Merge "Remove autos for the at home challanges"
diff --git a/y2020/actors/auto_splines.h b/y2020/actors/auto_splines.h
index ff4b22f..98bf0b7 100644
--- a/y2020/actors/auto_splines.h
+++ b/y2020/actors/auto_splines.h
@@ -21,26 +21,6 @@
AutonomousSplines()
: test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
"splines/test_spline.json")),
- spline_red_a_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/spline_red_a.json")),
- spline_blue_a_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/spline_blue_a.json")),
- spline_red_b_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/spline_red_b.json")),
- spline_blue_b_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/spline_blue_b.json")),
- autonav_bounce_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/autonav_bounce_1.json")),
- autonav_bounce_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/autonav_bounce_2.json")),
- autonav_bounce_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/autonav_bounce_3.json")),
- autonav_bounce_4_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/autonav_bounce_4.json")),
- autonav_barrel_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/autonav_barrel.json")),
- autonav_slalom_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/autonav_slalom.json")),
target_aligned_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
"splines/target_aligned_1.json")),
target_aligned_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
@@ -64,66 +44,6 @@
return aos::CopyFlatBuffer<frc971::MultiSpline>(test_spline_,
builder->fbb());
}
- flatbuffers::Offset<frc971::MultiSpline> SplineRedA(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_red_a_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> SplineBlueA(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_blue_a_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> SplineRedB(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_red_b_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> SplineBlueB(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_blue_b_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> AutoNavBounce1(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_bounce_1_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> AutoNavBounce2(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_bounce_2_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> AutoNavBounce3(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_bounce_3_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> AutoNavBounce4(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_bounce_4_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> AutoNavBarrel(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_barrel_,
- builder->fbb());
- }
- flatbuffers::Offset<frc971::MultiSpline> AutoNavSlalom(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder) {
- return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_slalom_,
- builder->fbb());
- }
flatbuffers::Offset<frc971::MultiSpline> TargetAligned1(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
@@ -152,16 +72,6 @@
private:
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_red_a_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_blue_a_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_red_b_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_blue_b_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_bounce_1_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_bounce_2_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_bounce_3_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_bounce_4_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_barrel_;
- aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_slalom_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_1_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_2_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_offset_1_;
diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index ae18d52..fc42570 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -11,16 +11,10 @@
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
DEFINE_bool(spline_auto, false, "If true, define a spline autonomous mode");
-DEFINE_bool(ignore_vision, false, "If true, ignore vision");
-DEFINE_bool(galactic_search, false,
- "If true, do the galactic search autonomous");
-DEFINE_bool(bounce, false, "If true, run the AutoNav Bounce autonomous");
-DEFINE_bool(barrel, false, "If true, run the AutoNav Barrel autonomous");
