From 0c925451dc1f62411b8dd918de1d72c5fcd42217 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 9 Mar 2020 19:53:07 -0600 Subject: [PATCH] Added EightballAutoMid Co-Authored-By: kyrarivera --- PathWeaver/Groups/EightBallMid | 3 ++ PathWeaver/Groups/FirstPathGroup | 3 -- PathWeaver/Groups/SixBallMid | 2 ++ .../Paths/{FirstPath0 => EightBallMid0} | 0 .../Paths/{FirstPath1 => EightBallMid1} | 0 PathWeaver/Paths/EightBallMid2 | 3 ++ PathWeaver/Paths/EightBallMidComplete | 5 ++++ PathWeaver/Paths/FirstPath2 | 3 -- PathWeaver/Paths/SixBallMid0 | 3 ++ PathWeaver/Paths/SixBallMid1 | 3 ++ PathWeaver/Paths/SixBallMidComplete | 4 +++ ....wpilib.json => EightBallMid0.wpilib.json} | 0 ....wpilib.json => EightBallMid1.wpilib.json} | 0 .../deploy/paths/EightBallMid2.wpilib.json | 1 + .../paths/EightBallMidComplete.wpilib.json | 1 + src/main/deploy/paths/FirstPath2.wpilib.json | 1 - src/main/deploy/paths/SixBallMid0.wpilib.json | 1 + src/main/deploy/paths/SixBallMid1.wpilib.json | 1 + .../paths/SixBallMidComplete.wpilib.json | 1 + .../java/frc4388/robot/RobotContainer.java | 14 +++++++-- .../commands/auto/EightBallAutoMiddle.java | 29 +++++++++++++++++++ .../commands/auto/SixBallAutoMiddle.java | 3 +- 22 files changed, 70 insertions(+), 11 deletions(-) create mode 100644 PathWeaver/Groups/EightBallMid delete mode 100644 PathWeaver/Groups/FirstPathGroup create mode 100644 PathWeaver/Groups/SixBallMid rename PathWeaver/Paths/{FirstPath0 => EightBallMid0} (100%) rename PathWeaver/Paths/{FirstPath1 => EightBallMid1} (100%) create mode 100644 PathWeaver/Paths/EightBallMid2 create mode 100644 PathWeaver/Paths/EightBallMidComplete delete mode 100644 PathWeaver/Paths/FirstPath2 create mode 100644 PathWeaver/Paths/SixBallMid0 create mode 100644 PathWeaver/Paths/SixBallMid1 create mode 100644 PathWeaver/Paths/SixBallMidComplete rename src/main/deploy/paths/{FirstPath0.wpilib.json => EightBallMid0.wpilib.json} (100%) rename src/main/deploy/paths/{FirstPath1.wpilib.json => EightBallMid1.wpilib.json} (100%) create mode 100644 src/main/deploy/paths/EightBallMid2.wpilib.json create mode 100644 src/main/deploy/paths/EightBallMidComplete.wpilib.json delete mode 100644 src/main/deploy/paths/FirstPath2.wpilib.json create mode 100644 src/main/deploy/paths/SixBallMid0.wpilib.json create mode 100644 src/main/deploy/paths/SixBallMid1.wpilib.json create mode 100644 src/main/deploy/paths/SixBallMidComplete.wpilib.json create mode 100644 src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java diff --git a/PathWeaver/Groups/EightBallMid b/PathWeaver/Groups/EightBallMid new file mode 100644 index 0000000..e87dc39 --- /dev/null +++ b/PathWeaver/Groups/EightBallMid @@ -0,0 +1,3 @@ +EightBallMid0 +EightBallMid1 +EightBallMid2 diff --git a/PathWeaver/Groups/FirstPathGroup b/PathWeaver/Groups/FirstPathGroup deleted file mode 100644 index 1d5efec..0000000 --- a/PathWeaver/Groups/FirstPathGroup +++ /dev/null @@ -1,3 +0,0 @@ -FirstPath2 -FirstPath0 -FirstPath1 diff --git a/PathWeaver/Groups/SixBallMid b/PathWeaver/Groups/SixBallMid new file mode 100644 index 0000000..ed5971c --- /dev/null +++ b/PathWeaver/Groups/SixBallMid @@ -0,0 +1,2 @@ +SixBallMid0 +SixBallMid1 diff --git a/PathWeaver/Paths/FirstPath0 b/PathWeaver/Paths/EightBallMid0 similarity index 100% rename from PathWeaver/Paths/FirstPath0 rename to PathWeaver/Paths/EightBallMid0 diff --git a/PathWeaver/Paths/FirstPath1 b/PathWeaver/Paths/EightBallMid1 similarity index 100% rename from PathWeaver/Paths/FirstPath1 rename to PathWeaver/Paths/EightBallMid1 diff --git a/PathWeaver/Paths/EightBallMid2 b/PathWeaver/Paths/EightBallMid2 new file mode 100644 index 0000000..671f3d6 --- /dev/null +++ b/PathWeaver/Paths/EightBallMid2 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +7.2,-0.715,1.5,0.0,true, +6.8,-2.6,-0.6,-0.3,true, diff --git a/PathWeaver/Paths/EightBallMidComplete b/PathWeaver/Paths/EightBallMidComplete new file mode 100644 index 0000000..22711d6 --- /dev/null +++ b/PathWeaver/Paths/EightBallMidComplete @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.2,-2.4,0.2,2.5,true, +5.0,-0.715,3.0,0.0,true, +7.2,-0.715,1.5,0.0,true, +6.8,-2.6,-0.6,-0.3,true, diff --git a/PathWeaver/Paths/FirstPath2 b/PathWeaver/Paths/FirstPath2 deleted file mode 100644 index db2f102..0000000 --- a/PathWeaver/Paths/FirstPath2 +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Name -7.2,-0.715,1.5,0.0,true, -6.8264744033479925,-2.6310096463529717,-0.5948912429093554,-0.29744562145467723,true, diff --git a/PathWeaver/Paths/SixBallMid0 b/PathWeaver/Paths/SixBallMid0 new file mode 100644 index 0000000..18dd1ec --- /dev/null +++ b/PathWeaver/Paths/SixBallMid0 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.2,-2.4,0.2,2.5,true, +5.006107200045366,-0.7154598441848491,2.0,0.0,true, diff --git a/PathWeaver/Paths/SixBallMid1 b/PathWeaver/Paths/SixBallMid1 new file mode 100644 index 0000000..4ae0aad --- /dev/null +++ b/PathWeaver/Paths/SixBallMid1 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +5.006,-0.715,3.048,0.0,true, +7.2,-0.7154598441848491,1.0,0.0,true, diff --git a/PathWeaver/Paths/SixBallMidComplete b/PathWeaver/Paths/SixBallMidComplete new file mode 100644 index 0000000..5fa9b7c --- /dev/null +++ b/PathWeaver/Paths/SixBallMidComplete @@ -0,0 +1,4 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.2,-2.4,0.2,2.5,true, +5.0,-0.715,3.0,0.0,true, +7.2,-0.715,1.5,0.0,true, diff --git a/src/main/deploy/paths/FirstPath0.wpilib.json b/src/main/deploy/paths/EightBallMid0.wpilib.json similarity index 100% rename from src/main/deploy/paths/FirstPath0.wpilib.json rename to src/main/deploy/paths/EightBallMid0.wpilib.json diff --git a/src/main/deploy/paths/FirstPath1.wpilib.json b/src/main/deploy/paths/EightBallMid1.wpilib.json similarity index 100% rename from src/main/deploy/paths/FirstPath1.wpilib.json rename to src/main/deploy/paths/EightBallMid1.wpilib.json diff --git a/src/main/deploy/paths/EightBallMid2.wpilib.json b/src/main/deploy/paths/EightBallMid2.wpilib.json new file mode 100644 index 0000000..ee76706 --- /dev/null +++ b/src/main/deploy/paths/EightBallMid2.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.6999999999999993,"pose":{"translation":{"x":7.2,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.1857265193636004,"velocity":0.501461602281721,"acceleration":2.699999999999999,"pose":{"translation":{"x":7.246564522385597,"y":-0.7155139830708503},"rotation":{"radians":-0.03301074916623491}},"curvature":-1.4169320623994563},{"time":0.22660073611189058,"velocity":0.6118219875021044,"acceleration":2.7000000000000015,"pose":{"translation":{"x":7.269286205526441,"y":-0.7166938776057213},"rotation":{"radians":-0.07356868815491435}},"curvature":-2.160240564890358},{"time":0.26036037214234553,"velocity":0.7029730047843328,"acceleration":1.4538431600368555,"pose":{"translation":{"x":7.291367816925049,"y":-0.7189196109771728},"rotation":{"radians":-0.13034803790848082}},"curvature":-2.9724600222132436},{"time":0.2901133482323059,"velocity":0.7462291655634617,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.312632273230702,"y":-0.7224713781941682},"rotation":{"radians":-0.20384375848792302}},"curvature":-3.859783847923219},{"time":0.30461963577730317,"velocity":0.7070621891919691,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":7.322907519803266,"y":-0.7248230876060552},"rotation":{"radians":-0.2469633412322504}},"curvature":-4.323361501562987},{"time":0.31975062184802994,"velocity":0.6662085268010068,"acceleration":-2.302451123186552,"pose":{"translation":{"x":7.332919952273369,"y":-0.7275965842604637},"rotation":{"radians":-0.29430316015307745}},"curvature":-4.789362932316134},{"time":0.33557102199759564,"velocity":0.6297828287073786,"acceleration":-1.8675460534492743,"pose":{"translation":{"x":7.342652252668631,"y":-0.730817861216201},"rotation":{"radians":-0.34575274856226007}},"curvature":-5.2448864386307115},{"time":0.3520637919772221,"velocity":0.5989818212214805,"acceleration":-1.4613709602031215,"pose":{"translation":{"x":7.3520881230942905,"y":-0.7345110075827688},"rotation":{"radians":-0.4011030452093752}},"curvature":-5.673301150541483},{"time":0.369181463367336,"velocity":0.5739665533456683,"acceleration":-1.079676100951105,"pose":{"translation":{"x":7.361212267921656,"y":-0.7386982448768685},"rotation":{"radians":-0.460027741375734}},"curvature":-6.05507734228002},{"time":0.38685538744616993,"velocity":0.554884439907727,"acceleration":-0.718302000748962,"pose":{"translation":{"x":7.3700103759765625,"y":-0.7433999633789062},"rotation":{"radians":-0.5220721667264541}},"curvature":-6.369447456164275},{"time":0.40499556745388565,"velocity":0.5418543123142384,"acceleration":-0.3729250173328537,"pose":{"translation":{"x":7.3784691027278315,"y":-0.7486347584894975},"rotation":{"radians":-0.5866537738316515}},"curvature":-6.596835433787617},{"time":0.4234931432073012,"velocity":0.5349561035557802,"acceleration":-0.03916357131337384,"pose":{"translation":{"x":7.3865760524757205,"y":-0.7544194670859724},"rotation":{"radians":-0.6530772005654553}},"curvature":-6.721700100807001},{"time":0.4422256519746503,"velocity":0.5342224716127917,"acceleration":0.28704156286608506,"pose":{"translation":{"x":7.394319760540384,"y":-0.7607692038788809},"rotation":{"radians":-0.7205644949723411}},"curvature":-6.735169302137587},{"time":0.46106457684825486,"velocity":0.5396300260512279,"acceleration":0.6088741709257178,"pose":{"translation":{"x":7.401689675450325,"y":-0.7676973977684974},"rotation":{"radians":-0.7882978171901851}},"curvature":-6.636748578819588},{"time":0.4798841040036331,"velocity":0.5510887500451729,"acceleration":0.9280335229053567,"pose":{"translation":{"x":7.408676141130854,"y":-0.7752158282013261},"rotation":{"radians":-0.8554687993814396}},"curvature":-6.434575875688117},{"time":0.49856967238109146,"velocity":0.5684295838939945,"acceleration":1.244199218395254,"pose":{"translation":{"x":7.4152703790925445,"y":-0.7833346615266055},"rotation":{"radians":-0.9213269426131445}},"curvature":-6.144123007026858},{"time":0.5170249585196953,"velocity":0.5913916364829062,"acceleration":1.55470303079482,"pose":{"translation":{"x":7.421464470619685,"y":-0.792062487352814},"rotation":{"radians":-0.