Tune both autos for NASA again
Change-Id: Id70ad1d6174d320be1b07b0886d5241c82846210
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/autonomous/autonomous_actor.cc b/y2023/autonomous/autonomous_actor.cc
index cd4d4f1..e1b4e1d 100644
--- a/y2023/autonomous/autonomous_actor.cc
+++ b/y2023/autonomous/autonomous_actor.cc
@@ -319,6 +319,8 @@
if (!WaitForArmGoal(0.05)) return;
+ std::this_thread::sleep_for(chrono::milliseconds(100));
+
AOS_LOG(
INFO, "Placed first cube %lf s\n",
aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
@@ -378,7 +380,7 @@
INFO, "Done backing up %lf s\n",
aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
- const ProfileParametersT kInPlaceTurn = MakeProfileParameters(2.5, 7.0);
+ const ProfileParametersT kInPlaceTurn = MakeProfileParameters(2.7, 8.0);
StartDrive(0.0, aos::math::NormalizeAngle(M_PI / 2.0 - Theta()), kDrive,
kInPlaceTurn);
@@ -556,6 +558,14 @@
std::this_thread::sleep_for(chrono::milliseconds(200));
Neutral();
+ AOS_LOG(
+ INFO, "Going to neutral %lf s\n",
+ aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
+
+ if (!WaitForArmGoal(0.05)) return;
+ AOS_LOG(
+ INFO, "Done at neutral %lf s\n",
+ aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
}
void AutonomousActor::SendSuperstructureGoal() {
@@ -617,7 +627,7 @@
void AutonomousActor::Neutral() {
set_arm_goal_position(control_loops::superstructure::arm::NeutralIndex());
- set_wrist_goal(0.0);
+ set_wrist_goal(1.0);
SendSuperstructureGoal();
}
@@ -631,7 +641,7 @@
void AutonomousActor::HighCubeScore() {
set_arm_goal_position(
control_loops::superstructure::arm::ScoreFrontHighCubeIndex());
- set_wrist_goal(0.6);
+ set_wrist_goal(1.0);
SendSuperstructureGoal();
}
diff --git a/y2023/autonomous/splines/spline.0.json b/y2023/autonomous/splines/spline.0.json
index b547160..072dc76 100644
--- a/y2023/autonomous/splines/spline.0.json
+++ b/y2023/autonomous/splines/spline.0.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [6.530466090790975, 6.021160733648118, 5.591855376505261, 3.197458857773618, 2.607163991702189, 1.6230056318540846], "spline_y": [0.9493418961252269, 0.9493418961252269, 0.9314541729109411, 0.5106030443873093, 0.5106030443873093, 0.4224994345862587], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 4.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [6.530466090790975, 6.021160733648118, 5.591855376505261, 3.1837640837161585, 2.5934692176447296, 1.609310857796625], "spline_y": [0.9493418961252269, 0.9493418961252269, 0.9314541729109411, 0.6924538644543843, 0.6924538644543843, 0.6043502546533336], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 4.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline.1.json b/y2023/autonomous/splines/spline.1.json
index 22e739f..a98ac6e 100644
--- a/y2023/autonomous/splines/spline.1.json
+++ b/y2023/autonomous/splines/spline.1.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [1.6230056318540846, 2.595606822913154, 3.5201381785640087, 5.572187770143549, 6.006069035460717, 6.435374392603574], "spline_y": [0.4224994345862587, 0.509568426046465, 0.8395233993107027, 0.4247693876940553, 0.4460951327369448, 0.4460951327369448], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [1.609310857796625, 2.5819120488556946, 3.506443404506549, 5.556354709601551, 5.990235974918718, 6.419541332061575], "spline_y": [0.6043502546533336, 0.69141924611354, 1.0213742193777775, 0.22424951902207307, 0.24557526406496255, 0.24557526406496255], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline.2.json b/y2023/autonomous/splines/spline.2.json
index 4a24ffc..641b973 100644
--- a/y2023/autonomous/splines/spline.2.json
+++ b/y2023/autonomous/splines/spline.2.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [6.435374392603574, 6.0442444046370705, 4.96865071295785, 2.8506937641800936, 2.4156145282058796, 1.571420503593167], "spline_y": [0.4460951327369448, 0.4460951327369448, 0.3376418389076542, 1.2164153540583742, -0.13930255865735708, -0.6670628799510845], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [6.419541332061575, 6.028411344095072, 5.2762663069267655, 2.8053451665928835, 2.37026593061867, 1.5260719060059573], "spline_y": [0.24557526406496255, 0.24557526406496255, 0.3018576793840364, 1.3287637699876067, -0.026954142728124464, -0.5547144640218522], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline.3.json b/y2023/autonomous/splines/spline.3.json
