
| "val":0.2794 | ||
| }, | ||
| "y":{ | ||
| "exp":"11 in", | ||
| "val":0.2794 | ||
| } | ||
| }, | ||
| "backLeft":{ | ||
| "x":{ | ||
| "exp":"-11 in", | ||
| "val":-0.2794 | ||
| }, | ||
| "y":{ | ||
| "exp":"11 in", | ||
| "val":0.2794 | ||
| } | ||
| }, | ||
| "mass":{ | ||
| "exp":"150 lbs", | ||
| "val":68.0388555 | ||
| }, | ||
| "inertia":{ | ||
| "exp":"6 kg m ^ 2", | ||
| "val":6.0 | ||
| }, | ||
| "gearing":{ | ||
| "exp":"6.5", | ||
| "val":6.5 | ||
| }, | ||
| "radius":{ | ||
| "exp":"2 in", | ||
| "val":0.0508 | ||
| }, | ||
| "vmax":{ | ||
| "exp":"6000 RPM", | ||
| "val":628.3185307179587 | ||
| }, | ||
| "tmax":{ | ||
| "exp":"1.2 N * m", | ||
| "val":1.2 | ||
| }, | ||
| "cof":{ | ||
| "exp":"1.5", | ||
| "val":1.5 | ||
| }, | ||
| "bumper":{ | ||
| "front":{ | ||
| "exp":"16 in", | ||
| "val":0.4064 | ||
| }, | ||
| "side":{ | ||
| "exp":"16 in", | ||
| "val":0.4064 | ||
| }, | ||
| "back":{ | ||
| "exp":"16 in", | ||
| "val":0.4064 | ||
| } | ||
| }, | ||
| "differentialTrackWidth":{ | ||
| "exp":"22 in", | ||
| "val":0.5588 | ||
| } | ||
| }, | ||
| "generationFeatures":[] | ||
| } |
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