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2096 lines (2096 loc) · 50 KB
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{
"drivetrainParameters": {
"drivetrain": "arcade",
"doHeadingCorrection": false,
"driveTurningP": 0.0,
"headingCorrectionI": 0.0,
"headingCorrectionIDecay": 1.0,
"headingCorrectionP": 0.0,
"headingFeedForward": 0.0,
"leftFeedForwardCoefficient": 0.070541988198899,
"leftFeedForwardOffset": 0.021428882425651,
"rightFeedForwardCoefficient": 0.071704891069425,
"rightFeedForwardOffset": 0.020459379452296,
"scrubFactor": 1.12,
"trackWidth": 2.0833333333333335
},
"mapAutonomous": {
"Tests": {
"m_mirrored": false,
"name": "Tests",
"paths": {
"Angle and Magnitude Bug": {
"curveType": "EASE",
"m_easeCurve": {
"m_defaultValue": 0.0,
"m_headKey": {
"m_markBeginOrEndKeysToZeroSlope": true,
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_nextKey": {
"m_markBeginOrEndKeysToZeroSlope": true,
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_nextSlopeMethod": "SLOPE_FLAT",
"m_nextTangent": {
"x": 0.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_FLAT",
"m_prevTangent": {
"x": 2.5,
"y": 0.0
},
"m_timeAndValue": {
"x": 5.0,
"y": 1.0
}
},
"m_nextSlopeMethod": "SLOPE_FLAT",
"m_nextTangent": {
"x": 5.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_FLAT",
"m_prevTangent": {
"x": 0.0,
"y": 0.0
},
"m_timeAndValue": {
"x": 0.0,
"y": 0.0
}
},
"m_maxValue": 1.7976931348623157E308,
"m_minValue": -1.7976931348623157E308,
"m_postExtrapolation": "EXTRAPOLATION_CONSTANT",
"m_preExtrapolation": "EXTRAPOLATION_CONSTANT"
},
"m_headingCurve": {
"m_defaultValue": 0.0,
"m_maxValue": 1.7976931348623157E308,
"m_minValue": -1.7976931348623157E308,
"m_postExtrapolation": "EXTRAPOLATION_CONSTANT",
"m_preExtrapolation": "EXTRAPOLATION_CONSTANT"
},
"m_mirrored": false,
"m_xyCurve": {
"m_headPoint": {
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_nextPoint": {
"m_nextAngleAndMagnitude": {
"x": 15.0,
"y": 1.0
},
"m_nextSlopeMethod": "SLOPE_SMOOTH",
"m_nextTangent": {
"x": -1.224744871391589,
"y": 0.7071067811865476
},
"m_position": {
"x": -2.0,
"y": 2.0
},
"m_prevAngleAndMagnitude": {
"x": 15.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_SMOOTH",
"m_prevTangent": {
"x": -1.224744871391589,
"y": 0.7071067811865476
}
},
"m_nextSlopeMethod": "SLOPE_MANUAL",
"m_nextTangent": {
"x": 0.0,
"y": 3.0
},
"m_position": {
"x": 0.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_prevSlopeMethod": "SLOPE_MANUAL",
"m_prevTangent": {
"x": 0.0,
"y": 3.0
}
}
},
"name": "Angle and Magnitude Bug",
"robotDirection": "FORWARD",
"scrubFactor": 1.12,
"speed": 1.0,
"trackWidth": 2.0833333333333335
},
"8 Foot Straight": {
"curveType": "EASE",
"m_easeCurve": {
"m_defaultValue": 0.0,
"m_headKey": {
"m_markBeginOrEndKeysToZeroSlope": true,
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_nextKey": {
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"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_nextSlopeMethod": "SLOPE_FLAT",
"m_nextTangent": {
"x": 0.0,
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},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_FLAT",
"m_prevTangent": {
"x": 2.5,
"y": 0.0
},
"m_timeAndValue": {
"x": 5.0,
"y": 1.0
}
},
"m_nextSlopeMethod": "SLOPE_FLAT",
"m_nextTangent": {
"x": 5.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_FLAT",
"m_prevTangent": {
"x": 0.0,
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},
"m_timeAndValue": {
"x": 0.0,
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}
},
"m_maxValue": 1.7976931348623157E308,
"m_minValue": -1.7976931348623157E308,
"m_postExtrapolation": "EXTRAPOLATION_CONSTANT",
"m_preExtrapolation": "EXTRAPOLATION_CONSTANT"
},
"m_headingCurve": {
"m_defaultValue": 0.0,
"m_maxValue": 1.7976931348623157E308,
"m_minValue": -1.7976931348623157E308,
"m_postExtrapolation": "EXTRAPOLATION_CONSTANT",
"m_preExtrapolation": "EXTRAPOLATION_CONSTANT"
},
"m_mirrored": false,
"m_xyCurve": {
"m_headPoint": {
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_nextPoint": {
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_nextSlopeMethod": "SLOPE_SMOOTH",
"m_nextTangent": {
"x": 0.0,
"y": 7.6
},
"m_position": {
"x": 0.0,
"y": 8.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_prevSlopeMethod": "SLOPE_SMOOTH",
