auto factories (#55)

Author: aridavidson001

simgui.json

@@ -2,9 +2,21 @@
   "NTProvider": {
     "types": {
       "/AdvantageKit/RealOutputs/Alerts": "Alerts",
+      "/AdvantageKit/RealOutputs/Choreo Alerts": "Alerts",
       "/FMSInfo": "FMSInfo",
       "/SmartDashboard/Alerts": "Alerts",
-      "/SmartDashboard/VisionSystemSim-AprilTags/Sim Field": "Field2d"
+      "/SmartDashboard/Auto Chooser": "String Chooser",
+      "/SmartDashboard/Choreo Alerts": "Alerts",
+      "/SmartDashboard/SendableChooser[0]": "String Chooser",
+      "/SmartDashboard/VisionSystemSim-AprilTags/Sim Field": "Field2d",
+      "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d"
+    },
+    "windows": {
+      "/SmartDashboard/Alerts": {
+        "window": {
+          "visible": true
+        }
+      }
     }
   },
   "NetworkTables Info": {

src/main/deploy/choreo/Trajectories/A-to-Left-Pickup.traj

@@ -0,0 +1,68 @@
+{
+ "name":"A-to-Left-Pickup",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.1573197841644287, "y":7.12862491607666, "heading":-0.9405393594156018, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.145669937133789, "y":4.2110419273376465, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":1.2245261669158936, "y":5.841508960723877, "r":0.3}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.1573197841644287 m", "val":1.1573197841644287}, "y":{"exp":"7.12862491607666 m", "val":7.12862491607666}, "heading":{"exp":"-0.9405393594156018 rad", "val":-0.9405393594156018}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"A.x()", "val":3.145669937133789}, "y":{"exp":"A.y()", "val":4.2110419273376465}, "heading":{"exp":"A.heading()", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"1.2245261669158936 m", "val":1.2245261669158936}, "y":{"exp":"5.841508960723877 m", "val":5.841508960723877}, "r":{"exp":"0.3 m", "val":0.3}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.17035],
+  "samples":[
+    {"t":0.0, "x":1.15732, "y":7.12862, "heading":-0.94054, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.44411, "ay":-8.234, "alpha":5.02362, "fx":[124.81396,80.50933,83.4531,116.41432], "fy":[-89.085,-130.49842,-128.70771,-99.89466]},
+    {"t":0.03775, "x":1.16262, "y":7.12276, "heading":-0.94054, "vx":0.28104, "vy":-0.31086, "omega":0.18966, "ax":7.44229, "ay":-8.24679, "alpha":4.8786, "fx":[124.11133,81.12264,83.81932,116.03842], "fy":[-90.0284,-130.0947,-128.45089,-100.30765]},
+    {"t":0.07551, "x":1.17854, "y":7.10514, "heading":-0.93338, "vx":0.56201, "vy":-0.6222, "omega":0.37384, "ax":7.44027, "ay":-8.26156, "alpha":4.70367, "fx":[123.17484,81.70678,84.4087,115.6918], "fy":[-91.26539,-129.70071,-128.04149,-100.67817]},
+    {"t":0.11326, "x":1.20506, "y":7.07577, "heading":-0.91927, "vx":0.8429, "vy":-0.9341, "omega":0.55142, "ax":7.4378, "ay":-8.27913, "alpha":4.48622, "fx":[121.94624,82.34167,85.2377,115.32217], "fy":[-92.85111,-129.26438,-127.4622,-101.0644]},
+    {"t":0.15101, "x":1.24218, "y":7.0346, "heading":-0.89845, "vx":1.1237, "vy":-1.24667, "omega":0.72079, "ax":7.43443, "ay":-8.30062, "alpha":4.20704, "fx":[120.3357,83.1466,86.33571,114.84619], "fy":[-94.86699,-128.70492,-126.68313,-101.55655]},