9852197163442566}},"curvature":-5.78572732604897},{"time":0.5351763702192629,"velocity":0.6196116912654284,"acceleration":1.8545226594628177,"pose":{"translation":{"x":7.42725133895874,"y":-0.8014063549041748},"rotation":{"radians":-1.0466192793077236}},"curvature":-5.381647674000342},{"time":0.5529747450744766,"velocity":0.6526191807360355,"acceleration":2.1366633368747885,"pose":{"translation":{"x":7.432624731506803,"y":-0.8113718093771604},"rotation":{"radians":-1.1051340316663605}},"curvature":-4.953358627820729},{"time":0.5703945330851697,"velocity":0.6898394031146146,"acceleration":2.3929144893008223,"pose":{"translation":{"x":7.437579202000052,"y":-0.8219629282969981},"rotation":{"radians":-1.1605063335021422}},"curvature":-4.519573115046623},{"time":0.5874311208341066,"velocity":0.7306065007872906,"acceleration":2.614876812845669,"pose":{"translation":{"x":7.4421100927022055,"y":-0.833182357874175},"rotation":{"radians":-1.2125997996055733}},"curvature":-4.095166469583263},{"time":0.6040970809732634,"velocity":0.7741859335189818,"acceleration":2.700000000000003,"pose":{"translation":{"x":7.446213516592979,"y":-0.8450313493609428},"rotation":{"radians":-1.2613803298943025}},"curvature":-3.690910282345266},{"time":0.6204335317180859,"velocity":0.8182943505300027,"acceleration":2.699999999999989,"pose":{"translation":{"x":7.449886339556542,"y":-0.8575097954078228},"rotation":{"radians":-1.306894703300488}},"curvature":-3.3137824106753158},{"time":0.6365062512871126,"velocity":0.8616906933663744,"acceleration":2.700000000000001,"pose":{"translation":{"x":7.45312616256997,"y":-0.8706162664201111},"rotation":{"radians":-1.3492496293615444}},"curvature":-2.9675944638423344},{"time":0.6680852946379339,"velocity":0.9469541104135919,"acceleration":2.7000000000000024,"pose":{"translation":{"x":7.45830078125,"y":-0.898701171875},"rotation":{"radians":-1.4250986701590653}},"curvature":-2.3718206794667163},{"time":0.6991702640578552,"velocity":1.0308835278473796,"acceleration":2.7,"pose":{"translation":{"x":7.461732205469161,"y":-0.9292495656106621},"rotation":{"radians":-1.4903490993636863}},"curvature":-1.8972644682319115},{"time":0.7299416895512951,"velocity":1.1139663766796675,"acceleration":2.6999999999999993,"pose":{"translation":{"x":7.463425889611244,"y":-0.9622061184048654},"rotation":{"radians":-1.5465120233189014}},"curvature":-1.5258519692589507},{"time":0.7604917708724955,"velocity":1.1964515962469084,"acceleration":2.6999999999999957,"pose":{"translation":{"x":7.463397339638322,"y":-0.9974978353362531},"rotation":{"radians":-1.5950046216979124}},"curvature":-1.2372943445536448},{"time":0.7908583645653527,"velocity":1.2784413992176227,"acceleration":1.7317501674300086,"pose":{"translation":{"x":7.461671543121338,"y":-1.035035219192505},"rotation":{"radians":-1.637074129015746}},"curvature":-1.0133098607932398},{"time":0.8522944364989423,"velocity":1.3848333270748585,"acceleration":1.1714925683775692,"pose":{"translation":{"x":7.453272148966789,"y":-1.1164134678244593},"rotation":{"radians":-1.7060109535050387}},"curvature":-0.7024214581009294},{"time":0.9156777853297742,"velocity":1.4590864491890612,"acceleration":0.7858676493625434,"pose":{"translation":{"x":7.438595581054687,"y":-1.2053390502929688},"rotation":{"radians":-1.7598414148638106}},"curvature":-0.5096067765020571},{"time":0.9813100267777496,"velocity":1.5106647044981765,"acceleration":0.5250113170323235,"pose":{"translation":{"x":7.418124940991402,"y":-1.3006205740571022},"rotation":{"radians":-1.8030214069226786}},"curvature":-0.38682852273787793},{"time":1.0490457248506553,"velocity":1.5462267125535365,"acceleration":0.34981100784937563,"pose":{"translation":{"x":7.392440319061279,"y":-1.4009142971038822},"rotation":{"radians":-1.83861094793171}},"curvature":-0.30694652214874857},{"time":1.1184519520705818,"velocity":1.5705057748483617,"acceleration":0.2288975554736658,"pose":{"translation":{"x":7.362200555205345,"y":-1.5047613570094112},"rotation":{"radians":-1.8687586562244822}},"curvature":-0.25448714727408545},{"time":1.1889035211319336,"velocity":1.5866319667857893,"acceleration":0.14022072554540496,"pose":{"translation":{"x":7.328125,"y":-1.6106250000000006},"rotation":{"radians":-1.8950241676184996}},"curvature":-0.22053087572017724},{"time":1.2596548250824198,"velocity":1.59655276595901,"acceleration":0.06824791072810449,"pose":{"translation":{"x":7.290975275635719,"y":-1.7169278100132948},"rotation":{"radians":-1.9185903109253033}},"curvature":-0.19998185675653543},{"time":1.3298966361891713,"velocity":1.601346622812804,"acceleration":7.56678468946936E-4,"pose":{"translation":{"x":7.251537036895752,"y":-1.8220889377593998},"rotation":{"radians":-1.9404067180938465}},"curvature":-0.19014355026047416},{"time":1.398803911610538,"velocity":1.601398763464469,"acceleration":-0.07418428163614217,"pose":{"translation":{"x":7.210601732134819,"y":-1.9245613297820099},"rotation":{"radians":-1.9612934639053132}},"curvature":-0.19003686718455529},{"time":1.4655788655112532,"velocity":1.596445111478058,"acceleration":-0.1715480180400782,"pose":{"translation":{"x":7.168948364257812,"y":-2.022868957519533},"rotation":{"radians":-1.982024379952998}},"curvature":-0.20020347155366428},{"time":1.5294925579236458,"velocity":1.5854808442190889,"acceleration":-0.31394105304156766,"pose":{"translation":{"x":7.127325251698494,"y":-2.115644046366216},"rotation":{"radians":-2.003404981709161}},"curvature":-0.22293185426852294},{"time":1.5899279221203853,"velocity":1.5665077023422138,"acceleration":-1.3509793267586743,"pose":{"translation":{"x":7.086431789398192,"y":-2.201664304733278},"rotation":{"radians":-2.0263586820248065}},"curvature":-0.2630138771484163},{"time":1.647297847739518,"velocity":1.4890021188530829,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.046900209784507,"y":-2.2798901531100286},"rotation":{"radians":-2.0520365622478876}},"curvature":-0.329365520014453},{"time":1.7032812155507002,"velocity":1.3378470257628907,"acceleration":-2.699999999999999,"pose":{"translation":{"x":7.009277343749999,"y":-2.349501953125003},"rotation":{"radians":-2.081969632892714}},"curvature":-0.43822447094387634},{"time":1.7586823776797251,"velocity":1.1882638880145233,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.974006381630896,"y":-2.409937236607078},"rotation":{"radians":-2.1182847059349985}},"curvature":-0.6192512361373247},{"time":1.8129609537084448,"velocity":1.0417117327369803,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.941408634185789,"y":-2.460927934646609},"rotation":{"radians":-2.1639902292367137}},"curvature":-0.9263958246762897},{"time":1.8656590466798884,"velocity":0.8994268817140824,"acceleration":-2.7,"pose":{"translation":{"x":6.911665293574332,"y":-2.5025376066565563},"rotation":{"radians":-2.2232479255908064}},"curvature":-1.452969931643203},{"time":1.9165692937923622,"velocity":0.7619692145104032,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.884799194335936,"y":-2.5351986694335977},"rotation":{"radians":-2.301188771290306}},"curvature":-2.3303573338487307},{"time":1.9414487107808738,"velocity":0.6947947886414217,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.8724044566042695,"y":-2.5484186238888693},"rotation":{"radians":-2.34859494979231}},"curvature":-2.9284243203517053},{"time":1.9661233789888195,"velocity":0.628173184479968,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.860656574368474,"y":-2.5597496262192774},"rotation":{"radians":-2.401760797928686}},"curvature":-3.6052758969197294},{"time":1.9908811602880785,"velocity":0.5613271749719686,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.84950574180111,"y":-2.5693660482298633},"rotation":{"radians":-2.4597729804382578}},"curvature":-4.270419440523796},{"time":2.0162223622736977,"velocity":0.4929059296107963,"acceleration":-2.7,"pose":{"translation":{"x":6.838888835906978,"y":-2.5774722957611154},"rotation":{"radians":-2.520276046909255}},"curvature":-4.741626980469247},{"time":2.0430294857607096,"velocity":0.42052669619586397,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.828728846553709,"y":-2.5843039720971195},"rotation":{"radians":-2.578999131141017}},"curvature":-4.746848371603827},{"time":2.073014782085448,"velocity":0.33956639611906964,"acceleration":-2.7,"pose":{"translation":{"x":6.818934306502339,"y":-2.590129041373734},"rotation":{"radians":-2.629713920493405}},"curvature":-4.00098049945812},{"time":2.1987801139813996,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":6.799999999999996,"y":-2.6000000000000068},"rotation":{"radians":-2.6779450445889683}},"curvature":8.473716576416074E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/EightBallMidComplete.wpilib.json b/src/main/deploy/paths/EightBallMidComplete.wpilib.json new file mode 100644 index 0000000..9aca47f --- /dev/null +++ b/src/main/deploy/paths/EightBallMidComplete.