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Merged
spellingcat merged 29 commits into from
Feb 17, 2026
Merged

Alpha autos #23

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a295449
autos
vivi-o Jan 14, 2026
65bd9aa
debug outline commands for autos
vivi-o Jan 15, 2026
16aa438
import autp trajectories
vivi-o Jan 18, 2026
efccd48
adding action paths in autos
vivi-o Jan 18, 2026
1ef61d8
update auto paths for each auto
vivi-o Jan 19, 2026
fbe11c0
debugging and renaming
vivi-o Jan 19, 2026
d33809c
Merge branch 'main' into feature/autos
vivi-o Jan 19, 2026
bad1b3b
Merge branch 'main' into feature/autos
vivi-o Jan 19, 2026
f24f5f5
shoot preload at the start of each auto routine
vivi-o Jan 22, 2026
41f9041
fix running path twice
vivi-o Jan 23, 2026
5d16c8f
add autos to auto chooser
vivi-o Jan 24, 2026
7b72ec6
Merge branch 'main' into feature/autos
vivi-o Jan 24, 2026
8ba7f00
use alphabot not compbot
vivi-o Jan 25, 2026
9020bd1
Merge branch 'main' into feature/autos
vivi-o Jan 25, 2026
a540d72
make autos actually run
vivi-o Jan 25, 2026
b5638a3
robot config in choreo and updated choreo trajs
vivi-o Jan 28, 2026
fdc78aa
Merge branch 'feature/alpha-sotm' into feature/autos
vivi-o Jan 28, 2026
790aa14
add test auto
vivi-o Jan 29, 2026
d4b30a7
tunning autos and trying to fix auto scoring issue not very successfull
vivi-o Jan 30, 2026
78f8e43
update auto paths
vivi-o Jan 31, 2026
21d4b1f
autos tweaks
vivi-o Jan 31, 2026
767b4ed
adjust auto trajectories, rename pos varibles, adjust auto aim req logic
vivi-o Feb 1, 2026
f610088
fix feeding paths
vivi-o Feb 1, 2026
ccc6085
update paths to use midpoint for crossing the zones
vivi-o Feb 4, 2026
ec86e52
auto tweaks
vivi-o Feb 5, 2026
0492cc5
update feeding autos
vivi-o Feb 6, 2026
f16e2c6
Merge branch 'main' into feature/autos
spellingcat Feb 17, 2026
c1c20ad
fry me to the moon
spellingcat Feb 17, 2026
3a8a2c1
format
spellingcat Feb 17, 2026
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188 changes: 188 additions & 0 deletions src/main/deploy/choreo/DBtoFL.traj
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109 changes: 109 additions & 0 deletions src/main/deploy/choreo/DLOtoDLT.traj
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{
"name":"DLOtoDLT",
"version":3,
"snapshot":{
"waypoints":[
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{"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
"targetDt":0.05
},
"params":{
"waypoints":[
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{"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
{"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
"targetDt":{
"exp":"0.05 s",
"val":0.05
}
},
"trajectory":{
"config":{
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},
"backLeft":{
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},
"mass":51.91273956176,
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"radius":0.050165,
"vmax":668.1120376634293,
"tmax":54.79744136460554,
"cof":1.48,
"bumper":{
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"back":0.42037
},
"differentialTrackWidth":0.5427218
},
"sampleType":"Swerve",
"waypoints":[0.0,2.44129],
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"splits":[0]
},
"events":[]
}
73 changes: 73 additions & 0 deletions src/main/deploy/choreo/DLTtoDRO.traj
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{
"name":"DLTtoDRO",
"version":3,
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