+    {"t":0.18877, "x":1.2899, "y":6.98162, "heading":-0.87124, "vx":1.40438, "vy":-1.56004, "omega":0.87962, "ax":7.4293, "ay":-8.32759, "alpha":3.83553, "fx":[118.20282,84.30338,87.75581,114.12298], "fy":[-97.43199,-127.89352,-125.65153,-102.30267]},
+    {"t":0.22652, "x":1.34822, "y":6.91679, "heading":-0.83803, "vx":1.68486, "vy":-1.87443, "omega":1.02442, "ax":7.42067, "ay":-8.36225, "alpha":3.31915, "fx":[115.31808,86.10447,89.60031,112.89203], "fy":[-100.72462,-126.6096,-124.26684,-103.56505]},
+    {"t":0.26427, "x":1.41711, "y":6.84006, "heading":-0.79935, "vx":1.96501, "vy":-2.19014, "omega":1.14973, "ax":7.4044, "ay":-8.40758, "alpha":2.55664, "fx":[111.27302,89.06323,92.09128,110.60203], "fy":[-105.03159,-124.42964,-122.31014,-105.86206]},
+    {"t":0.30203, "x":1.49658, "y":6.75139, "heading":-0.75595, "vx":2.24455, "vy":-2.50755, "omega":1.24625, "ax":7.36811, "ay":-8.46692, "alpha":1.31146, "fx":[105.22509,94.21026,95.81281,105.80586], "fy":[-110.87924,-120.38686,-119.18988,-110.40781]},
+    {"t":0.33978, "x":1.58657, "y":6.65069, "heading":-0.7089, "vx":2.52272, "vy":-2.8272, "omega":1.29576, "ax":7.25672, "ay":-8.53265, "alpha":-1.18009, "fx":[95.01102,104.04097,102.90723,93.03193], "fy":[-119.41175,-111.61676,-112.55215,-120.86076]},
+    {"t":0.37753, "x":1.68698, "y":6.53787, "heading":-0.65998, "vx":2.79668, "vy":-3.14934, "omega":1.25121, "ax":6.59209, "ay":-8.16086, "alpha":-9.86905, "fx":[73.38334,125.46442,128.94845,31.01813], "fy":[-133.18271,-85.68798,-77.42227,-147.91164]},
+    {"t":0.41529, "x":1.79726, "y":6.41316, "heading":-0.61274, "vx":3.04556, "vy":-3.45743, "omega":0.87862, "ax":4.57914, "ay":-6.14441, "alpha":-22.36693, "fx":[47.46681,131.57433,131.22817,-61.0215], "fy":[-142.38953,-70.55135,13.19831,-134.70406]},
+    {"t":0.45304, "x":1.9155, "y":6.27825, "heading":-0.57957, "vx":3.21843, "vy":-3.68941, "omega":0.0342, "ax":-7.48254, "ay":-6.31362, "alpha":-0.61765, "fx":[-99.7211,-100.14994,-103.96303,-103.44865], "fy":[-88.81428,-87.11993,-82.93136,-84.79175]},
+    {"t":0.49079, "x":2.03168, "y":6.13446, "heading":-0.57828, "vx":2.93594, "vy":-3.92776, "omega":0.01088, "ax":-7.761, "ay":-5.37767, "alpha":-0.01646, "fx":[-105.56017,-105.57225,-105.6597,-105.6476], "fy":[-73.26273,-73.20227,-73.09355,-73.15412]},
+    {"t":0.52854, "x":2.13699, "y":5.98234, "heading":-0.57787, "vx":2.64294, "vy":-4.13079, "omega":0.01026, "ax":-4.68109, "ay":-2.85921, "alpha":-0.00653, "fx":[-63.68955,-63.67863,-63.70886,-63.71977], "fy":[-38.93548,-38.90697,-38.87958,-38.90809]},
+    {"t":0.5663, "x":2.23343, "y":5.82435, "heading":-0.57748, "vx":2.46622, "vy":-4.23873, "omega":0.01001, "ax":-1.21515, "ay":-0.69842, "alpha":-0.0012, "fx":[-16.53448,-16.53109,-16.53648,-16.53987], "fy":[-9.50837,-9.50299,-9.49939,-9.50477]},
+    {"t":0.60405, "x":2.32567, "y":5.66383, "heading":-0.5771, "vx":2.42034, "vy":-4.2651, "omega":0.00997, "ax":-0.21517, "ay":-0.12174, "alpha":-0.00006, "fx":[-2.92803,-2.92777,-2.92802,-2.92829], "fy":[-1.65691,-1.65665,-1.65644,-1.65671]},
+    {"t":0.6418, "x":2.41689, "y":5.50272, "heading":-0.57673, "vx":2.41222, "vy":-4.2697, "omega":0.00997, "ax":0.26919, "ay":0.15723, "alpha":0.01188, "fx":[3.65344,3.6192,3.67247,3.70703], "fy":[2.18386,2.13007,2.09532,2.14901]},
+    {"t":0.67956, "x":2.50815, "y":5.34164, "heading":-0.57635, "vx":2.42238, "vy":-4.26376, "omega":0.01041, "ax":-0.31104, "ay":3.94333, "alpha":9.55574, "fx":[-11.20144,-44.65461,4.77763,34.14819], "fy":[83.27581,48.3892,20.19073,62.78418]},