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24104312286019983,"velocity":0.6508164317225397,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.2063923239707948,"y":-2.3218234953284265},"rotation":{"radians":1.4857527840978701}},"curvature":-0.13003316961730046},{"time":0.34125642343054197,"velocity":0.9213923432624636,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.2136058807373047,"y":-2.2433763408660887},"rotation":{"radians":1.4709813552860977}},"curvature":-0.2416411635394689},{"time":0.41862951975667484,"velocity":1.1302997033430222,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.222373878955841,"y":-2.1644892266392706},"rotation":{"radians":1.4480070351506305}},"curvature":-0.33393289305160856},{"time":0.4843752197211856,"velocity":1.3078130932472012,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.23333740234375,"y":-2.0850949096679687},"rotation":{"radians":1.418153476722264}},"curvature":-0.40799291240160246},{"time":0.5428188459431846,"velocity":1.4656108840465984,"acceleration":-0.12363267963904842,"pose":{"translation":{"x":3.247049701213837,"y":-2.005218879878521},"rotation":{"radians":1.3826311795834407}},"curvature":-0.4659998167211871},{"time":0.5989114443624675,"velocity":1.4586760057961055,"acceleration":-0.23878049786970917,"pose":{"translation":{"x":3.263980484008789,"y":-1.9249700260162352},"rotation":{"radians":1.3424938853817683}},"curvature":-0.5106186292535235},{"time":0.656093483931331,"velocity":1.4450220499186468,"acceleration":-0.17582458312750424,"pose":{"translation":{"x":3.284520208835602,"y":-1.8445313015580176},"rotation":{"radians":1.2986210341256466}},"curvature":-0.5446069018648376},{"time":0.7144460101119858,"velocity":1.4347622413284964,"acceleration":-0.13307656507771634,"pose":{"translation":{"x":3.308984375,"y":-1.7641503906249998},"rotation":{"radians":1.2517175479138372}},"curvature":-0.5705719275620846},{"time":0.7738450156145333,"velocity":1.426857625707185,"acceleration":-0.10571177853926464,"pose":{"translation":{"x":3.337617814540863,"y":-1.6841303738951683},"rotation":{"radians":1.2023248883292088}},"curvature":-0.5908312113511963},{"time":0.8341780829208127,"velocity":1.420479709857509,"acceleration":-0.08976520784153569,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6048203945159911},"rotation":{"radians":1.1508391887199425}},"curvature":-0.6073419696862633},{"time":0.8953429670423647,"velocity":1.4149892313217345,"acceleration":-0.08191722568263685,"pose":{"translation":{"x":3.4080442547798158,"y":-1.5266063240170478},"rotation":{"radians":1.0975335619661353}},"curvature":-0.621674601346085},{"time":0.9572461651384423,"velocity":1.4099182930728211,"acceleration":-0.07932481308319937,"pose":{"translation":{"x":3.45001220703125,"y":-1.449901428222656},"rotation":{"radians":1.0425826601190191}},"curvature":-0.6350112021866137},{"time":1.0198016941975718,"velocity":1.404956087422885,"acceleration":-0.07948863640008091,"pose":{"translation":{"x":3.4965079188346864,"y":-1.3751370331645012},"rotation":{"radians":0.9860883281959857}},"curvature":-0.6481550334261905},{"time":1.0829301018210549,"velocity":1.3999380963827859,"acceleration":-0.08015206912118296,"pose":{"translation":{"x":3.547487258911133,"y":-1.3027531909942627},"rotation":{"radians":0.9281057752826144}},"curvature":-0.6615413844839425},{"time":1.146557600543031,"velocity":1.394838220707214,"acceleration":-0.07923440840802286,"pose":{"translation":{"x":3.602861177921295,"y":-1.233189345896244},"rotation":{"radians":0.8686700639277289}},"curvature":-0.6752448631775445},{"time":1.2106151395445883,"velocity":1.3897626595003518,"acceleration":-0.07480385075761357,"pose":{"translation":{"x":3.6624999999999996,"y":-1.1668749999999999},"rotation":{"radians":0.8078228647022838}},"curvature":-0.6889828628777236},{"time":1.2750372072434193,"velocity":1.3849436407627116,"acceleration":-0.06509475812905682,"pose":{"translation":{"x":3.726237714290619,"y":-1.1042203792929648},"rotation":{"radians":0.745639315828271}},"curvature":-0.7021196688913226},{"time":1.3397601915745783,"velocity":1.380730513752284,"acceleration":-0.04856760891892339,"pose":{"translation":{"x":3.793876266479492,"y":-1.045607099533081},"rotation":{"radians":0.68225447169036}},"curvature":-0.71367992457469},{"time":1.4047202049596175,"velocity":1.3775755612268314,"acceleration":-0.023998991327275822,"pose":{"translation":{"x":3.8651898503303523,"y":-0.9913788321614265},"rotation":{"radians":0.6178882696500003}},"curvature":-0.7223829927855778},{"time":1.4698503918277483,"velocity":1.3760125024370393,"acceleration":0.009425020866650225,"pose":{"translation":{"x":3.9399291992187493,"y":-0.9418319702148437},"rotation":{"radians":0.5528673168364797}},"curvature":-0.7267095396737598},{"time":1.535077848801426,"velocity":1.3766272725800948,"acceleration":0.05205176529824429,"pose":{"translation":{"x":4.017825877666472,"y":-0.8972062942385672},"rotation":{"radians":0.48764131303933056}},"curvature":-0.7250066836520244},{"time":1.6003203604517349,"velocity":1.3800232604839846,"acceleration":0.10378762257480224,"pose":{"translation":{"x":4.098596572875976,"y":-0.8576756381988526},"rotation":{"radians":0.4227918675196265}},"curvature":-0.715627451832997},{"time":1.665483145837002,"velocity":1.3867863510594736,"acceleration":0.16424958779401677,"pose":{"translation":{"x":4.1819473862648,"y":-0.8233385553956034},"rotation":{"radians":0.3590321072445168}},"curvature":-0.6970855981440633},{"time":1.7304557025837932,"velocity":1.3974580667230574,"acceleration":0.2330731468720872,"pose":{"translation":{"x":4.267578124999998,"y":-0.794208984375},"rotation":{"radians":0.29719692634159106}},"curvature":-0.668192786058002},{"time":1.7951086483327998,"velocity":1.4125269322433287,"acceleration":0.31039116241082515,"pose":{"translation":{"x":4.35518659353256,"y":-0.7702069148421291},"rotation":{"radians":0.23822580998113968}},"curvature":-0.6281385045136234},{"time":1.859290265714348,"velocity":1.4324483390677942,"acceleration":0.3974925676686374,"pose":{"translation":{"x":4.444472885131834,"y":-0.751149053573609},"rotation":{"radians":0.18314236815259385}},"curvature":-0.5764792409963189},{"time":1.922822358232916,"velocity":1.4577018736523613,"acceleration":0.4976892074994749,"pose":{"translation":{"x":4.53514367341995,"y":-0.7367394903302198},"rotation":{"radians":0.1330363391804617}},"curvature":-0.5130224065785399},{"time":1.9854951125589597,"velocity":1.4888934270846992,"acceleration":0.6174792927963386,"pose":{"translation":{"x":4.626916503906247,"y":-0.7265603637695319},"rotation":{"radians":0.08905427201814982}},"curvature":-0.43761593999910725},{"time":2.047060989445588,"velocity":1.5269090812050408,"acceleration":0.7682064361829994,"pose":{"translation":{"x":4.7195240855216944,"y":-0.7200625273585326},"rotation":{"radians":0.052404113332160406}},"curvature":-0.3498775646988902},{"time":2.107228253203399,"velocity":1.5731299604713114,"acceleration":0.9685643952029747,"pose":{"translation":{"x":4.812718582153316,"y":-0.7165562152862552},"rotation":{"radians":0.024376580770117368}},"curvature":-0.24891407952009473},{"time":2.1656556590359175,"velocity":1.6297206654647636,"acceleration":1.248398336461174,"pose":{"translation":{"x":4.906275904178614,"y":-0.7152017083764088},"rotation":{"radians":0.0063825391669578325}},"curvature":-0.13309736505149056},{"time":2.221951259953214,"velocity":1.6999999999999984,"acceleration":2.843979367649469E-14,"pose":{"translation":{"x":4.999999999999995,"y":-0.7150000000000012},"rotation":{"radians":-2.0724163126336422E-15}},"curvature":-2.9605947323338176E-15},{"time":2.2770632519617626,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3319714486775105,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.386489936201094,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.440451733873254,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.49370816316683,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.5461282165787624,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.597597926522085,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6480197342179226,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6973118585874882,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.7454076651440773,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.792255034885068,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.8378157331839153,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.882064778682146,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.924989812181359,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.9665904655352184,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.006877730541452,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.334375,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.0458733278338475,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.400667515397072,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.083609075774248,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.464818286895753,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.1554749990386948,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.5869903564453125,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.222908019686529,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.701626491546631,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.286461829806158,"velocity":1.7,"acceleration":-0.8218715729622541,"pose":{"translation":{"x":6.80966796875,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.347697529046253,"velocity":1.6496721195440995,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.912227725982667,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.4105333918156933,"velocity":1.4800152900666113,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.010556030273439,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.479345141764698,"velocity":1.2942235652042982,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.106006145477297,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.5585075755357845,"velocity":1.0804849940223653,"acceleration":-2.7,"pose":{"translation":{"x":7.200000000000003,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.6042166199637675,"velocity":0.9570705740668113,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.246564522385597,"y":-0.7155139830708503},"rotation":{"radians":-0.03301074916623491}},"curvature":-1.4169320623994563},{"time":3.628845057991022,"velocity":0.8905737913932243,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.269286205526441,"y":-0.7166938776057213},"rotation":{"radians":-0.07356868815491435}},"curvature":-2.160240564890358},{"time":3.654785556334576,"velocity":0.8205344458656272,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.291367816925049,"y":-0.7189196109771728},"rotation":{"radians":-0.13034803790848082}},"curvature":-2.9724600222132436},{"time":3.682306030520562,"velocity":0.7462291655634643,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.312632273230702,"y":-0.7224713781941682},"rotation":{"radians":-0.20384375848792302}},"curvature":-3.859783847923219},{"time":3.6968123180655597,"velocity":0.7070621891919708,"acceleration":-2.700000000000004,"pose":{"translation":{"x":7.322907519803266,"y":-0.7248230876060552},"rotation":{"radians":-0.2469633412322504}},"curvature":-4.323361501562987},{"time":3.711943304136287,"velocity":0.6662085268010068,"acceleration":-2.3024511231865272,"pose":{"translation":{"x":7.332919952273369,"y":-0.7275965842604637},"rotation":{"radians":