index bce0c4d..f5651e7 100644
--- a/y2023/autonomous/splines/spline.3.json
+++ b/y2023/autonomous/splines/spline.3.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [1.571420503593167, 3.533311283576554, 3.1860855438536575, 5.263533825984673, 4.912898328525625, 6.376744631564399], "spline_y": [-0.6670628799510845, 0.5594420208177215, 0.5015288933650817, 0.5641404302951452, 0.27660573272799804, 0.2788534917250134], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.5, "start_distance": 4.1, "end_distance": 10.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [1.5260719060059573, 3.487962685989344, 3.140736946266447, 5.361661826393136, 4.912898328525625, 6.376744631564399], "spline_y": [-0.5547144640218522, 0.6717904367469538, 0.6138773092943139, 0.6864204635819386, 0.27660573272799804, 0.2788534917250134], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.6}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.65, "start_distance": 4.1, "end_distance": 10.0}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/splinecable.0.json b/y2023/autonomous/splines/splinecable.0.json
index 3a8a1c8..cbeb3d2 100644
--- a/y2023/autonomous/splines/splinecable.0.json
+++ b/y2023/autonomous/splines/splinecable.0.json
@@ -1 +1,20 @@
-{"spline_count": 2, "spline_x": [6.468141183035714, 6.156227508178545, 5.627928372772197, 5.618126908868124, 4.926607785226736, 4.384253622459038, 3.8418994596913407, 3.448710257797334, 2.6702357572801336, 1.9707990587626902, 1.441511105732058], "spline_y": [-3.493364620535714, -3.4921188608837532, -3.431437306632174, -3.364982889102878, -3.381212722774612, -3.3815433034902798, -3.3818738842059477, -3.3663052119655514, -3.293883383936489, -3.2050645805145246, -3.125670625960137], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.5, "start_distance": 1.6, "end_distance": 2.75}]}
\ No newline at end of file
+{
+ "spline_count": 2,
+ "spline_x": [6.468141183035714, 6.156227508178545, 5.627928372772197, 5.618126908868124, 4.926607785226736, 4.384253622459038, 3.8418994596913407, 3.448710257797334, 2.6702357572801336, 1.9707990587626902, 1.441511105732058],
+ "spline_y": [-3.493364620535714, -3.4921188608837532, -3.431437306632174, -3.364982889102878, -3.381212722774612, -3.3815433034902798, -3.3818738842059477, -3.3663052119655514, -3.293883383936489, -3.2050645805145246, -3.125670625960137],
+ "constraints": [{
+ "constraint_type": "LONGITUDINAL_ACCELERATION",
+ "value": 3.5
+ }, {
+ "constraint_type": "LATERAL_ACCELERATION",
+ "value": 2.5
+ }, {
+ "constraint_type": "VOLTAGE",
+ "value": 12.0
+ }, {
+ "constraint_type": "VELOCITY",
+ "value": 1.0,
+ "start_distance": 1.6,
+ "end_distance": 2.75
+ }]
+}
diff --git a/y2023/autonomous/splines/splinecable.1.json b/y2023/autonomous/splines/splinecable.1.json
index bf6838d..97030ab 100644
--- a/y2023/autonomous/splines/splinecable.1.json
+++ b/y2023/autonomous/splines/splinecable.1.json
@@ -1 +1,25 @@
-{"spline_count": 2, "spline_x": [1.441511105732058, 2.158787794162399, 2.644327791138681, 3.0017835551344163, 3.810734918966552, 4.3709130304548385, 4.931091141943125, 5.242496001087563, 5.544694674297983, 5.965729060465805, 6.444059695844368], "spline_y": [-3.125670625960137, -3.233263161324085, -3.2028042659537914, -3.139500351375334, -3.125566969972238, -3.126688937308022, -3.127810904643806, -3.143988220718469, -2.9893341041515376, -2.943814113563144, -2.9458417329239843], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.5, "start_distance": 1.9, "end_distance": 10.0}]}
\ No newline at end of file
+{
+ "spline_count": 2,
+ "spline_x": [1.441511105732058, 2.158787794162399, 2.644327791138681, 3.0017835551344163, 3.810734918966552, 4.3709130304548385, 4.931091141943125, 5.242496001087563, 5.544694674297983, 5.965729060465805, 6.444059695844368],
