squeeze/toerque retract

This commit is contained in:
Shikhar
2026-03-31 18:53:16 -06:00
parent 3fe5d0e5a1
commit 2e1c4abc07
5 changed files with 311 additions and 7 deletions
@@ -0,0 +1,155 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.61204761904762,
"y": 1.918666666666668
},
"prevControl": null,
"nextControl": {
"x": 2.5040714285714296,
"y": 1.4003809523809525
},
"isLocked": false,
"linkedName": "end of RIght trench first swipe"
},
{
"anchor": {
"x": 3.648619047619049,
"y": 0.6121547619047625
},
"prevControl": {
"x": 3.4190610119047635,
"y": 0.7741190476190478
},
"nextControl": {
"x": 3.878177083333335,
"y": 0.45019047619047714
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.333047619047619,
"y": 0.6121547619047625
},
"prevControl": {
"x": 4.4368452380952395,
"y": 0.6229523809523821
},
"nextControl": {
"x": 6.519422842432679,
"y": 0.5978610845145801
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.391214285714287,
"y": 3.7434642857142855
},
"prevControl": {
"x": 5.376238095238096,
"y": 2.7932738095238094
},
"nextControl": {
"x": 6.987633102739957,
"y": 4.301813816546828
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.589750000000002,
"y": 1.2492142857142858
},
"prevControl": {
"x": 7.488215383486641,
"y": 1.4776671728693485
},
"nextControl": {
"x": 7.8057023809523844,
"y": 0.7633214285714278
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.648619047619049,
"y": 0.4717857142857145
},
"prevControl": {
"x": 4.501280949513,
"y": 0.5293980049542248
},
"nextControl": {
"x": 2.8495952380952403,
"y": 0.41779761904761914
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.7374404761904771,
"y": 0.9792738095238098
},
"prevControl": {
"x": 2.4068928571428576,
"y": 1.3032023809523823
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.5,
"rotationDegrees": 0.0
},
{
"waypointRelativePos": 0.7377593360995809,
"rotationDegrees": -1.8097734110142742
},
{
"waypointRelativePos": 1.8273858921161648,
"rotationDegrees": 0.0
},
{
"waypointRelativePos": 2.364315352697095,
"rotationDegrees": 87.9267492938311
},
{
"waypointRelativePos": 3.5701244813277846,
"rotationDegrees": -59.49633403888164
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -132.7688253919687
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -133.33166255170664
},
"useDefaultConstraints": true
}
@@ -0,0 +1,127 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.8969642857142865,
"y": 0.6757407407407425
},
"prevControl": null,
"nextControl": {
"x": 5.1494880952380955,
"y": 0.6013571428571436
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.237607142857144,
"y": 1.4759642857142854
},
"prevControl": {
"x": 7.558649163266191,
"y": 0.2980245529994656
},
"nextControl": {
"x": 8.584042208300819,
"y": 2.0770024068622486
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.237607142857144,
"y": 3.8190476190476197
},
"prevControl": {
"x": 8.310074297364315,
"y": 3.5787466468913385
},
"nextControl": {
"x": 8.165425863946698,
"y": 4.058400628167732
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.237607142857144,
"y": 1.0872500000000003
},
"prevControl": {
"x": 9.520930827264253,
"y": 2.0312275985936155
},
"nextControl": {
"x": 7.304441714310592,
"y": 0.40083918172158384
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.4434642857142865,
"y": 0.6757407407407425
},
"prevControl": {
"x": 4.9917133086412,
"y": 0.5083004760390194
},
"nextControl": {
"x": 2.6336428571428576,
"y": 0.7633214285714289
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.61204761904762,
"y": 1.918666666666668
},
"prevControl": {
"x": 2.502511133859423,
"y": 1.6751404175218187
},
"nextControl": null,
"isLocked": false,
"linkedName": "end of RIght trench first swipe"
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.9709543568464838,
"rotationDegrees": 90.0
},
{
"waypointRelativePos": 3.4315352697095514,
"rotationDegrees": 0.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -133.33166255170664
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 90.7627685672325
},
"useDefaultConstraints": false
}