-0.29430316015307745}},"curvature":-4.789362932316134},{"time":3.727763704285853,"velocity":0.6297828287073786,"acceleration":-1.8675460534493051,"pose":{"translation":{"x":7.342652252668631,"y":-0.730817861216201},"rotation":{"radians":-0.34575274856226007}},"curvature":-5.2448864386307115},{"time":3.7442564742654794,"velocity":0.5989818212214805,"acceleration":-1.461370960203089,"pose":{"translation":{"x":7.3520881230942905,"y":-0.7345110075827688},"rotation":{"radians":-0.4011030452093752}},"curvature":-5.673301150541483},{"time":3.761374145655594,"velocity":0.5739665533456683,"acceleration":-1.079676100951081,"pose":{"translation":{"x":7.361212267921656,"y":-0.7386982448768685},"rotation":{"radians":-0.460027741375734}},"curvature":-6.05507734228002},{"time":3.779048069734428,"velocity":0.554884439907727,"acceleration":-0.718302000748944,"pose":{"translation":{"x":7.3700103759765625,"y":-0.7433999633789062},"rotation":{"radians":-0.5220721667264541}},"curvature":-6.369447456164275},{"time":3.797188249742144,"velocity":0.5418543123142384,"acceleration":-0.37292501733286726,"pose":{"translation":{"x":7.3784691027278315,"y":-0.7486347584894975},"rotation":{"radians":-0.5866537738316515}},"curvature":-6.596835433787617},{"time":3.815685825495559,"velocity":0.5349561035557802,"acceleration":-0.03916357131337287,"pose":{"translation":{"x":7.3865760524757205,"y":-0.7544194670859724},"rotation":{"radians":-0.6530772005654553}},"curvature":-6.721700100807001},{"time":3.8344183342629083,"velocity":0.5342224716127917,"acceleration":0.2870415628660772,"pose":{"translation":{"x":7.394319760540384,"y":-0.7607692038788809},"rotation":{"radians":-0.7205644949723411}},"curvature":-6.735169302137587},{"time":3.8532572591365133,"velocity":0.5396300260512279,"acceleration":0.6088741709257113,"pose":{"translation":{"x":7.401689675450325,"y":-0.7676973977684974},"rotation":{"radians":-0.7882978171901851}},"curvature":-6.636748578819588},{"time":3.872076786291892,"velocity":0.5510887500451729,"acceleration":0.9280335229053246,"pose":{"translation":{"x":7.408676141130854,"y":-0.7752158282013261},"rotation":{"radians":-0.8554687993814396}},"curvature":-6.434575875688117},{"time":3.890762354669351,"velocity":0.5684295838939945,"acceleration":1.2441992183952022,"pose":{"translation":{"x":7.4152703790925445,"y":-0.7833346615266055},"rotation":{"radians":-0.9213269426131445}},"curvature":-6.144123007026858},{"time":3.9092176408079555,"velocity":0.5913916364829062,"acceleration":1.5547030307947924,"pose":{"translation":{"x":7.421464470619685,"y":-0.792062487352814},"rotation":{"radians":-0.9852197163442566}},"curvature":-5.78572732604897},{"time":3.9273690525075233,"velocity":0.6196116912654284,"acceleration":1.8545226594627813,"pose":{"translation":{"x":7.42725133895874,"y":-0.8014063549041748},"rotation":{"radians":-1.0466192793077236}},"curvature":-5.381647674000342},{"time":3.9451674273627373,"velocity":0.6526191807360355,"acceleration":2.136663336874829,"pose":{"translation":{"x":7.432624731506803,"y":-0.8113718093771604},"rotation":{"radians":-1.1051340316663605}},"curvature":-4.953358627820729},{"time":3.9625872153734303,"velocity":0.6898394031146146,"acceleration":2.3929144893007783,"pose":{"translation":{"x":7.437579202000052,"y":-0.8219629282969981},"rotation":{"radians":-1.1605063335021422}},"curvature":-4.519573115046623},{"time":3.9796238031223674,"velocity":0.7306065007872906,"acceleration":2.614876812845623,"pose":{"translation":{"x":7.4421100927022055,"y":-0.833182357874175},"rotation":{"radians":-1.2125997996055733}},"curvature":-4.095166469583263},{"time":3.9962897632615246,"velocity":0.7741859335189818,"acceleration":2.7000000000000375,"pose":{"translation":{"x":7.446213516592979,"y":-0.8450313493609428},"rotation":{"radians":-1.2613803298943025}},"curvature":-3.690910282345266},{"time":4.012626214006347,"velocity":0.8182943505300027,"acceleration":2.7000000000000224,"pose":{"translation":{"x":7.449886339556542,"y":-0.8575097954078228},"rotation":{"radians":-1.306894703300488}},"curvature":-3.3137824106753158},{"time":4.028698933575373,"velocity":0.8616906933663744,"acceleration":2.6999999999999695,"pose":{"translation":{"x":7.45312616256997,"y":-0.8706162664201111},"rotation":{"radians":-1.3492496293615444}},"curvature":-2.9675944638423344},{"time":4.060277976926194,"velocity":0.9469541104135919,"acceleration":2.6999999999999877,"pose":{"translation":{"x":7.45830078125,"y":-0.898701171875},"rotation":{"radians":-1.4250986701590653}},"curvature":-2.3718206794667163},{"time":4.091362946346115,"velocity":1.0308835278473796,"acceleration":2.7,"pose":{"translation":{"x":7.461732205469161,"y":-0.9292495656106621},"rotation":{"radians":-1.4903490993636863}},"curvature":-1.8972644682319115},{"time":4.1221343718395556,"velocity":1.1139663766796675,"acceleration":2.699999999999995,"pose":{"translation":{"x":7.463425889611244,"y":-0.9622061184048654},"rotation":{"radians":-1.5465120233189014}},"curvature":-1.5258519692589507},{"time":4.152684453160756,"velocity":1.1964515962469084,"acceleration":2.7000000000000197,"pose":{"translation":{"x":7.463397339638322,"y":-0.9974978353362531},"rotation":{"radians":-1.5950046216979124}},"curvature":-1.2372943445536448},{"time":4.183051046853612,"velocity":1.2784413992176227,"acceleration":1.731750167430012,"pose":{"translation":{"x":7.461671543121338,"y":-1.035035219192505},"rotation":{"radians":-1.637074129015746}},"curvature":-1.0133098607932398},{"time":4.244487118787202,"velocity":1.3848333270748585,"acceleration":1.171492568377572,"pose":{"translation":{"x":7.453272148966789,"y":-1.1164134678244593},"rotation":{"radians":-1.7060109535050387}},"curvature":-0.7024214581009294},{"time":4.3078704676180335,"velocity":1.4590864491890612,"acceleration":0.7858676493625462,"pose":{"translation":{"x":7.438595581054687,"y":-1.2053390502929688},"rotation":{"radians":-1.7598414148638106}},"curvature":-0.5096067765020571},{"time":4.373502709066009,"velocity":1.5106647044981765,"acceleration":0.5250113170323213,"pose":{"translation":{"x":7.418124940991402,"y":-1.3006205740571022},"rotation":{"radians":-1.8030214069226786}},"curvature":-0.38682852273787793},{"time":4.441238407138915,"velocity":1.5462267125535365,"acceleration":0.34981100784937635,"pose":{"translation":{"x":7.392440319061279,"y":-1.4009142971038822},"rotation":{"radians":-1.83861094793171}},"curvature":-0.30694652214874857},{"time":4.510644634358841,"velocity":1.5705057748483617,"acceleration":0.22889755547366647,"pose":{"translation":{"x":7.362200555205345,"y":-1.5047613570094112},"rotation":{"radians":-1.8687586562244822}},"curvature":-0.25448714727408545},{"time":4.581096203420193,"velocity":1.5866319667857893,"acceleration":0.14022072554540496,"pose":{"translation":{"x":7.328125,"y":-1.6106250000000006},"rotation":{"radians":-1.8950241676184996}},"curvature":-0.22053087572017724},{"time":4.651847507370679,"velocity":1.59655276595901,"acceleration":0.06824791072810449,"pose":{"translation":{"x":7.290975275635719,"y":-1.7169278100132948},"rotation":{"radians":-1.9185903109253033}},"curvature":-0.19998185675653543},{"time":4.722089318477431,"velocity":1.601346622812804,"acceleration":7.56678468946939E-4,"pose":{"translation":{"x":7.251537036895752,"y":-1.8220889377593998},"rotation":{"radians":-1.9404067180938465}},"curvature":-0.19014355026047416},{"time":4.790996593898797,"velocity":1.601398763464469,"acceleration":-0.07418428163614232,"pose":{"translation":{"x":7.210601732134819,"y":-1.9245613297820099},"rotation":{"radians":-1.9612934639053132}},"curvature":-0.19003686718455529},{"time":4.857771547799512,"velocity":1.596445111478058,"acceleration":-0.17154801804007855,"pose":{"translation":{"x":7.168948364257812,"y":-2.022868957519533},"rotation":{"radians":-1.982024379952998}},"curvature":-0.20020347155366428},{"time":4.921685240211905,"velocity":1.5854808442190889,"acceleration":-0.3139410530415669,"pose":{"translation":{"x":7.127325251698494,"y":-2.115644046366216},"rotation":{"radians":-2.003404981709161}},"curvature":-0.22293185426852294},{"time":4.982120604408644,"velocity":1.5665077023422138,"acceleration":-1.3509793267586387,"pose":{"translation":{"x":7.086431789398192,"y":-2.201664304733278},"rotation":{"radians":-2.0263586820248065}},"curvature":-0.2630138771484163},{"time":5.039490530027777,"velocity":1.4890021188530849,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.046900209784507,"y":-2.2798901531100286},"rotation":{"radians":-2.0520365622478876}},"curvature":-0.329365520014453},{"time":5.09547389783896,"velocity":1.3378470257628925,"acceleration":-2.7,"pose":{"translation":{"x":7.009277343749999,"y":-2.349501953125003},"rotation":{"radians":-2.081969632892714}},"curvature":-0.43822447094387634},{"time":5.1508750599679844,"velocity":1.1882638880145262,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.974006381630896,"y":-2.409937236607078},"rotation":{"radians":-2.1182847059349985}},"curvature":-0.6192512361373247},{"time":5.205153635996704,"velocity":1.0417117327369836,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.941408634185789,"y":-2.460927934646609},"rotation":{"radians":-2.1639902292367137}},"curvature":-0.9263958246762897},{"time":5.257851728968148,"velocity":0.8994268817140864,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.911665293574332,"y":-2.5025376066565563},"rotation":{"radians":-2.2232479255908064}},"curvature":-1.452969931643203},{"time":5.308761976080621,"velocity":0.7619692145104063,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.884799194335936,"y":-2.5351986694335977},"rotation":{"radians":-2.301188771290306}},"curvature":-2.3303573338487307},{"time":5.333641393069134,"velocity":0.6947947886414234,"acceleration":-2.7,"pose":{"translation":{"x":6.8724044566042695,"y":-2.5484186238888693},"rotation":{"radians":-2.34859494979231}},"curvature":-2.9284243203517053},{"time":5.35831606127708,"velocity":0.6281731844799698,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.860656574368474,"y":-2.5597496262192774},"rotation":{"radians":-2.401760797928686}},"curvature":-3.6052758969197294},{"time":5.383073842576339,"velocity":0.5613271749719707,"acceleration":-2.7,"pose":{"translation":{"x":6.84950574180111,"y":-2.5693660482298633},"rotation":{"radians":-2.4597729804382578}},"curvature":-4.270419440523796},{"time":5.408415044561957,"velocity":0.4929059296108012,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.838888835906978,"y":-2.5774722957611154},"rotation":{"radians":-2.520276046909255}},"curvature":-4.741626980469247},{"time":5.43522216804897,"velocity":0.42052669619586686,"acceleration":-2.7,"pose":{"translation":{"x":6.828728846553709,"y":-2.5843039720971195},"rotation":{"radians":-2.578999131141017}},"curvature":-4.746848371603827},{"time":5.46520746437371,"velocity":0.33956639611906964,"acceleration":-2.7,"pose":{"translation":{"x":6.818934306502339,"y":-2.590129041373734},"rotation":{"radians":-2.629713920493405}},"curvature":-4.00098049945812},{"time":5.590972796269662,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":6.799999999999996,"y":-2.6000000000000068},"rotation":{"radians":-2.6779450445889683}},"curvature":8.473716576416074E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/FirstPath2.wpilib.json