"m_prevTangent": {
"x": 0.0,
"y": 7.6
}
},
"m_nextSlopeMethod": "SLOPE_SMOOTH",
"m_nextTangent": {
"x": 0.0,
"y": 7.6
},
"m_position": {
"x": 0.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_prevSlopeMethod": "SLOPE_SMOOTH",
"m_prevTangent": {
"x": 0.0,
"y": 7.6
}
}
},
"name": "8 Foot Straight",
"robotDirection": "FORWARD",
"scrubFactor": 1.12,
"speed": 1.0,
"trackWidth": 2.0833333333333335
},
"8 Foot Circle": {
"curveType": "EASE",
"m_easeCurve": {
"m_defaultValue": 0.0,
"m_headKey": {
"m_markBeginOrEndKeysToZeroSlope": true,
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_nextKey": {
"m_markBeginOrEndKeysToZeroSlope": true,
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_nextSlopeMethod": "SLOPE_FLAT",
"m_nextTangent": {
"x": 0.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_FLAT",
"m_prevTangent": {
"x": 4.0,
"y": 0.0
},
"m_timeAndValue": {
"x": 8.0,
"y": 1.0
}
},
"m_nextSlopeMethod": "SLOPE_FLAT",
"m_nextTangent": {
"x": 8.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_FLAT",
"m_prevTangent": {
"x": 0.0,
"y": 0.0
},
"m_timeAndValue": {
"x": 0.0,
"y": 0.0
}
},
"m_maxValue": 1.7976931348623157E308,
"m_minValue": -1.7976931348623157E308,
"m_postExtrapolation": "EXTRAPOLATION_CONSTANT",
"m_preExtrapolation": "EXTRAPOLATION_CONSTANT"
},
"m_headingCurve": {
"m_defaultValue": 0.0,
"m_maxValue": 1.7976931348623157E308,
"m_minValue": -1.7976931348623157E308,
"m_postExtrapolation": "EXTRAPOLATION_CONSTANT",
"m_preExtrapolation": "EXTRAPOLATION_CONSTANT"
},
"m_mirrored": false,
"m_xyCurve": {
"m_headPoint": {
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_nextPoint": {
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_nextPoint": {
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_nextPoint": {
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_nextPoint": {
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_nextSlopeMethod": "SLOPE_MANUAL",
"m_nextTangent": {
"x": 0.0,
"y": 6.5
},
"m_position": {
"x": 0.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_prevSlopeMethod": "SLOPE_MANUAL",
"m_prevTangent": {
"x": 0.0,
"y": 6.5
}
},
"m_nextSlopeMethod": "SLOPE_MANUAL",
"m_nextTangent": {
"x": -6.5,
"y": 0.0
},
"m_position": {
"x": 4.0,
"y": -4.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_prevSlopeMethod": "SLOPE_MANUAL",
"m_prevTangent": {
"x": -6.5,
"y": 0.0
}
},
"m_nextSlopeMethod": "SLOPE_MANUAL",
"m_nextTangent": {
"x": 0.0,
"y": -6.5
},
"m_position": {
"x": 8.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_prevSlopeMethod": "SLOPE_MANUAL",
"m_prevTangent": {
"x": 0.0,
"y": -6.5
}
},
"m_nextSlopeMethod": "SLOPE_MANUAL",
"m_nextTangent": {
"x": 6.5,
"y": 0.0
},
"m_position": {
"x": 4.0,
"y": 4.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_prevSlopeMethod": "SLOPE_MANUAL",
"m_prevTangent": {
"x": 6.5,
"y": 0.0
}
},
"m_nextSlopeMethod": "SLOPE_MANUAL",
"m_nextTangent": {
"x": 0.0,
"y": 6.5
},
"m_position": {
"x": 0.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.9
},
"m_prevSlopeMethod": "SLOPE_MANUAL",
"m_prevTangent": {
"x": 0.0,
"y": 6.5
}
}
},
"name": "8 Foot Circle",
"robotDirection": "FORWARD",
"scrubFactor": 1.12,
"speed": 1.0,
"trackWidth": 2.0833333333333335
},
"4 Foot Circle": {
"curveType": "EASE",
"m_easeCurve": {
"m_defaultValue": 0.0,
"m_headKey": {
"m_markBeginOrEndKeysToZeroSlope": true,
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_nextKey": {
"m_markBeginOrEndKeysToZeroSlope": true,
"m_nextAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_nextSlopeMethod": "SLOPE_FLAT",
"m_nextTangent": {
"x": 0.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_FLAT",
"m_prevTangent": {
"x": 2.0,
"y": 0.0
},
"m_timeAndValue": {
"x": 4.0,
"y": 1.0
}
},
"m_nextSlopeMethod": "SLOPE_FLAT",
"m_nextTangent": {
"x": 4.0,
"y": 0.0
},
"m_prevAngleAndMagnitude": {
"x": 0.0,
"y": 1.0
},
"m_prevSlopeMethod": "SLOPE_FLAT",
"m_prevTangent": {
"x": 0.0,
"y": 0.0
},
"m_timeAndValue": {
"x": 0.0,
"y": 0.0
}
},
"m_maxValue": 1.7976931348623157E308,
"m_minValue": -1.7976931348623157E308,
"m_postExtrapolation": "EXTRAPOLATION_CONSTANT",
"m_preExtrapolation": "EXTRAPOLATION_CONSTANT"
},
"m_headingCurve": {
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"m_maxValue": 1.7976931348623157E308,
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