Bump Autoalign

src/main/deploy/choreo/DLOtoDLT.traj

@@ -29,31 +29,31 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
   "waypoints":[0.0,2.44129],
   "samples":[
-    {"t":0.0, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.0, "vy":-1.4988, "omega":0.0, "ax":0.0, "ay":-0.01812, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.23522,-0.23522,-0.23522,-0.23522]},
+    {"t":0.0, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.0, "vy":-1.4988, "omega":0.0, "ax":0.0, "ay":-0.01813, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.27996,-0.27996,-0.27996,-0.27996]},
     {"t":0.04982, "x":8.57957, "y":5.79115, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
     {"t":0.09964, "x":8.57957, "y":5.71643, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
     {"t":0.14947, "x":8.57957, "y":5.64172, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
@@ -101,7 +101,7 @@
     {"t":2.242, "x":8.57957, "y":2.50355, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
     {"t":2.29182, "x":8.57957, "y":2.42883, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
     {"t":2.34164, "x":8.57957, "y":2.35411, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":2.39147, "x":8.57957, "y":2.27939, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.00604, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.07843,0.07843,0.07843,0.07843]},
+    {"t":2.39147, "x":8.57957, "y":2.27939, "heading":-1.5708, "vx":0.0, "vy":-1.4997, "omega":0.0, "ax":0.0, "ay":0.00604, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.09335,0.09335,0.09335,0.09335]},
     {"t":2.44129, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":0.0, "vy":-1.4994, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },

src/main/deploy/choreo/DLTtoDRO.traj

@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -29,44 +29,45 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.40014],
+  "waypoints":[0.0,0.40319],
   "samples":[
-    {"t":0.0, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":-1.49714, "vy":0.0521, "omega":-7.98003, "ax":-0.04752, "ay":0.00189, "alpha":0.14692, "fx":[-0.20007,-1.03341,-1.03342,-0.20007], "fy":[0.44125,0.44122,-0.3922,-0.3922]},
-    {"t":0.03078, "x":8.53347, "y":2.20628, "heading":-1.81642, "vx":-1.4986, "vy":0.05215, "omega":-7.9755, "ax":0.0, "ay":0.00005, "alpha":0.28887, "fx":[0.99395,-0.59546,-0.99391,0.5955], "fy":[0.59617,0.99461,-0.5948,-0.99324]},
-    {"t":0.06156, "x":8.48734, "y":2.20789, "heading":-2.0619, "vx":-1.4986, "vy":0.05215, "omega":-7.96661, "ax":-0.00001, "ay":-0.00015, "alpha":0.41463, "fx":[1.59152,-0.48246,-1.59166,0.48232], "fy":[0.48039,1.58959,-0.48439,-1.59359]},
-    {"t":0.09234, "x":8.44121, "y":2.2095, "heading":-2.30711, "vx":-1.4986, "vy":0.05215, "omega":-7.95385, "ax":-0.00001, "ay":-0.00022, "alpha":0.53441, "fx":[2.14085,-0.10526,-2.14105,0.10506], "fy":[0.10231,2.13811,-0.108,-2.14379]},
