Create new splines for 2020 Robot
Signed-off-by: Vinay Siva <100024232@mvla.net>
Change-Id: I08fe6567b68526ce6500551ee41f82d197b6af39
Signed-off-by: Vinay Siva <100024232@mvla.net>
diff --git a/y2020/actors/splines/README.md b/y2020/actors/splines/README.md
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+# Spline Descriptions
+This folder contains reference material for what each spline does
+
+<br>
+
+# Target Aligned - Infinite Recharge
+## After shooting balls initially, collects power cells and returns to shooting position
+
+### [Target Aligned 1](target_aligned_1.json)
+After shooting the pre-loaded balls, this spline directs the robot to the power cells, allowing the robot to collect all three balls available
+
+### [Target Aligned 2](target_aligned_2.json)
+After collecting the 3 balls using the target_aligned_1 spline, this spline directs the robot back towards the shooter tower, setting it up to shoot the balls it collected
+
+<br>
+
+# Target Offset - Infinite Recharge
+## After starting with 3 balls, collects power cells and heads to primary shooting position
+
+### [Target Offset 1](target_offset_1.json)
+When we start offset from the target with the 3 pre-loaded balls in the robot, this spline directs the robot to the additional 2 power cells, allowing the robot to collect both balls available
+
+### [Target Offset 2](target_offset_2.json)
+After collecting the 2 balls using the target_offset_1 spline, this spline directs the robot towards the shooter tower, setting it up to shoot the 5 balls.
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diff --git a/y2020/actors/splines/target_aligned_1.json b/y2020/actors/splines/target_aligned_1.json
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+{"spline_count": 1, "spline_x": [3.340495531674842, 3.3229239110760016, 4.483964997108113, 6.058132772881773, 7.084092118999326, 8.012654807002901], "spline_y": [5.730681749413974, 6.367337321705237, 7.14109740201818, 7.627912651837696, 7.449284138182865, 7.4135680036085025], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
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diff --git a/y2020/actors/splines/target_aligned_2.json b/y2020/actors/splines/target_aligned_2.json
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+{"spline_count": 1, "spline_x": [8.02107576923077, 7.157915384615384, 6.042122692307692, 5.010540769230768, 4.2315911538461535, 3.368430769230769], "spline_y": [7.389495, 7.431600384615384, 6.652650769230769, 6.1473861538461545, 5.7684376923076925, 5.7473849999999995], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
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diff --git a/y2020/actors/splines/target_offset_1.json b/y2020/actors/splines/target_offset_1.json
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+++ b/y2020/actors/splines/target_offset_1.json
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+{"spline_count": 1, "spline_x": [3.31276940587483, 3.2907022466964535, 4.149941560222061, 3.9732949238578668, 4.6679269035533, 5.751552791878172], "spline_y": [2.721120947225566, 1.4302342949805793, 1.6475505418770833, 1.4726197969543149, 0.8891289340101522, 0.8335583756345177], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
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diff --git a/y2020/actors/splines/target_offset_2.json b/y2020/actors/splines/target_offset_2.json
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+++ b/y2020/actors/splines/target_offset_2.json
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+{"spline_count": 1, "spline_x": [5.709874873096447, 4.5984637055837565, 4.112221319796954, 3.8482611675126903, 3.7232274111675125, 3.3481261421319797], "spline_y": [0.8057730964467005, 0.7779878172588832, 1.4170492385786801, 2.875776395939086, 4.167791878172588, 5.862693908629441], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
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