-DEFINE_bool(slalom, false, "If true, run the AutoNav Slalom autonomous");
-DEFINE_bool(infinite_recharge_target_aligned, false,
+DEFINE_bool(target_aligned, false,
"If true, run the Infinite Recharge autonomous that starts aligned "
"with the target");
-DEFINE_bool(infinite_recharge_target_offset, false,
+DEFINE_bool(target_offset, false,
"If true, run the Infinite Recharge autonomous that starts offset "
"from the target");
DEFINE_bool(just_shoot, false,
@@ -46,8 +40,6 @@
"/superstructure")),
joystick_state_fetcher_(
event_loop->MakeFetcher<aos::JoystickState>("/aos")),
- path_fetcher_(event_loop->MakeFetcher<y2020::vision::GalacticSearchPath>(
- "/pi2/camera")),
superstructure_status_fetcher_(
event_loop->MakeFetcher<y2020::control_loops::superstructure::Status>(
"/superstructure")),
@@ -60,49 +52,11 @@
}
void AutonomousActor::Replan() {
- if (FLAGS_galactic_search) {
- galactic_search_splines_ = {
- .red_a = PlanSpline(std::bind(&AutonomousSplines::SplineRedA,
- &auto_splines_, std::placeholders::_1),
- SplineDirection::kForward),
- .red_b = PlanSpline(std::bind(&AutonomousSplines::SplineRedB,
- &auto_splines_, std::placeholders::_1),
- SplineDirection::kForward),
- .blue_a = PlanSpline(std::bind(&AutonomousSplines::SplineBlueA,
- &auto_splines_, std::placeholders::_1),
- SplineDirection::kForward),
- .blue_b = PlanSpline(std::bind(&AutonomousSplines::SplineBlueB,
- &auto_splines_, std::placeholders::_1),
- SplineDirection::kForward)};
- } else if (FLAGS_bounce) {
- bounce_splines_ = {
- PlanSpline(std::bind(&AutonomousSplines::AutoNavBounce1, &auto_splines_,
- std::placeholders::_1),
- SplineDirection::kForward),
- PlanSpline(std::bind(&AutonomousSplines::AutoNavBounce2, &auto_splines_,
- std::placeholders::_1),
- SplineDirection::kBackward),
- PlanSpline(std::bind(&AutonomousSplines::AutoNavBounce3, &auto_splines_,
- std::placeholders::_1),
- SplineDirection::kForward),
- PlanSpline(std::bind(&AutonomousSplines::AutoNavBounce4, &auto_splines_,
- std::placeholders::_1),
- SplineDirection::kBackward)};
- } else if (FLAGS_barrel) {
- barrel_spline_ =
- PlanSpline(std::bind(&AutonomousSplines::AutoNavBarrel, &auto_splines_,
- std::placeholders::_1),
- SplineDirection::kForward);
- } else if (FLAGS_slalom) {
- slalom_spline_ =
- PlanSpline(std::bind(&AutonomousSplines::AutoNavSlalom, &auto_splines_,
- std::placeholders::_1),
- SplineDirection::kForward);
- } else if (FLAGS_spline_auto) {
+ if (FLAGS_spline_auto) {
test_spline_ = PlanSpline(std::bind(&AutonomousSplines::TestSpline,
&auto_splines_, std::placeholders::_1),
SplineDirection::kForward);
- } else if (FLAGS_infinite_recharge_target_offset) {
+ } else if (FLAGS_target_offset) {
target_offset_splines_ = {
PlanSpline(std::bind(&AutonomousSplines::TargetOffset1, &auto_splines_,
std::placeholders::_1),
@@ -110,7 +64,7 @@
PlanSpline(std::bind(&AutonomousSplines::TargetOffset2, &auto_splines_,
std::placeholders::_1),
SplineDirection::kBackward)};
- } else if (FLAGS_infinite_recharge_target_aligned) {
+ } else if (FLAGS_target_aligned) {
target_aligned_splines_ = {
PlanSpline(std::bind(&AutonomousSplines::TargetAligned1, &auto_splines_,
std::placeholders::_1),
@@ -145,17 +99,9 @@
AOS_LOG(INFO, "Aborting autonomous due to invalid alliance selection.");
return false;
}
- if (FLAGS_galactic_search) {
- GalacticSearch();
- } else if (FLAGS_bounce) {
- AutoNavBounce();
- } else if (FLAGS_barrel) {
- AutoNavBarrel();
- } else if (FLAGS_slalom) {
- AutoNavSlalom();
- } else if (FLAGS_infinite_recharge_target_aligned) {
+ if (FLAGS_target_aligned) {
TargetAligned();
- } else if (FLAGS_infinite_recharge_target_offset) {
+ } else if (FLAGS_target_offset) {
TargetOffset();
} else if (FLAGS_just_shoot) {
JustShoot();
@@ -185,106 +131,6 @@
}
}
-void AutonomousActor::GalacticSearch() {
- CHECK(galactic_search_splines_);
-
- path_fetcher_.Fetch();
- SplineHandle *spline = nullptr;
- if (path_fetcher_.get()) {
- if (path_fetcher_->alliance() == y2020::vision::Alliance::kUnknown) {
- AOS_LOG(ERROR, "The galactic search path is unknown, doing nothing.");
- return;
- }
- if (path_fetcher_->alliance() == y2020::vision::Alliance::kRed) {
- if (path_fetcher_->letter() == y2020::vision::Letter::kA) {
- LOG(INFO) << "Red A";
- spline = &galactic_search_splines_->red_a;
- } else {
- LOG(INFO) << "Red B";
- CHECK(path_fetcher_->letter() == y2020::vision::Letter::kB);
- spline = &galactic_search_splines_->red_b;
- }
- } else {
- if (path_fetcher_->letter() == y2020::vision::Letter::kA) {