+    {"t":0.71731, "x":2.59939, "y":5.18348, "heading":-0.57596, "vx":2.41064, "vy":-4.11489, "omega":0.37117, "ax":-4.92095, "ay":6.4155, "alpha":21.04332, "fx":[-52.26527,-133.54143,-136.42125,54.37532], "fy":[141.5523,68.88163,-0.19959,138.96825]},
+    {"t":0.75506, "x":2.68689, "y":5.0327, "heading":-0.56194, "vx":2.22485, "vy":-3.87268, "omega":1.16563, "ax":-5.28795, "ay":6.62254, "alpha":20.26178, "fx":[-56.08975,-135.70633,-145.14961,49.11668], "fy":[141.49451,68.23676,7.58744,143.15333]},
+    {"t":0.79282, "x":2.76711, "y":4.89122, "heading":-0.51794, "vx":2.02522, "vy":-3.62266, "omega":1.93057, "ax":-5.473, "ay":9.69409, "alpha":3.15046, "fx":[-70.54351,-93.36881,-80.70291,-53.28607], "fy":[135.28032,120.54153,129.06763,142.77038]},
+    {"t":0.83057, "x":2.83967, "y":4.76136, "heading":-0.44505, "vx":1.81859, "vy":-3.25668, "omega":2.04951, "ax":-5.50035, "ay":9.76524, "alpha":-1.86219, "fx":[-77.28197,-62.42447,-73.08972,-86.59371], "fy":[131.77868,139.49996,134.29609,125.95762]},
+    {"t":0.86832, "x":2.90441, "y":4.64537, "heading":-0.36768, "vx":1.61094, "vy":-2.88801, "omega":1.97921, "ax":-5.45899, "ay":9.69774, "alpha":-4.10141, "fx":[-78.23076,-46.05272,-72.90778,-99.94775], "fy":[131.36818,145.93699,134.64556,115.90803]},
+    {"t":0.90608, "x":2.96134, "y":4.54325, "heading":-0.29295, "vx":1.40484, "vy":-2.52189, "omega":1.82437, "ax":-5.41953, "ay":9.6361, "alpha":-5.31434, "fx":[-75.96142,-37.16534,-74.52958,-107.33469], "fy":[132.79886,148.57405,133.87884,109.25186]},
+    {"t":0.94383, "x":3.01051, "y":4.4549, "heading":-0.22408, "vx":1.20024, "vy":-2.15809, "omega":1.62373, "ax":-5.38223, "ay":9.59125, "alpha":-6.0803, "fx":[-71.94385,-32.21767,-76.66914,-112.13009], "fy":[135.09657,149.80526,132.73943,104.42076]},
+    {"t":0.98158, "x":3.05199, "y":4.38026, "heading":-0.16278, "vx":0.99704, "vy":-1.79599, "omega":1.39418, "ax":-5.34547, "ay":9.55844, "alpha":-6.63545, "fx":[-67.14408,-29.45126,-78.85451,-115.50987], "fy":[137.60712,150.42877,131.50246,100.73764]},
+    {"t":1.01934, "x":3.08582, "y":4.31927, "heading":-0.11014, "vx":0.79523, "vy":-1.43513, "omega":1.14367, "ax":-5.31004, "ay":9.53268, "alpha":-7.07934, "fx":[-62.24968,-27.91646,-80.86834,-117.99656], "fy":[139.93944,150.76082,130.30914,97.86457]},
+    {"t":1.05709, "x":3.11206, "y":4.27188, "heading":-0.06697, "vx":0.59476, "vy":-1.07524, "omega":0.87641, "ax":-5.27761, "ay":9.51109, "alpha":-7.45007, "fx":[-57.7477,-27.05666,-82.59555,-119.86622], "fy":[141.89774,150.94706,129.2479,95.6061]},
+    {"t":1.09484, "x":3.13075, "y":4.23807, "heading":-0.03388, "vx":0.39552, "vy":-0.71617, "omega":0.59514, "ax":-5.2496, "ay":9.4926, "alpha":-7.75856, "fx":[-53.96533,-26.52337,-83.96885,-121.28413], "fy":[143.41306,151.06431,128.38075,93.83433]},
+    {"t":1.1326, "x":3.14195, "y":4.2178, "heading":-0.01141, "vx":0.19733, "vy":-0.35779, "omega":0.30223, "ax":-5.22679, "ay":9.4772, "alpha":-8.00548, "fx":[-51.10894,-26.08799,-84.94553,-122.35731], "fy":[144.48405,151.15782,127.75332,92.45909]},
+    {"t":1.17035, "x":3.14567, "y":4.21104, "heading":0.0, "vx":0.0, "vy":0.0, "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]
+ },
+ "events":[]
+}