+ "spline_y": [-3.125670625960137, -3.233263161324085, -3.2028042659537914, -3.139500351375334, -3.125566969972238, -3.126688937308022, -3.127810904643806, -3.143988220718469, -2.9893341041515376, -2.943814113563144, -2.9458417329239843],
+ "constraints": [{
+ "constraint_type": "LONGITUDINAL_ACCELERATION",
+ "value": 3.5
+ }, {
+ "constraint_type": "LATERAL_ACCELERATION",
+ "value": 2.5
+ }, {
+ "constraint_type": "VOLTAGE",
+ "value": 12.0
+ }, {
+ "constraint_type": "VELOCITY",
+ "value": 1.7,
+ "start_distance": 2.4,
+ "end_distance": 4.0
+ }, {
+ "constraint_type": "VELOCITY",
+ "value": 1.8,
+ "start_distance": 4.0,
+ "end_distance": 10.0
+ }]
+}
diff --git a/y2023/autonomous/splines/splinecable.2.json b/y2023/autonomous/splines/splinecable.2.json
index 1caf288..82944cc 100644
--- a/y2023/autonomous/splines/splinecable.2.json
+++ b/y2023/autonomous/splines/splinecable.2.json
@@ -1 +1,20 @@
-{"spline_count": 2, "spline_x": [6.444059695844368, 5.977202894617023, 5.571532532121525, 5.64631894401731, 5.012590627058541, 4.364949107965309, 3.7173075888720764, 3.0557528676443795, 2.3031869947159427, 1.8583292479008144, 1.389061484581065], "spline_y": [-2.9458417329239843, -2.943862750565559, -2.96219050239874, -3.128181973537357, -3.0803143268366417, -3.079651639654858, -3.0789889524730745, -3.1255312248102225, -2.6948472310294784, -2.234117571800885, -1.9039073778940578], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.5, "start_distance": 1.6, "end_distance": 2.55}]}
\ No newline at end of file
+{
+ "spline_count": 2,
+ "spline_x": [6.444059695844368, 5.977202894617023, 5.571532532121525, 5.64631894401731, 5.012590627058541, 4.364949107965309, 3.7173075888720764, 3.0557528676443795, 2.3031869947159427, 1.8583292479008144, 1.389061484581065],
+ "spline_y": [-2.9458417329239843, -2.943862750565559, -2.96219050239874, -3.128181973537357, -3.0803143268366417, -3.079651639654858, -3.0789889524730745, -3.1255312248102225, -2.6948472310294784, -2.234117571800885, -1.9039073778940578],
+ "constraints": [{
+ "constraint_type": "LONGITUDINAL_ACCELERATION",
+ "value": 3.5
+ }, {
+ "constraint_type": "LATERAL_ACCELERATION",
+ "value": 2.5
+ }, {
+ "constraint_type": "VOLTAGE",
+ "value": 12.0
+ }, {
+ "constraint_type": "VELOCITY",
+ "value": 1.0,
+ "start_distance": 1.6,
+ "end_distance": 2.55
+ }]
+}
diff --git a/y2023/autonomous/splines/splinecable.3.json b/y2023/autonomous/splines/splinecable.3.json
index c49c1e8..f08d069 100644
--- a/y2023/autonomous/splines/splinecable.3.json
+++ b/y2023/autonomous/splines/splinecable.3.json
@@ -1 +1,20 @@
-{"spline_count": 2, "spline_x": [1.389061484581065, 2.1138941612201396, 2.2865982233539297, 3.1216159825232483, 3.763030179317507, 4.301019167021117, 4.839008154724727, 5.2735719333376885, 5.59798451182913, 5.734162859875811, 6.443454541551164], "spline_y": [-1.9039073778940578, -2.4139512321954397, -2.680729209318427, -3.1198721507158496, -3.0738965122418085, -3.0726645678919953, -3.071432623542182, -3.1149443733165967, -2.966418143397661, -2.9578217694545557, -2.957336170980663], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.5, "start_distance": 2.5, "end_distance": 3.6}]}
\ No newline at end of file
+{
+ "spline_count": 2,
+ "spline_x": [1.389061484581065, 2.1138941612201396, 2.2865982233539297, 3.1216159825232483, 3.763030179317507, 4.301019167021117, 4.839008154724727, 5.2735719333376885, 5.59798451182913, 5.734162859875811, 6.443454541551164],
+ "spline_y": [-1.9039073778940578, -2.4139512321954397, -2.680729209318427, -3.1198721507158496, -3.0738965122418085, -3.0726645678919953, -3.071432623542182, -3.1149443733165967, -2.966418143397661, -2.9578217694545557, -2.957336170980663],
+ "constraints": [{
+ "constraint_type": "LONGITUDINAL_ACCELERATION",
+ "value": 3.5
+ }, {
+ "constraint_type": "LATERAL_ACCELERATION",
+ "value": 2.5
+ }, {
+ "constraint_type": "VOLTAGE",
+ "value": 12.0
+ }, {
+ "constraint_type": "VELOCITY",
+ "value": 1.8,
+ "start_distance": 2.5,
+ "end_distance": 3.6
+ }]
+}