b/src/main/deploy/paths/FirstPath2.wpilib.json deleted file mode 100644 index 25ef969..0000000 --- a/src/main/deploy/paths/FirstPath2.wpilib.json +++ /dev/null @@ -1 +0,0 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":7.2,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.18574091419977973,"velocity":0.5015004683394053,"acceleration":2.6999999999999966,"pose":{"translation":{"x":7.246571637767237,"y":-0.71552330340216},"rotation":{"radians":-0.03359339040978542}},"curvature":-1.4405435131169915},{"time":0.2266410226892701,"velocity":0.6119307612610292,"acceleration":2.699999999999999,"pose":{"translation":{"x":7.269309656446672,"y":-0.716724580735192},"rotation":{"radians":-0.07482060995567351}},"curvature":-2.1920137727383837},{"time":0.26044483766611803,"velocity":0.7032010616985185,"acceleration":1.4167228940696506,"pose":{"translation":{"x":7.2914220857138154,"y":-0.7189906269967898},"rotation":{"radians":-0.1324433145295062}},"curvature":-3.007297576134003},{"time":0.29029013543616583,"velocity":0.745483578329671,"acceleration":-2.699999999999993,"pose":{"translation":{"x":7.312735725027567,"y":-0.7226066855070661},"rotation":{"radians":-0.206853162026066}},"curvature":-3.8886464823836606},{"time":0.30487021129889263,"velocity":0.7061173735003088,"acceleration":-2.669760925580698,"pose":{"translation":{"x":7.323043539168388,"y":-0.725000944213698},"rotation":{"radians":-0.2504088093160685}},"curvature":-4.344233814092265},{"time":0.32009331314664224,"velocity":0.6654753310210515,"acceleration":-2.20371219622657,"pose":{"translation":{"x":7.333094382263903,"y":-0.7278246052076687},"rotation":{"radians":-0.2981374104428669}},"curvature":-4.798040174521225},{"time":0.33600884596997993,"velocity":0.6304020772288179,"acceleration":-1.7722927303336353,"pose":{"translation":{"x":7.342871296984669,"y":-0.7311041261586553},"rotation":{"radians":-0.34989917578712737}},"curvature":-5.236702536281345},{"time":0.3525829471208297,"velocity":0.6010279182473525,"acceleration":-1.3699347820320806,"pose":{"translation":{"x":7.352358319786087,"y":-0.7348640257199522},"rotation":{"radians":-0.4054537862993204}},"curvature":-5.643480174935811},{"time":0.36976286076987,"velocity":0.5774925569872245,"acceleration":-0.9919241283235749,"pose":{"translation":{"x":7.361540463598101,"y":-0.7391269205615391},"rotation":{"radians":-0.4644440730100708}},"curvature":-5.999261987332941},{"time":0.3874752540937721,"velocity":0.5599232066788886,"acceleration":-0.633760498617797,"pose":{"translation":{"x":7.370403700514882,"y":-0.7439135624031483},"rotation":{"radians":-0.5263880359703766}},"curvature":-6.284353805966965},{"time":0.40562669827129005,"velocity":0.5484195383663117,"acceleration":-0.2909483020003185,"pose":{"translation":{"x":7.378934944484527,"y":-0.7492428750473332},"rotation":{"radians":-0.5906828726845003}},"curvature":-6.480915495174348},{"time":0.42410675665832054,"velocity":0.5430427967577385,"acceleration":0.040867278011913304,"pose":{"translation":{"x":7.3871220339987556,"y":-0.755131991412536},"rotation":{"radians":-0.6566233239679846}},"curvature":-6.57564300066678},{"time":0.4427936520640061,"velocity":0.5438064793074622,"acceleration":0.36551173046498503,"pose":{"translation":{"x":7.394953714782599,"y":-0.7615962905661549},"rotation":{"radians":-0.7234341130651554}},"curvature":-6.562074297460497},{"time":0.46156189622249166,"velocity":0.5506664927076196,"acceleration":0.6857461024631776,"pose":{"translation":{"x":7.402419622484099,"y":-0.7686494347576127},"rotation":{"radians":-0.7903131138986692}},"curvature":-6.44187668356058},{"time":0.48029075301778956,"velocity":0.5635097332585861,"acceleration":1.002705190054949,"pose":{"translation":{"x":7.409510265363997,"y":-0.7763034064514244},"rotation":{"radians":-0.8564791640564974}},"curvature":-6.224712372184579},{"time":0.4988721753143321,"velocity":0.582141421833932,"acceleration":1.3154389982154877,"pose":{"translation":{"x":7.4162170069854305,"y":-0.7845685453602647},"rotation":{"radians":-0.921217194032659}},"curvature":-5.926705551959653},{"time":0.5172170027973768,"velocity":0.6062729233206643,"acceleration":1.620684901595592,"pose":{"translation":{"x":7.422532048903632,"y":-0.7934535854780363},"rotation":{"radians":-0.9839140979634297}},"curvature":-5.567955823359643},{"time":0.5352586722305678,"velocity":0.6355127845706157,"acceleration":1.9129717995948965,"pose":{"translation":{"x":7.428448413355612,"y":-0.8029656921129377},"rotation":{"radians":-1.044081205566804}},"curvature":-5.169769119324686},{"time":0.5529542844520852,"velocity":0.6693639917269453,"acceleration":2.1851010903529495,"pose":{"translation":{"x":7.433959925949866,"y":-0.8131104989205302},"rotation":{"radians":-1.1013623608918062}},"curvature":-4.752235515342323},{"time":0.5702833868798093,"velocity":0.7072298323366033,"acceleration":2.4289676387655197,"pose":{"translation":{"x":7.4390611983560575,"y":-0.8238921449368072},"rotation":{"radians":-1.1555293832873916}},"curvature":-4.332545539867548},{"time":0.587245135472715,"velocity":0.7484293707656479,"acceleration":2.636597030345389,"pose":{"translation":{"x":7.443747610994719,"y":-0.8353133116112605},"rotation":{"radians":-1.2064683750474912}},"curvature":-3.9241463540123545},{"time":0.6038545747404133,"velocity":0.7922217690145634,"acceleration":2.699999999999996,"pose":{"translation":{"x":7.448015295726941,"y":-0.8473752598399495},"rotation":{"radians":-1.2541608106925795}},"curvature":-3.536616605499757},{"time":0.6362024768433319,"velocity":0.8795611046924436,"acceleration":2.7000000000000006,"pose":{"translation":{"x":7.4552826622574155,"y":-0.8734196639755125},"rotation":{"radians":-1.3400856851183165}},"curvature":-2.845585051317401},{"time":0.6677848651954601,"velocity":0.9648335532431899,"acceleration":2.7,"pose":{"translation":{"x":7.460846723855813,"y":-0.9020084406998853},"rotation":{"radians":-1.4143103108236423}},"curvature":-2.277572509988386},{"time":0.6989057195952202,"velocity":1.048859860122542,"acceleration":2.7000000000000037,"pose":{"translation":{"x":7.464701821619865,"y":-0.9331043146308698},"rotation":{"radians":-1.478233001222403}},"curvature":-1.8251885024621224},{"time":0.7297320912150541,"velocity":1.1320910634960937,"acceleration":2.6999999999999966,"pose":{"translation":{"x":7.466852657906909,"y":-0.9666508367058511},"rotation":{"radians":-1.5333229489020965}},"curvature":-1.4707911285203954},{"time":0.7603482420772625,"velocity":1.2147546708240562,"acceleration":2.4689382496452787,"pose":{"translation":{"x":7.467313742404098,"y":-1.0025735692399675},"rotation":{"radians":-1.5809522845751747}},"curvature":-1.1950333509651316},{"time":0.7908701889907861,"velocity":1.2901114730124972,"acceleration":1.6478061425997925,"pose":{"translation":{"x":7.466108838198616,"y":-1.040781270984282},"rotation":{"radians":-1.6223272462013492}},"curvature":-0.9806036708623775},{"time":0.8528650627556515,"velocity":1.3922670068119412,"acceleration":1.1265054842673399,"pose":{"translation":{"x":7.458839059449773,"y":-1.1236097096364015},"rotation":{"radians":-1.6902497191987305}},"curvature":-0.6821918383506778},{"time":0.9169237989671473,"velocity":1.4644295244694259,"acceleration":0.7553834508087204,"pose":{"translation":{"x":7.445397445026421,"y":-1.2141151835996804},"rotation":{"radians":-1.743407706342333}},"curvature":-0.4964864179346202},{"time":0.9832824629764142,"velocity":1.5145557610798024,"acceleration":0.5047361844321614,"pose":{"translation":{"x":7.426250721188545,"y":-1.3110837105092963},"rotation":{"radians":-1.7861325178852274}},"curvature":-0.37790537450487255},{"time":1.051770787169082,"velocity":1.5491242965109624,"acceleration":0.3362979412462314,"pose":{"translation":{"x":7.40196049133683,"y":-1.4131462165595934},"rotation":{"radians":-1.821408517045324}},"curvature":-0.3005993467136097},{"time":1.1219365275677993,"velocity":1.5727208905530685,"acceleration":0.2198034851609914,"pose":{"translation":{"x":7.373165510259402,"y":-1.5188164583655404},"rotation":{"radians":-1.8513381322664064}},"curvature":-0.24978161090879322},{"time":1.1931386100223174,"velocity":1.5883713564272919,"acceleration":0.13404480115479672,"pose":{"translation":{"x":7.340563958378583,"y":-1.6265289448241926},"rotation":{"radians":-1.8774525545327976}},"curvature":-0.2169095086856791},{"time":1.2646178303499827,"velocity":1.5979527743028137,"acceleration":0.06404129568110227,"pose":{"translation":{"x":7.304895715997633,"y":-1.7346768589761474},"rotation":{"radians":-1.9009171561391245}},"curvature":-0.19710255409574393},{"time":1.3355531046387532,"velocity":1.602495561177761,"acceleration":-0.002096322275086082,"pose":{"translation":{"x":7.2669246375475,"y":-1.8416499798670074},"rotation":{"radians":-1.9226712973054454}},"curvature":-0.1877943585524745},{"time":1.405109094208867,"velocity":1.6023497494074594,"acceleration":-0.07612871060578774,"pose":{"translation":{"x":7.227420825833567,"y":-1.9458726044088372},"rotation":{"radians":-1.943529946970129}},"curvature":-0.18809230783361033},{"time":1.4724793462205135,"velocity":1.5972209389886258,"acceleration":-0.17301087241769844,"pose":{"translation":{"x":7.187142906282408,"y":-2.045841469241623},"rotation":{"radians":-1.9642661669856805}},"curvature":-0.19860704074543745},{"time":1.5369281583145993,"velocity":1.5860705937819437,"acceleration":-0.31554579820498185,"pose":{"translation":{"x":7.146820301188521,"y":-2.1401636725947344},"rotation":{"radians":-1.98568919023132}},"curvature":-0.22170133611162526},{"time":1.5978341143112027,"velocity":1.566851975281558,"acceleration":-1.3309955874047237,"pose":{"translation":{"x":7.107135503961091,"y":-2.2275945961483803},"rotation":{"radians":-2.0087318859865846}},"curvature":-0.26227793056302745},{"time":1.6555960479201848,"velocity":1.4899710965280382,"acceleration":-2.7,"pose":{"translation":{"x":7.068706353370726,"y":-2.3070758268950673},"rotation":{"radians":-2.034563405456838}},"curvature":-0.3294600185346016},{"time":1.7119114730269265,"velocity":1.3379194487398354,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.032068307796214,"y":-2.377773079001069},"rotation":{"radians":-2.064747104509842}},"curvature":-0.4399216872784071},{"time":1.7676117337250405,"velocity":1.1875287448549274,"acceleration":-2.7,"pose":{"translation":{"x":6.997656719471268,"y":-2.439114115667869},"rotation":{"radians":-2.101467131011381}},"curvature":-0.6243017215544429},{"time":1.8221431594281243,"velocity":1.040293895456601,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.965789108731271,"y":-2.490826670993634},"rotation":{"radians":-2.1478338626356113}},"curvature":-0.9388068028845457},{"time":1.8750311267951567,"velocity":0.8974963835656139,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.936647438260028,"y":-2.5329763718346676},"rotation":{"radians":-2.2081880495457282}},"curvature":-1.4818665318907704},{"time":1.9260491103410267,"velocity":0.7597478279917649,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.910260387336512,"y":-2.5660046596668717},"rotation":{"radians":-2.2879536229403787}},"curvature":-2.39507742000404},{"time":1.9509462729406097,"velocity":0.6925254889728903,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.898062530851734,"y":-2.5793483183090196},"rotation":{"radians":-2.336664233442283}},"curvature":-3.0225092551252013},{"time":1.9756123368228327,"velocity":0.6259271164908882,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.8864856260816145,"y":-2.5907667124471985},"rotation":{"radians":-2.391450278038916}},"curvature":-3.7370486015184476},{"time":2.000334632533119,"velocity":0.5591769180731152,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.875482253478922,"y":-2.6004376072065902},"rotation":{"radians":-2.4513985995970358}},"curvature":-4.444436732694084},{"time":2.0256138831254242,"velocity":0.49092294147389115,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.864992089704889,"y":-2.6085693664751215},"rotation":{"radians":-2.5140796747043557}},"curvature":-4.951976919791685},{"time":2.052333259353671,"velocity":0.4187806256576248,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.854941353699419,"y":-2.61540213796164},"rotation":{"radians":-2.5750408517708028}},"curvature":-4.970238408366828},{"time":2.082203426917947,"velocity":0.3381311732340795,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.845242252751303,"y":-2.6212090382540865},"rotation":{"radians":-2.627762206688829}},"curvature":-4.195902581911151},{"time":2.207437194782421,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.8264744033479845,"y":-2.6310096463529753},"rotation":{"radians":-2.677945044589006}},"curvature":-8.61988124756193E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/SixBallMid0.wpilib.json b/src/main/deploy/paths/SixBallMid0.wpilib.json new file mode 100644 index 0000000..9697957 --- /dev/null +++ b/src/main/deploy/paths/SixBallMid0.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.241057734845558,"velocity":0.6508558840830065,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.2065095854674475,"y":-2.3218236291658374},"rotation":{"radians":1.4813756721292652}},"curvature":-0.23682019043437622},{"time":0.3413462238092895,"velocity":0.9216348042850815,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.2144920400116974,"y":-2.243377360913824},"rotation":{"radians":1.454917761458827}},"curvature":-0.42576201763689586},{"time":0.41891023510025166,"velocity":1.1310576347706796,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.2251942805954354,"y":-2.1644925027916173},"rotation":{"radians":1.4151325512096895}},"curvature":-0.5652942275784931},{"time":0.485033699119182,"velocity":1.3095909876217915,"acceleration":1.198557825708184,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0851022911999886},"rotation":{"radians":1.3654713587791596}},"curvature":-0.6577310942169727},{"time":0.5460162839325096,"velocity":1.3826821418817183,"acceleration":-0.09664254151193248,"pose":{"translation":{"x":3.2585973431481516,"y":-2.005232567172635},"rotation":{"radians":1.3091243144298805}},"curvature":-0.7083161600470856},{"time":0.6067366321916278,"velocity":1.3768139731044675,"acceleration":0.056078716638971786,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9249924521559951},"rotation":{"radians":1.2488824795564184}},"curvature":-0.7244898416325155},{"time":0.6689099696895163,"velocity":1.3803005740805108,"acceleration":0.1547804484445089,"pose":{"translation":{"x":3.3123124503261456,"y":-1.844565023789062},"rotation":{"radians":1.1870383284988666}},"curvature":-0.7148635896682205},{"time":0.732304190496085,"velocity":1.3901127600057417,"acceleration":0.2103982966969226,"pose":{"translation":{"x":3.347702503129696,"y":-1.7641979916831971},"rotation":{"radians":1.1253401051571525}},"curvature":-0.6880320260809347},{"time":0.7967364279166413,"velocity":1.4036691930113985,"acceleration":0.23280173311870972,"pose":{"translation":{"x":3.388937040133019,"y":-1.684194373201945},"rotation":{"radians":1.065004679160645}},"curvature":-0.6515789195141447},{"time":0.8620547624805587,"velocity":1.4188754145023061,"acceleration":0.23088864679733498,"pose":{"translation":{"x":3.435952123650134,"y":-1.6049031692408469},"rotation":{"radians":1.006777432997644}},"curvature":-0.6115184355792523},{"time":0.9281194841468721,"velocity":1.4341290086888838,"acceleration":0.21222177317200774,"pose":{"translation":{"x":3.4885571567123694,"y":-1.526710040007253},"rotation":{"radians":0.951018464595247}},"curvature":-0.5721866543272143},{"time":0.9947872927323935,"velocity":1.4482773692403952,"acceleration":0.18271830275439588,"pose":{"translation":{"x":3.5464500344851415,"y":-1.4500279808001393},"rotation":{"radians":0.8977946082603232}},"curvature":-0.5364453773677413},{"time":1.061900352517623,"velocity":1.4605401536170066,"acceleration":0.14658686074019905,"pose":{"translation":{"x":3.6092322956847354,"y":-1.3752879977899195},"rotation":{"radians":0.8469628668079059}},"curvature":-0.5060275803559428},{"time":1.1292807138826122,"velocity":1.4704172292650406,"acceleration":0.10649570641795872,"pose":{"translation":{"x":3.676424273995083,"y":-1.3029297837982592},"rotation":{"radians":0.7982381560354028}},"curvature":-0.4818964199153621},{"time":1.1967296497350939,"velocity":1.4776002513357902,"acceleration":0.06387559089571403,"pose":{"translation":{"x":3.7474802494845436,"y":-1.2333923940778901},"rotation":{"radians":0.751243975385745}},"curvature":-0.46454985151642403},{"time":1.2640309657840656,"velocity":1.4818991626664775,"acceleration":0.019269616300747743,"pose":{"translation":{"x":3.8218036000226827,"y":-1.1671049220924246},"rotation":{"radians":0.7055480104280688}},"curvature":-0.45424867593529666},{"time":1.3309571960078612,"velocity":1.4831888054433455,"acceleration":-0.027311892934865002,"pose":{"translation":{"x":3.8987619526970523,"y":-1.1044771752961677},"rotation":{"radians":0.6606862029065328}},"curvature":-0.45117004060039156},{"time":1.3972776197336674,"velocity":1.4813774691311514,"acceleration":-0.07602490623349939,"pose":{"translation":{"x":3.9777023352299703,"y":-1.0458903509139337},"rotation":{"radians":0.6161792808148264}},"curvature":-0.4554955855641011},{"time":1.4627671006194463,"velocity":1.4763986374875295,"acceleration":-0.12676857025603222,"pose":{"translation":{"x":4.057966327395298,"y":-0.9916877117208573},"rotation":{"radians":0.5715458045066106}},"curvature":-0.4674399207316766},{"time":1.5272147641598541,"velocity":1.4682286993241702,"acceleration":-0.17863556576701026,"pose":{"translation":{"x":4.138905212435224,"y":-0.9421652618222098},"rotation":{"radians":0.5263159118657924}},"curvature":-0.48721532342589935},{"time":1.590431452927045,"velocity":1.456935950360326,"acceleration":-0.2291597090436514,"pose":{"translation":{"x":4.219895128477039,"y":-0.8975624224332113},"rotation":{"radians":0.4800503874072753}},"curvature":-0.514914663124024},{"time":1.6522547165397012,"velocity":1.4427685492587208,"acceleration":-0.2733089917486314,"pose":{"translation":{"x":4.300352219949918,"y":-0.858052707658846},"rotation":{"radians":0.43237050210611794}},"curvature":-0.5502783042303422},{"time":1.7125498410614521,"velocity":1.4262893495683229,"acceleration":-0.3022406193756772,"pose":{"translation":{"x":4.3797477890017005,"y":-0.8237344002736755},"rotation":{"radians":0.38300509676508365}},"curvature":-0.5922963376106968},{"time":1.771205213726376,"velocity":1.408561313404365,"acceleration":-0.301932659771223,"pose":{"translation":{"x":4.457623446915669,"y":-0.794621227501652},"rotation":{"radians":0.3318620281588008}},"curvature":-0.638596353997764},{"time":1.8281203979112544,"velocity":1.3913767604620557,"acceleration":-0.25183985881265725,"pose":{"translation":{"x":4.5336062655273235,"y":-0.770633036795934},"rotation":{"radians":0.2791301165865979}},"curvature":-0.6846031138647943},{"time":1.883186076418791,"velocity":1.3775090277612945,"acceleration":-0.853135730581628,"pose":{"translation":{"x":4.607423928641174,"y":-0.751586471618698},"rotation":{"radians":0.22541304675400947}},"curvature":-0.7225669573485112},{"time":1.9370285392585973,"velocity":1.3315740988901423,"acceleration":-2.699999999999998,"pose":{"translation":{"x":4.678919883447504,"y":-0.7371856472209546},"rotation":{"radians":0.17188576739499878}},"curvature":-0.7407736342310233},{"time":1.992654531738804,"velocity":1.1813839191935844,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.748068491939165,"y":-0.7270128264223612},"rotation":{"radians":0.1204455235478345}},"curvature":-0.7235395890805306},{"time":2.0538463235767033,"velocity":1.016166081231257,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.814990182328344,"y":-0.7205190953910354},"rotation":{"radians":0.07380665332979482}},"curvature":-0.6528042487689714},{"time":2.124517065276345,"velocity":0.825355078642223,"acceleration":-2.7,"pose":{"translation":{"x":4.87996660046335,"y":-0.7170150394233701},"rotation":{"radians":0.03546965101273601}},"curvature":-0.5119937898610332},{"time":2.4302041314401315,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":5.006107200045358,"y":-0.7154598441848505},"rotation":{"radians":-3.99680288865064E-15}},"curvature":-7.549516567451497E-15}] \ No newline at end of file diff --git a/src/main/deploy/paths/SixBallMid1.wpilib.json b/src/main/deploy/paths/SixBallMid1.wpilib.json new file mode 100644 index 0000000..1fcfcfc --- /dev/null +++ b/src/main/deploy/paths/SixBallMid1.