- LOG(INFO) << "Blue A";
- spline = &galactic_search_splines_->blue_a;
- } else {
- LOG(INFO) << "Blue B";
- CHECK(path_fetcher_->letter() == y2020::vision::Letter::kB);
- spline = &galactic_search_splines_->blue_b;
- }
- }
- }
- if (FLAGS_ignore_vision) {
- LOG(INFO) << "Forcing Red B";
- spline = &galactic_search_splines_->red_b;
- }
-
- CHECK(spline != nullptr)
- << "Expect at least one GalacticSearchPath message before running "
- "auto...";
-
- SendStartingPosition(spline->starting_position());
-
- ExtendIntake();
-
- if (!spline->WaitForPlan()) return;
- spline->Start();
-
- if (!spline->WaitForSplineDistanceRemaining(0.02)) return;
- RetractIntake();
-}
-
-void AutonomousActor::AutoNavBounce() {
- CHECK(bounce_splines_);
-
- auto &splines = *bounce_splines_;
-
- SendStartingPosition(splines[0].starting_position());
-
- if (!splines[0].WaitForPlan()) return;
- splines[0].Start();
-
- if (!splines[0].WaitForSplineDistanceRemaining(0.02)) return;
-
- if (!splines[1].WaitForPlan()) return;
- splines[1].Start();
-
- if (!splines[1].WaitForSplineDistanceRemaining(0.02)) return;
-
- if (!splines[2].WaitForPlan()) return;
- splines[2].Start();
-
- if (!splines[2].WaitForSplineDistanceRemaining(0.02)) return;
-
- if (!splines[3].WaitForPlan()) return;
- splines[3].Start();
-
- if (!splines[3].WaitForSplineDistanceRemaining(0.02)) return;
-}
-
-void AutonomousActor::AutoNavBarrel() {
- CHECK(barrel_spline_);
-
- SendStartingPosition(barrel_spline_->starting_position());
-
- if (!barrel_spline_->WaitForPlan()) return;
- barrel_spline_->Start();
-
- if (!barrel_spline_->WaitForSplineDistanceRemaining(0.02)) return;
-}
-
-void AutonomousActor::AutoNavSlalom() {
- CHECK(slalom_spline_);
-
- SendStartingPosition(slalom_spline_->starting_position());
-
- if (!slalom_spline_->WaitForPlan()) return;
- slalom_spline_->Start();
-
- if (!slalom_spline_->WaitForSplineDistanceRemaining(0.02)) return;
-}
-
void AutonomousActor::TargetAligned() {
CHECK(target_aligned_splines_);
auto &splines = *target_aligned_splines_;
diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index e64eb6a..fff1516 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -10,7 +10,6 @@
#include "y2020/actors/auto_splines.h"
#include "y2020/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
-#include "y2020/vision/galactic_search_path_generated.h"
namespace y2020 {
namespace actors {
@@ -46,10 +45,6 @@
void RetractIntake();
void SplineAuto();
void SendStartingPosition(const Eigen::Vector3d &start);
- void GalacticSearch();
- void AutoNavBounce();
- void AutoNavBarrel();
- void AutoNavSlalom();
void TargetAligned();
void TargetOffset();
void JustShoot();
@@ -70,24 +65,14 @@
aos::Sender<y2020::control_loops::superstructure::Goal>
superstructure_goal_sender_;
aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
- aos::Fetcher<y2020::vision::GalacticSearchPath> path_fetcher_;
aos::Fetcher<y2020::control_loops::superstructure::Status>
superstructure_status_fetcher_;
aos::TimerHandler *replan_timer_;
- std::optional<std::array<SplineHandle, 4>> bounce_splines_;
std::optional<std::array<SplineHandle, 2>> target_offset_splines_;
std::optional<std::array<SplineHandle, 2>> target_aligned_splines_;
- struct GalacticSearchSplines {
- SplineHandle red_a;
- SplineHandle red_b;
- SplineHandle blue_a;
- SplineHandle blue_b;
- };
- std::optional<GalacticSearchSplines> galactic_search_splines_;
-
std::optional<SplineHandle> barrel_spline_;
std::optional<SplineHandle> slalom_spline_;
std::optional<SplineHandle> test_spline_;
diff --git a/y2020/actors/splines/autonav_barrel.json b/y2020/actors/splines/autonav_barrel.json
deleted file mode 100644
index 467420b..0000000
--- a/y2020/actors/splines/autonav_barrel.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 4, "spline_x": [-3.439527264404297, -1.4521381072998047, -1.9621627899169916, 2.661975888061524, 0.06282058410644531, -1.1731946685791015, -2.4092099212646483, -2.2820851226806633, 2.9662840576171883, 4.035525769042969, 2.715648193359375, 1.3957706176757811, -2.313226245117187, 1.953077297973632, 4.110928143310546, 4.481738067626953, 4.85254799194336, 3.436316995239258, 1.6429130905151372, -1.0130782791137694, -4.985386976623535], "spline_y": [0.0026085617065429684, -0.004877609252929687, -0.094301220703125, 1.5597702003479004, -2.059494058227539, -1.5799808853149415, -1.1004677124023439, 3.477822891998291, -3.3979725334167483, 0.032006476593017474, 1.223588104248047, 2.4151697319030765, 1.3683539772033693, -3.5761337516784657, -2.7649265808105468, -1.4880899826049805, -0.2112533843994142, 1.531212641143799, -0.560890182495117, 0.07913470458984374, -0.04733257598876953], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 7.499999999999998}, {"constraint_type": "LATERAL_ACCELERATION", "value": 8.499999999999995}, {"constraint_type": "VOLTAGE", "value": 11.999999999999993}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/autonav_bounce_1.json b/y2020/actors/splines/autonav_bounce_1.json