-    {"t":0.12312, "x":8.39509, "y":2.2111, "heading":-2.55193, "vx":-1.49861, "vy":0.05214, "omega":-7.9374, "ax":0.0, "ay":-0.00009, "alpha":0.67464, "fx":[2.65425,0.52626,-2.65433,-0.52634], "fy":[-0.52744,2.65315,0.52515,-2.65544]},
-    {"t":0.1539, "x":8.34896, "y":2.21271, "heading":-2.79624, "vx":-1.49861, "vy":0.05214, "omega":-7.91664, "ax":0.0, "ay":0.00011, "alpha":0.86027, "fx":[3.12186,1.46993,-3.12176,-1.46983], "fy":[-1.46842,3.12328,1.47135,-3.12035]},
-    {"t":0.18468, "x":8.30283, "y":2.21431, "heading":-3.03991, "vx":-1.49861, "vy":0.05214, "omega":-7.89016, "ax":0.00001, "ay":0.0002, "alpha":1.09639, "fx":[3.40922,2.77797,-3.40903,-2.77779], "fy":[-2.77523,3.41177,2.78054,-3.40647]},
-    {"t":0.21546, "x":8.25671, "y":2.21592, "heading":3.00042, "vx":-1.4986, "vy":0.05215, "omega":-7.85641, "ax":0.0, "ay":0.00012, "alpha":1.3704, "fx":[3.30118,4.395,-3.30108,-4.3949], "fy":[-4.39345,3.30263,4.39645,-3.29963]},
-    {"t":0.24624, "x":8.21058, "y":2.21752, "heading":2.7586, "vx":-1.4986, "vy":0.05215, "omega":-7.81423, "ax":0.0, "ay":-0.00006, "alpha":1.67105, "fx":[2.62489,6.16717,-2.62495,-6.16722], "fy":[-6.16802,2.6241,6.16637,-2.62574]},
-    {"t":0.27702, "x":8.16445, "y":2.21913, "heading":2.51808, "vx":-1.4986, "vy":0.05215, "omega":-7.7628, "ax":-0.00001, "ay":-0.00017, "alpha":2.00348, "fx":[1.29511,7.9308,-1.29527,-7.93096], "fy":[-7.93309,1.29296,7.92866,-1.29742]},
-    {"t":0.3078, "x":8.11833, "y":2.22073, "heading":2.27914, "vx":-1.4986, "vy":0.05215, "omega":-7.70113, "ax":0.0, "ay":-0.00013, "alpha":2.39118, "fx":[-0.73835,9.56247,0.73823,-9.56258], "fy":[-9.56413,-0.73992,9.5609,0.73666]},
-    {"t":0.33858, "x":8.0722, "y":2.22234, "heading":2.0421, "vx":-1.49861, "vy":0.05214, "omega":-7.62753, "ax":0.0, "ay":0.00001, "alpha":2.86151, "fx":[-3.546,10.91598,3.54601,-10.91597], "fy":[-10.91579,-3.54582,10.91614,3.54618]},
-    {"t":0.36936, "x":8.02607, "y":2.22394, "heading":1.80733, "vx":-1.49861, "vy":0.05214, "omega":-7.53945, "ax":0.01585, "ay":-0.00046, "alpha":3.43052, "fx":[-6.97245,11.94396,7.38508,-11.53356], "fy":[-11.74558,-7.18366,11.73159,7.17373]},
-    {"t":0.40014, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":-1.49812, "vy":0.05213, "omega":-7.43386, "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]}],
+    {"t":0.0, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":-1.4882, "vy":0.00107, "omega":-8.20179, "ax":0.7757, "ay":10.76025, "alpha":2.47017, "fx":[20.30375,3.17123,3.30278,21.13948], "fy":[171.32744,171.80273,161.02778,160.53268]},
+    {"t":0.0288, "x":8.53703, "y":2.20917, "heading":-1.807, "vx":-1.46586, "vy":0.31096, "omega":-8.13065, "ax":-0.43185, "ay":-2.30619, "alpha":15.43055, "fx":[48.20028,-41.0271,-59.17586,25.32586], "fy":[-3.95305,17.54741,-67.96414,-88.09]},
+    {"t":0.0576, "x":8.49464, "y":2.21717, "heading":-2.04116, "vx":-1.47829, "vy":0.24455, "omega":-7.68626, "ax":-0.5273, "ay":-4.30039, "alpha":8.78932, "fx":[27.33681,-20.43735,-42.57147,3.09924], "fy":[-56.62059,-33.25767,-77.17097,-98.59777]},
