Merge pull request #45 from Montana-State-Ri3D/testingSim

changes from sim testing

Author: CodeCreator3

src/main/deploy/choreo/Path1.traj

@@ -1,9 +1,9 @@
 {
  "name":"Path2",
- "version":3,
+ "version":1,
  "snapshot":{
   "waypoints":[
-    {"x":2.1059720516204834, "y":4.87034797668457, "heading":-0.34877118504052, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.1059720516204834, "y":4.87034797668457, "heading":-0.34877118504052, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.6072593927383425, "y":4.205398082733154, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -13,7 +13,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"2.1059720516204834 m", "val":2.1059720516204834}, "y":{"exp":"4.87034797668457 m", "val":4.87034797668457}, "heading":{"exp":"-0.34877118504052 rad", "val":-0.34877118504052}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.1059720516204834 m", "val":2.1059720516204834}, "y":{"exp":"4.87034797668457 m", "val":4.87034797668457}, "heading":{"exp":"-0.34877118504052 rad", "val":-0.34877118504052}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.6072593927383423 m", "val":1.6072593927383425}, "y":{"exp":"4.205398082733154 m", "val":4.205398082733154}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -25,68 +25,28 @@
   }
  },
  "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.321,
-    "y":0.2921
-   },
-   "backLeft":{
-    "x":-0.321,
-    "y":-0.2921
-   },
-   "mass":68.0388555,
-   "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":0.3,
-   "cof":1.5,
-   "bumper":{
-    "front":0.4064,
-    "side":0.4064,
-    "back":0.4064
-   },
-   "differentialTrackWidth":0.5588
-  },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.22026],
+  "waypoints":[0.0,0.61024],
   "samples":[
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-    {"t":0.03486, "x":2.10516, "y":4.86926, "heading":-0.34877, "vx":-0.04678, "vy":-0.06241, "omega":0.03238, "ax":-1.34153, "ay":-1.78993, "alpha":0.92851, "fx":[-27.76769,-18.47919,-24.95781,-20.07136], "fy":[-26.42723,-33.59501,-29.10998,-32.65281]},
-    {"t":0.06973, "x":2.10271, "y":4.866, "heading":-0.34764, "vx":-0.09355, "vy":-0.12481, "omega":0.06475, "ax":-1.34142, "ay":-1.78978, "alpha":0.92837, "fx":[-27.76637,-18.47477,-24.95103,-20.07681], "fy":[-26.42356,-33.5941,-29.11215,-32.64496]},
-    {"t":0.10459, "x":2.09863, "y":4.86056, "heading":-0.34538, "vx":-0.14032, "vy":-0.18721, "omega":0.09712, "ax":-1.34131, "ay":-1.78961, "alpha":0.92828, "fx":[-27.76685,-18.46624,-24.93932,-20.08867], "fy":[-26.4173,-33.59496,-29.11802,-32.63251]},
-    {"t":0.13946, "x":2.09293, "y":4.85294, "heading":-0.342, "vx":-0.18708, "vy":-0.24961, "omega":0.12948, "ax":-1.34118, "ay":-1.7894, "alpha":0.92824, "fx":[-27.769,-18.4536,-24.92262,-20.1069], "fy":[-26.40841,-33.59748,-29.12752,-32.61533]},
-    {"t":0.17432, "x":2.08559, "y":4.84315, "heading":-0.33748, "vx":-0.23384, "vy":-0.312, "omega":0.16184, "ax":-1.34102, "ay":-1.78916, "alpha":0.92827, "fx":[-27.77266,-18.4368,-24.90084,-20.13143], "fy":[-26.39685,-33.60152,-29.14055,-32.59323]},
-    {"t":0.20919, "x":2.07662, "y":4.83119, "heading":-0.33184, "vx":-0.28059, "vy":-0.37437, "omega":0.19421, "ax":-1.34084, "ay":-1.78887, "alpha":0.92835, "fx":[-27.7776,-18.41582,-24.87386,-20.1622], "fy":[-26.38255,-33.60691,-29.157,-32.56596]},
-    {"t":0.24405, "x":2.06602, "y":4.81705, "heading":-0.32507, "vx":-0.32734, "vy":-0.43674, "omega":0.22657, "ax":-1.34063, "ay":-1.78852, "alpha":0.9285, "fx":[-27.78352,-18.39059,-24.84151,-20.19911], "fy":[-26.36542,-33.61337,-29.17668,-32.53317]},
-    {"t":0.27892, "x":2.0538, "y":4.80073, "heading":-0.31717, "vx":-0.37408, "vy":-0.4991, "omega":0.25895, "ax":-1.34036, "ay":-1.78809, "alpha":0.92873, "fx":[-27.79001,-18.36102,-24.80354,-20.24197], "fy":[-26.34529,-33.62054,-29.19934,-32.49439]},
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-    {"t":0.38351, "x":2.00734, "y":4.73875, "heading":-0.2867, "vx":-0.51424, "vy":-0.68606, "omega":0.35612, "ax":-1.33898, "ay":-1.78596, "alpha":0.93003, "fx":[-27.80567,-18.24363,-24.6514,-20.40218], "fy":[-26.26249,-33.63938,-29.28,-32.3331]},
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-    {"t":0.45324, "x":1.96823, "y":4.68657, "heading":-0.26074, "vx":-0.60757, "vy":-0.81055, "omega":0.421, "ax":-1.33684, "ay":-1.78282, "alpha":0.93168, "fx":[-27.79542,-18.13301,-24.50635,-20.52237], "fy":[-26.17428,-33.63167,-29.33006,-32.1653]},
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