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":5.006,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.26560616204123155,"velocity":0.7171366375113252,"acceleration":2.700000000000001,"pose":{"translation":{"x":5.101237954974175,"y":-0.715000133837411},"rotation":{"radians":-4.1496514143772375E-6}},"curvature":-8.439120542891601E-5},{"time":0.3755418080019105,"velocity":1.0139628816051585,"acceleration":2.7000000000000015,"pose":{"translation":{"x":5.1963927268981935,"y":-0.7150010200477351},"rotation":{"radians":-1.5566916778703903E-5}},"curvature":-1.531433592359381E-4},{"time":0.45975256131083786,"velocity":1.2413319155392624,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.291352763772011,"y":-0.7150032761523467},"rotation":{"radians":-3.281919824111288E-5}},"curvature":-2.0809210046916836E-4},{"time":0.5305335413392231,"velocity":1.4324405616159026,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.385978881835937,"y":-0.7150073815320199},"rotation":{"radians":-5.4628064762566565E-5}},"curvature":-2.5102787463788406E-4},{"time":0.5926137419852601,"velocity":1.6000571033602022,"acceleration":1.7616233327671682,"pose":{"translation":{"x":5.480107913374901,"y":-0.7150136872941142},"rotation":{"radians":-7.986386339002337E-5}},"curvature":-2.83602941002837E-4},{"time":0.6492510855336531,"velocity":1.6998307692610013,"acceleration":-1.618642537235751E-4,"pose":{"translation":{"x":5.573556354522705,"y":-0.7150224261397599},"rotation":{"radians":-1.0753486872715826E-4}},"curvature":-3.07275938946559E-4},{"time":0.703708212041964,"velocity":1.699821954598859,"acceleration":-9.558060076856542E-5,"pose":{"translation":{"x":5.666124013066292,"y":-0.7150337222310442},"rotation":{"radians":-1.3677316456550684E-4}},"curvature":-3.2328258941494175E-4},{"time":0.7575219555253974,"velocity":1.6998168110489273,"acceleration":-3.565667757010362E-5,"pose":{"translation":{"x":5.757597656250001,"y":-0.7150476010581972},"rotation":{"radians":-1.6681884584259307E-4}},"curvature":-3.326228999871516E-4},{"time":0.8105612321047558,"velocity":1.6998149198445438,"acceleration":2.0620985976386642E-5,"pose":{"translation":{"x":5.847754658579826,"y":-0.715063999306777},"rotation":{"radians":-1.970036246728839E-4}},"curvature":-3.3605720307272754E-4},{"time":0.8626915928733692,"velocity":1.6998159948239822,"acceleration":7.612797407786101E-5,"pose":{"translation":{"x":5.936366649627686,"y":-0.7150827747248557},"rotation":{"radians":-2.267345283137577E-4}},"curvature":-3.3410511000065975E-4},{"time":0.9137773666638485,"velocity":1.699819883880445,"acceleration":1.3403797148642016E-4,"pose":{"translation":{"x":6.023203161835671,"y":-0.7151037159902053},"rotation":{"radians":-2.554780823579629E-4}},"curvature":-3.270428558434214E-4},{"time":0.9636838028938515,"velocity":1.6998265732379214,"acceleration":1.9801974397020216E-4,"pose":{"translation":{"x":6.108035278320313,"y":-0.7151265525774831},"rotation":{"radians":-2.827451666545957E-4}},"curvature":-3.1489552676741375E-4},{"time":1.0122792145971,"velocity":1.699836196088905,"acceleration":2.725041863281043E-4,"pose":{"translation":{"x":6.190639280676843,"y":-0.7151509646254184},"rotation":{"radians":-3.080766026243413E-4}},"curvature":-2.9742137977722E-4},{"time":1.059437121565497,"velocity":1.6998490468159724,"acceleration":3.630343580963836E-4,"pose":{"translation":{"x":6.270800296783448,"y":-0.7151765928039965},"rotation":{"radians":-3.310294717533898E-4}},"curvature":-2.740860371375139E-4},{"time":1.105038393643873,"velocity":1.6998656016445097,"acceleration":4.7670999504396565E-4,"pose":{"translation":{"x":6.3483159486055385,"y":-0.7152030481816463},"rotation":{"radians":-3.511641773574364E-4}},"curvature":-2.4402502101658282E-4},{"time":1.148973394189874,"velocity":1.6998865458984023,"acceleration":6.227242300883394E-4,"pose":{"translation":{"x":6.423000000000001,"y":-0.7152299220924245},"rotation":{"radians":-3.6803235840971186E-4}},"curvature":-2.059943242003666E-4},{"time":1.1911441237674736,"velocity":1.6999128066335107,"acceleration":8.129491144905005E-4,"pose":{"translation":{"x":6.494686004519464,"y":-0.7152567960032029},"rotation":{"radians":-3.811659755577217E-4}},"curvature":-1.58311254330657E-4},{"time":1.231466364211058,"velocity":1.6999455865631736,"acceleration":0.0010624275510308508,"pose":{"translation":{"x":6.563230953216554,"y":-0.7152832513808527},"rotation":{"radians":-3.900682698212409E-4}},"curvature":-9.879298936442655E-5},{"time":1.269871823331935,"velocity":1.6999863895810536,"acceleration":-1.1176149536288589,"pose":{"translation":{"x":6.628518922448159,"y":-0.7153088795594308},"rotation":{"radians":-3.942079319109873E-4}},"curvature":-2.471047188454908E-5},{"time":1.3067580684990234,"velocity":1.6587617703990953,"acceleration":-2.7,"pose":{"translation":{"x":6.690464721679689,"y":-0.715333291607366},"rotation":{"radians":-3.930188464700522E-4}},"curvature":6.720568814785149E-5},{"time":1.3796242838165373,"velocity":1.4620229890418077,"acceleration":-2.7,"pose":{"translation":{"x":6.804164600372316,"y":-0.7153770694599936},"rotation":{"radians":-3.722874810951608E-4}},"curvature":3.192984868163592E-4},{"time":1.4531813456172147,"velocity":1.2634189221799788,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.904402343750003,"y":-0.715412243126652},"rotation":{"radians":-3.234795622395437E-4}},"curvature":6.815272352510909E-4},{"time":1.528567885890812,"velocity":1.059875263441266,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.9919748954772984,"y":-0.7154374180450894},"rotation":{"radians":-2.4489770884975466E-4}},"curvature":0.0011296207077533735},{"time":1.6090377433938088,"velocity":0.8426066481831752,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.0685211181640675,"y":-0.7154524626528294},"rotation":{"radians":-1.43629614104435E-4}},"curvature":0.0014770805957295724},{"time":1.7044707307238756,"velocity":0.5849375823919951,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.136638523101813,"y":-0.7154588241371141},"rotation":{"radians":-4.551855926430377E-5}},"curvature":0.0012543019646483913},{"time":1.9211142797579477,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.200000000000008,"y":-0.7154598441848493},"rotation":{"radians":0.0}},"curvature":3.552713678800261E-15}] \ No newline at end of file diff --git a/src/main/deploy/paths/SixBallMidComplete.wpilib.json b/src/main/deploy/paths/SixBallMidComplete.wpilib.json new file mode 100644 index 0000000..40512d6 --- /dev/null +++ b/src/main/deploy/paths/SixBallMidComplete.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24104312286019983,"velocity":0.6508164317225397,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.2063923239707948,"y":-2.3218234953284265},"rotation":{"radians":1.4857527840978701}},"curvature":-0.13003316961730046},{"time":0.34125642343054197,"velocity":0.9213923432624636,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.2136058807373047,"y":-2.2433763408660887},"rotation":{"radians":1.4709813552860977}},"curvature":-0.2416411635394689},{"time":0.41862951975667484,"velocity":1.1302997033430222,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.222373878955841,"y":-2.1644892266392706},"rotation":{"radians":1.4480070351506305}},"curvature":-0.33393289305160856},{"time":0.4843752197211856,"velocity":1.3078130932472012,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.23333740234375,"y":-2.0850949096679687},"rotation":{"radians":1.418153476722264}},"curvature":-0.40799291240160246},{"time":0.5428188459431846,"velocity":1.4656108840465984,"acceleration":-0.12363267963904842,"pose":{"translation":{"x":3.247049701213837,"y":-2.005218879878521},"rotation":{"radians":1.3826311795834407}},"curvature":-0.4659998167211871},{"time":0.5989114443624675,"velocity":1.4586760057961055,"acceleration":-0.23878049786970917,"pose":{"translation":{"x":3.263980484008789,"y":-1.9249700260162352},"rotation":{"radians":1.3424938853817683}},"curvature":-0.5106186292535235},{"time":0.656093483931331,"velocity":1.4450220499186468,"acceleration":-0.17582458312750424,"pose":{"translation":{"x":3.284520208835602,"y":-1.8445313015580176},"rotation":{"radians":1.2986210341256466}},"curvature":-0.5446069018648376},{"time":0.7144460101119858,"velocity":1.4347622413284964,"acceleration":-0.13307656507771634,"pose":{"translation":{"x":3.308984375,"y":-1.7641503906249998},"rotation":{"radians":1.2517175479138372}},"curvature":-0.5705719275620846},{"time":0.7738450156145333,"velocity":1.426857625707185,"acceleration":-0.10571177853926464,"pose":{"translation":{"x":3.337617814540863,"y":-1.6841303738951683},"rotation":{"radians":1.2023248883292088}},"curvature":-0.5908312113511963},{"time":0.8341780829208127,"velocity":1.420479709857509,"acceleration":-0.08976520784153569,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6048203945159911},"rotation":{"radians":1.1508391887199425}},"curvature":-0.6073419696862633},{"time":0.8953429670423647,"velocity":1.4149892313217345,"acceleration":-0.08191722568263685,"pose":{"translation":{"x":3.4080442547798158,"y":-1.5266063240170478},"rotation":{"radians":1.0975335619661353