deleted file mode 100644
index 53989c5..0000000
--- a/y2020/actors/splines/autonav_bounce_1.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 1, "spline_x": [-3.6514654907226562, -2.933625585937499, -2.8310597534179687, -2.3949857243581434, -2.3116481497990145, -2.304892561983471], "spline_y": [-0.0021888198852539065, -0.012177745056152347, 0.24826333465576164, 0.3335849649896266, 0.9762657982284103, 1.5617851239669422], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.0}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/autonav_bounce_2.json b/y2020/actors/splines/autonav_bounce_2.json
deleted file mode 100644
index de04a24..0000000
--- a/y2020/actors/splines/autonav_bounce_2.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 2, "spline_x": [-2.300972622575431, -2.2976492889404296, -2.2449048339843745, -2.0912932800292934, -1.8907473815917966, -1.6507643554687499, -1.4107813293457032, -1.1313611755371067, 0.10809223937988281, -0.002871917724609375, -0.0033345198006461863], "spline_y": [1.52789615352236, 0.8841274291992188, 0.5057435485839843, 0.6903293746948247, 0.10570575714111341, -0.4938134628295899, -1.0933326828002932, -1.7077475051879885, -2.2848872772216797, -1.0112510650634765, 1.5787289769665949], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.0}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/autonav_bounce_3.json b/y2020/actors/splines/autonav_bounce_3.json
deleted file mode 100644
index 9ef5ae2..0000000
--- a/y2020/actors/splines/autonav_bounce_3.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 1, "spline_x": [0.012595041322314211, 0.035615267944335935, -1.0700335235595704, 3.6841669830322266, 2.4339549224853516, 2.4026312530517577], "spline_y": [1.5869752066115703, -0.6927920150756836, -2.8280890045166016, -2.13918454284668, -0.8389284439086915, 1.5275657707214354], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 5.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 5.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/autonav_bounce_4.json b/y2020/actors/splines/autonav_bounce_4.json
deleted file mode 100644
index ee65a95..0000000
--- a/y2020/actors/splines/autonav_bounce_4.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 1, "spline_x": [2.420588296508789, 2.4232765045166014, 2.411430715942383, 3.181959380926238, 3.284892517089844, 3.989023956298828], "spline_y": [1.5176544570922852, 0.9584327774047853, 0.49865735321044924, 0.1483674322864324, -0.07779583282470703, -0.5024309600830078], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 5.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 5.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/autonav_slalom.json b/y2020/actors/splines/autonav_slalom.json
deleted file mode 100644
index 664b929..0000000
--- a/y2020/actors/splines/autonav_slalom.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 8, "spline_x": [-3.635843479156494, -3.2806723095703125, -3.1868360023498545, -2.858219025878906, -2.5751525830078124, -2.3197756127929687, -2.064398642578125, -1.8367111450195317, -1.7695840795898432, -0.7814239306640623, -0.18952982666015625, 0.40236427734374985, 0.5979923364257812, 1.9385774853515625, 2.5234608544921873, 2.8941172998046873, 3.2647737451171874, 3.4212032666015624, 4.386921788780882, 4.586409534109282, 4.4665292285156255, 4.346648922921969, 3.907400566406256, 2.758564643554687, 2.5834497895730655, 2.3319990527343752, 2.080548315895685, 1.7527616961999257, 1.7609669311523446, 0.8905572692871097, 0.13155197021484377, -0.6274533288574221, -1.2750542651367192, -1.6109939147949213, -2.028241729609699, -2.2553543746758296, -2.4824670197419603, -2.519444495059444, -3.4609283874195165, -3.690070111083984, -4.450609153747559], "spline_y": [-1.7265489738464355, -1.5607546752929686, -1.4611474120330816, -1.326837150878906, -1.023809600830078, -0.7159144409179687, -0.4080192810058594, -0.09525651123046863, -0.04151700073242237, 0.44292831298828117, 0.5805910729980469, 0.7182538330078126, 0.5091340393066406, 