+    {"t":0.0864, "x":8.45185, "y":2.22243, "heading":-2.26252, "vx":-1.49348, "vy":0.1207, "omega":-7.43314, "ax":-0.16933, "ay":-4.28163, "alpha":0.682, "fx":[0.23611,-2.89204,-5.46398,-2.33999], "fy":[-65.88559,-63.47348,-66.36599,-68.76301]},
+    {"t":0.1152, "x":8.40876, "y":2.22413, "heading":-2.47659, "vx":-1.49836, "vy":-0.00261, "omega":-7.41349, "ax":0.16166, "ay":-4.02989, "alpha":-6.86064, "fx":[-26.07647,-0.90635,30.82839,6.14061], "fy":[-59.44842,-88.53893,-65.74011,-35.21035]},
+    {"t":0.144, "x":8.36568, "y":2.22239, "heading":-2.6901, "vx":-1.4937, "vy":-0.11867, "omega":-7.61108, "ax":0.32599, "ay":-3.02121, "alpha":-13.64821, "fx":[-48.87779,-12.76377,57.17573,24.60329], "fy":[-29.98089,-97.13343,-65.01662,5.50244]},
+    {"t":0.1728, "x":8.3228, "y":2.21772, "heading":-2.90929, "vx":-1.48431, "vy":-0.20568, "omega":-8.00414, "ax":-0.49467, "ay":7.10753, "alpha":-6.04281, "fx":[-29.82129,-22.71203,15.70781,6.26855], "fy":[121.13704,90.75231,98.7277,128.4347]},
+    {"t":0.2016, "x":8.27984, "y":2.21474, "heading":-3.1398, "vx":-1.49856, "vy":-0.00099, "omega":-8.17817, "ax":1.12932, "ay":10.80249, "alpha":1.5207, "fx":[23.11795,22.52941,11.89573,12.21788], "fy":[163.29169,169.93357,170.35292,163.72188]},
+    {"t":0.2304, "x":8.23715, "y":2.21919, "heading":2.90785, "vx":-1.46604, "vy":0.31012, "omega":-8.13437, "ax":-0.4137, "ay":-2.20546, "alpha":15.39845, "fx":[25.675,48.19471,-40.70419,-58.72072], "fy":[-86.40435,-2.26234,18.92901,-66.50005]},
+    {"t":0.25919, "x":8.19476, "y":2.22721, "heading":2.67359, "vx":-1.47795, "vy":0.2466, "omega":-7.69091, "ax":-0.53453, "ay":-4.31518, "alpha":8.89818, "fx":[3.20728,27.6547,-20.80593,-43.07541], "fy":[-99.18887,-56.66343,-33.10138,-77.60678]},
+    {"t":0.28799, "x":8.15198, "y":2.23252, "heading":2.45209, "vx":-1.49334, "vy":0.12233, "omega":-7.43464, "ax":-0.17398, "ay":-4.30254, "alpha":0.7637, "fx":[-2.3715,0.50642,-3.00471,-5.87727], "fy":[-69.40005,-66.1745,-63.48029,-66.72482]},
+    {"t":0.31679, "x":8.1089, "y":2.23426, "heading":2.23798, "vx":-1.49835, "vy":-0.00158, "omega":-7.41265, "ax":0.15963, "ay":-4.03942, "alpha":-6.79211, "fx":[6.008,-25.83168,-0.84472,30.52912], "fy":[-35.62779,-59.67826,-88.42786,-65.79252]},
+    {"t":0.34559, "x":8.06581, "y":2.23254, "heading":2.0245, "vx":-1.49376, "vy":-0.11791, "omega":-7.60826, "ax":0.28998, "ay":-2.76985, "alpha":-13.27084, "fx":[23.19222,-47.75147,-12.71918,55.19137], "fy":[8.03071,-26.49613,-92.10163,-60.53431]},
+    {"t":0.37439, "x":8.02291, "y":2.22799, "heading":1.80539, "vx":-1.48541, "vy":-0.19768, "omega":-7.99045, "ax":-0.43149, "ay":7.82436, "alpha":31.12293, "fx":[-101.59515,128.60039,55.17774,-108.83731], "fy":[20.73364,71.10906,210.90753,180.58253]},
+    {"t":0.40319, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":-1.49783, "vy":0.02765, "omega":-7.09413, "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":[]