}},"curvature":-0.621674601346085},{"time":0.9572461651384423,"velocity":1.4099182930728211,"acceleration":-0.07932481308319937,"pose":{"translation":{"x":3.45001220703125,"y":-1.449901428222656},"rotation":{"radians":1.0425826601190191}},"curvature":-0.6350112021866137},{"time":1.0198016941975718,"velocity":1.404956087422885,"acceleration":-0.07948863640008091,"pose":{"translation":{"x":3.4965079188346864,"y":-1.3751370331645012},"rotation":{"radians":0.9860883281959857}},"curvature":-0.6481550334261905},{"time":1.0829301018210549,"velocity":1.3999380963827859,"acceleration":-0.08015206912118296,"pose":{"translation":{"x":3.547487258911133,"y":-1.3027531909942627},"rotation":{"radians":0.9281057752826144}},"curvature":-0.6615413844839425},{"time":1.146557600543031,"velocity":1.394838220707214,"acceleration":-0.07923440840802286,"pose":{"translation":{"x":3.602861177921295,"y":-1.233189345896244},"rotation":{"radians":0.8686700639277289}},"curvature":-0.6752448631775445},{"time":1.2106151395445883,"velocity":1.3897626595003518,"acceleration":-0.07480385075761357,"pose":{"translation":{"x":3.6624999999999996,"y":-1.1668749999999999},"rotation":{"radians":0.8078228647022838}},"curvature":-0.6889828628777236},{"time":1.2750372072434193,"velocity":1.3849436407627116,"acceleration":-0.06509475812905682,"pose":{"translation":{"x":3.726237714290619,"y":-1.1042203792929648},"rotation":{"radians":0.745639315828271}},"curvature":-0.7021196688913226},{"time":1.3397601915745783,"velocity":1.380730513752284,"acceleration":-0.04856760891892339,"pose":{"translation":{"x":3.793876266479492,"y":-1.045607099533081},"rotation":{"radians":0.68225447169036}},"curvature":-0.71367992457469},{"time":1.4047202049596175,"velocity":1.3775755612268314,"acceleration":-0.023998991327275822,"pose":{"translation":{"x":3.8651898503303523,"y":-0.9913788321614265},"rotation":{"radians":0.6178882696500003}},"curvature":-0.7223829927855778},{"time":1.4698503918277483,"velocity":1.3760125024370393,"acceleration":0.009425020866650225,"pose":{"translation":{"x":3.9399291992187493,"y":-0.9418319702148437},"rotation":{"radians":0.5528673168364797}},"curvature":-0.7267095396737598},{"time":1.535077848801426,"velocity":1.3766272725800948,"acceleration":0.05205176529824429,"pose":{"translation":{"x":4.017825877666472,"y":-0.8972062942385672},"rotation":{"radians":0.48764131303933056}},"curvature":-0.7250066836520244},{"time":1.6003203604517349,"velocity":1.3800232604839846,"acceleration":0.10378762257480224,"pose":{"translation":{"x":4.098596572875976,"y":-0.8576756381988526},"rotation":{"radians":0.4227918675196265}},"curvature":-0.715627451832997},{"time":1.665483145837002,"velocity":1.3867863510594736,"acceleration":0.16424958779401677,"pose":{"translation":{"x":4.1819473862648,"y":-0.8233385553956034},"rotation":{"radians":0.3590321072445168}},"curvature":-0.6970855981440633},{"time":1.7304557025837932,"velocity":1.3974580667230574,"acceleration":0.2330731468720872,"pose":{"translation":{"x":4.267578124999998,"y":-0.794208984375},"rotation":{"radians":0.29719692634159106}},"curvature":-0.668192786058002},{"time":1.7951086483327998,"velocity":1.4125269322433287,"acceleration":0.31039116241082515,"pose":{"translation":{"x":4.35518659353256,"y":-0.7702069148421291},"rotation":{"radians":0.23822580998113968}},"curvature":-0.6281385045136234},{"time":1.859290265714348,"velocity":1.4324483390677942,"acceleration":0.3974925676686374,"pose":{"translation":{"x":4.444472885131834,"y":-0.751149053573609},"rotation":{"radians":0.18314236815259385}},"curvature":-0.5764792409963189},{"time":1.922822358232916,"velocity":1.4577018736523613,"acceleration":0.4976892074994749,"pose":{"translation":{"x":4.53514367341995,"y":-0.7367394903302198},"rotation":{"radians":0.1330363391804617}},"curvature":-0.5130224065785399},{"time":1.9854951125589597,"velocity":1.4888934270846992,"acceleration":0.6174792927963386,"pose":{"translation":{"x":4.626916503906247,"y":-0.7265603637695319},"rotation":{"radians":0.08905427201814982}},"curvature":-0.43761593999910725},{"time":2.047060989445588,"velocity":1.5269090812050408,"acceleration":0.7682064361829994,"pose":{"translation":{"x":4.7195240855216944,"y":-0.7200625273585326},"rotation":{"radians":0.052404113332160406}},"curvature":-0.3498775646988902},{"time":2.107228253203399,"velocity":1.5731299604713114,"acceleration":0.9685643952029747,"pose":{"translation":{"x":4.812718582153316,"y":-0.7165562152862552},"rotation":{"radians":0.024376580770117368}},"curvature":-0.24891407952009473},{"time":2.1656556590359175,"velocity":1.6297206654647636,"acceleration":1.248398336461174,"pose":{"translation":{"x":4.906275904178614,"y":-0.7152017083764088},"rotation":{"radians":0.0063825391669578325}},"curvature":-0.13309736505149056},{"time":2.221951259953214,"velocity":1.6999999999999984,"acceleration":2.843979367649469E-14,"pose":{"translation":{"x":4.999999999999995,"y":-0.7150000000000012},"rotation":{"radians":-2.0724163126336422E-15}},"curvature":-2.9605947323338176E-15},{"time":2.2770632519617626,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3319714486775105,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.386489936201094,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.440451733873254,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.49370816316683,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.5461282165787624,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.597597926522085,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6480197342179226,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6973118585874882,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.7454076651440773,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.792255034885068,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.8378157331839153,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.882064778682146,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.924989812181359,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.9665904655352184,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.006877730541452,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.334375,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.0458733278338475,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.400667515397072,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.083609075774248,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.464818286895753,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.1554749990386948,"velocity":1.7,"acceleration":-0.8670174294348908,"pose":{"translation":{"x":6.5869903564453125,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.2241092626820116,"velocity":1.6404928971648147,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.701626491546631,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.293986626673893,"velocity":1.4518240143867347,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.80966796875,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.370001653212677,"velocity":1.2465834427320184,"acceleration":-2.7,"pose":{"translation":{"x":6.912227725982667,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.457094277398368,"velocity":1.0114333574306535,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.010556030273439,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.5678335818442313,"velocity":0.7124372354268221,"acceleration":-2.7,"pose":{"translation":{"x":7.106006145477297,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.831699224594906,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":7.200000000000003,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0}] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a21de35..c982f8e 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -33,6 +33,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.DriveConstants; import frc4388.robot.Constants.OIConstants; +import frc4388.robot.commands.auto.EightBallAutoMiddle; import frc4388.robot.commands.auto.SixBallAutoMiddle; import frc4388.robot.commands.auto.Wait; import frc4388.robot.commands.climber.DisengageRachet; @@ -94,6 +95,8 @@ public class RobotContainer { SixBallAutoMiddle m_sixBallAutoMiddle; double m_totalTimeAuto; + EightBallAutoMiddle m_eightBallAutoMiddle; + /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -242,10 +245,14 @@ public class RobotContainer { public void buildAutos() { String[] sixBallAutoMiddlePaths = new String[]{ - "FirstPath0", - "FirstPath1" + "SixBallMidComplete" }; m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths)); + + String[] eightBallAutoMiddlePaths = new String[]{ + "EightBallMidComplete" + }; + m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths)); } /** @@ -262,7 +269,10 @@ public class RobotContainer { // Run path following command, then stop at the end. try { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); + return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + } catch (Exception e) { System.err.println("ERROR"); } diff --git a/src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java new file mode 100644 index 0000000..1c0f863 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot.commands.auto; + +import edu.wpi.first.wpilibj2.command.RamseteCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.subsystems.Drive; + +// NOTE: Consider using this command inline, rather than writing a subclass. For more +// information, see: +// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html +public class EightBallAutoMiddle extends SequentialCommandGroup { + /** + * Creates a new EightBallAutoMiddle. + */ + public EightBallAutoMiddle(Drive drive, RamseteCommand[] paths) { + // Add your commands in the super() call, e.g. + // super(new FooCommand(), new BarCommand()); + + addCommands( + paths[0] + ); + } +} diff --git a/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java index c1e9f38..9900c65 100644 --- a/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java +++ b/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java @@ -29,8 +29,7 @@ public class SixBallAutoMiddle extends SequentialCommandGroup { // super(new FooCommand(), new BarCommand()); addCommands( - paths[0], - paths[1] + paths[0] ); } }