1.3885468725585939, 0.09532766967773454, -0.7626050793457031, -1.6205378283691407, -2.0431841235351564, -1.6678404465544734, -1.0808934231010208, -0.5693647814941407, -0.05783613988726066, 0.3782741198730468, 0.4133138415527349, -0.31849562837846057, -0.8944612170410157, -1.4704268057035708, -1.8905485130974853, -1.8685408300781232, -2.0658371594238267, -2.0819412927246095, -2.0980454260253922, -1.932957363281254, -1.7455779479980467, -1.3180884153753891, -0.7902526419865145, -0.2624168685976398, 0.365765145557452, 1.047112901958292, 1.014591268157959, 1.6061016746520995], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.999999999999993}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.999999999999993}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/spline_blue_a.json b/y2020/actors/splines/spline_blue_a.json
deleted file mode 100644
index 3684d3a..0000000
--- a/y2020/actors/splines/spline_blue_a.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 3, "spline_x": [-3.368782745361328, -2.2354461090087887, -1.4045700997849144, -1.7840407197558215, -0.9349464202880862, -0.4274192596435547, 0.08010790100097676, 0.24606792282230439, -0.7738946228027346, -0.3780420410156249, 0.16000186157226565, 0.6980457641601562, 1.3782809875488273, 2.9603495361328123, 3.5543124053955077, 5.039442684936523], "spline_y": [-1.5853468368530275, -1.5885472229003905, -1.6684259431949335, -2.030274512714982, -2.168715298461914, -1.8642716720581054, -1.5598280456542968, -0.8125000070997483, -0.21182079162597578, 0.47190898590087915, 0.7151854156494141, 0.958461845397949, 0.7612849273681641, -0.6299237594604493, -0.2212173110961914, -0.32124376373291014], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.500000000000002}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/spline_blue_b.json b/y2020/actors/splines/spline_blue_b.json
deleted file mode 100644
index 666ca54..0000000
--- a/y2020/actors/splines/spline_blue_b.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 3, "spline_x": [-3.39804026184082, -2.5546545318603515, -1.435279833984375, -0.8065054229736328, -0.3800140136718751, -0.1415320587158203, 0.09694989624023448, 0.14742239685058633, 0.034176983642578485, 0.5247121582031249, 1.0381308197021484, 1.5515494812011719, 2.0878516296386724, 2.9319645687387026, 3.410061621093749, 4.521204263305664], "spline_y": [-1.5841195861816406, -1.5982576766967775, -1.4621136611938477, -1.5811784866333012, -1.4247781494140626, -1.0768819427490233, -0.728985736083984, -0.18959365997314404, 0.6665802429199221, 0.8889393447875978, 0.8239869140625, 0.7590344833374022, 0.40677052001953085, -1.1703205167029511, -0.9773118576049802, -1.9656096725463867], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/spline_red_a.json b/y2020/actors/splines/spline_red_a.json
deleted file mode 100644
index 76e5ee9..0000000
--- a/y2020/actors/splines/spline_red_a.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 3, "spline_x": [-3.251309683227539, -2.471539837646484, -1.9919760864257812, -1.8171762908935547, -1.2402998748779297, -0.9586693908691406, -0.6770389068603515, -0.6906543548583981, -0.8745954528808597, -0.8974987060546875, -0.6056990753173828, -0.313899444580078, 0.2926030700683593, 3.340532689067746, 3.9241366302490226, 5.566627072143556], "spline_y": [0.9793806266784668, 0.18692638092041014, -0.29821900634765625, -1.2191290740966798, -1.1123914031982423, -0.7905331420898437, -0.46867488098144516, 0.06830397033691415, 0.4188465270996087, 0.8500789260864257, 1.2572325622558593, 1.664386198425293, 2.047461071777344, 1.6032179207289516, 1.7332038002014163, 1.72750472946167], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
diff --git a/y2020/actors/splines/spline_red_b.json b/y2020/actors/splines/spline_red_b.json
deleted file mode 100644
index 5c8a688..0000000
--- a/y2020/actors/splines/spline_red_b.json
+++ /dev/null
@@ -1 +0,0 @@
-{"spline_count": 2, "spline_x": [-3.240201058959961, -2.4673773010253908, -2.0606439880371092, -2.382715026855468, -1.8442327789306632, -1.3579938537597656, -0.8717549285888679, -0.43775932617187774, 1.049137124633789, 1.4791974945068358, 5.533722882231405], "spline_y": [1.6369277000427247, 0.9154947006225586, 0.668192935180664, -0.5594466659545896, -1.08513957824707, -1.0174198745727538, -0.9497001708984376, -0.28856785125732465, 1.066637509918213, 1.6393723182678221, 1.674700392037384], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.0}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file