tweak pathing for backup auto

blair-robot-project · Jan 20, 2025 · 55e424e · 55e424e
1 parent 5480ad4
commit 55e424e
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Showing 6 changed files with 722 additions and 743 deletions.
diff --git a/src/main/deploy/choreo/ThreeL4/1.traj b/src/main/deploy/choreo/ThreeL4/1.traj
diff --git a/src/main/deploy/choreo/ThreeL4/2.traj b/src/main/deploy/choreo/ThreeL4/2.traj
diff --git a/src/main/deploy/choreo/ThreeL4/3.traj b/src/main/deploy/choreo/ThreeL4/3.traj
diff --git a/src/main/deploy/choreo/ThreeL4/4.traj b/src/main/deploy/choreo/ThreeL4/4.traj
diff --git a/src/main/deploy/choreo/ThreeL4/5.traj b/src/main/deploy/choreo/ThreeL4/5.traj
@@ -4,60 +4,60 @@
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+    {"from":"last", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}],
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+    {"t":0.70321, "x":2.42674, "y":1.76937, "heading":0.97042, "vx":2.49942, "vy":2.83345, "omega":0.00062, "ax":-2.66437, "ay":-3.03832, "alpha":6.96369, "fx":[-62.18063,-30.97433,-13.46995,-62.57042], "fy":[-44.59235,-69.21692,-59.96326,-19.16958]},
+    {"t":0.73837, "x":2.51298, "y":1.86711, "heading":0.97044, "vx":2.40574, "vy":2.72663, "omega":0.24547, "ax":-3.7963, "ay":-4.30202, "alpha":0.70177, "fx":[-62.51706,-57.48179,-57.85094,-63.22618], "fy":[-66.4444,-70.82571,-70.34152,-65.57912]},
+    {"t":0.77354, "x":2.59522, "y":1.96032, "heading":0.97907, "vx":2.27226, "vy":2.57536, "omega":0.27014, "ax":-3.83594, "ay":-4.34728, "alpha":0.32635, "fx":[-61.95138,-59.54653,-59.8084,-62.28729], "fy":[-68.11789,-70.22434,-69.95702,-67.76564]},
+    {"t":0.8087, "x":2.67274, "y":2.04819, "heading":0.98857, "vx":2.13739, "vy":2.42251, "omega":0.28162, "ax":-3.84935, "ay":-4.36259, "alpha":0.18661, "fx":[-61.71003,-60.32304,-60.50039,-61.91137], "fy":[-68.74259,-69.96052,-69.79007,-68.54401]},
+    {"t":0.84386, "x":2.74551, "y":2.13067, "heading":0.99847, "vx":2.00204, "vy":2.26912, "omega":0.28818, "ax":-3.85605, "ay":-4.37026, "alpha":0.11353, "fx":[-61.57853,-60.73163,-60.85244,-61.70811], "fy":[-69.06787,-69.81256,-69.69942,-68.94423]},
+    {"t":0.87902, "x":2.81352, "y":2.20775, "heading":1.00861, "vx":1.86646, "vy":2.11546, "omega":0.29217, "ax":-3.86007, "ay":-4.37486, "alpha":0.06859, "fx":[-61.49696,-60.98452,-61.06436,-61.57994], "fy":[-69.26638,-69.71736,-69.64364,-69.1888]},
+    {"t":0.91418, "x":2.87676, "y":2.27943, "heading":1.01888, "vx":1.73074, "vy":1.96163, "omega":0.29458, "ax":-3.86274, "ay":-4.37792, "alpha":0.03816, "fx":[-61.44222,-61.15705,-61.20501,-61.49113], "fy":[-69.39942,-69.65055,-69.60664,-69.35431]},
+    {"t":0.94934, "x":2.93523, "y":2.34569, "heading":1.02924, "vx":1.59492, "vy":1.8077, "omega":0.29592, "ax":-3.86464, "ay":-4.38011, "alpha":0.01619, "fx":[-61.40356,-61.28266,-61.30444,-61.42551], "fy":[-69.49423,-69.60074,-69.58092,-69.47419]},
+    {"t":0.9845, "x":2.98892, "y":2.40655, "heading":1.03964, "vx":1.45904, "vy":1.6537, "omega":0.29649, "ax":-3.86562, "ay":-4.38215, "alpha":-0.00038, "fx":[-61.36841,-61.37096,-61.37111,-61.36783], "fy":[-69.57084,-69.56859,-69.56847,-69.57136]},
+    {"t":1.01966, "x":3.03783, "y":2.46198, "heading":1.05007, "vx":1.32312, "vy":1.49962, "omega":0.29648, "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":[]

diff --git a/src/main/deploy/choreo/ThreeL4/ThreeL4.chor b/src/main/deploy/choreo/ThreeL4/ThreeL4.chor
@@ -44,12 +44,12 @@
    "val":0.0508
   },
   "vmax":{
-   "exp":"5000 RPM",
-   "val":523.5987755982989
+   "exp":"4800 RPM",
+   "val":502.6548245743669
   },
   "tmax":{
-   "exp":"0.75 N * m",
-   "val":0.75
+   "exp":"0.7 N * m",
+   "val":0.7
   },
   "cof":{
    "exp":"0.8",