Hand optimize bounce splines
Change-Id: Ibafb44a02f136fb4ff9a0e917ce47fff1ad454e0
diff --git a/y2020/actors/splines/autonav_bounce_1.json b/y2020/actors/splines/autonav_bounce_1.json
index 7a6803b..339900b 100644
--- a/y2020/actors/splines/autonav_bounce_1.json
+++ b/y2020/actors/splines/autonav_bounce_1.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [-3.841487603305785, -3.186545454545455, -2.7835041322314047, -2.58198347107438, -2.405652892561984, -2.304892561983471], "spline_y": [0.0503801652892562, 0.1007603305785124, 0.22671074380165293, 0.4786115702479339, 0.8564628099173552, 1.5617851239669422], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 2.0}]}
+{"spline_count": 1, "spline_x": [-3.841487603305785, -3.3755947873443977, -3.0957801579518933, -2.3949857243581434, -2.3116481497990145, -2.304892561983471], "spline_y": [0.0503801652892562, 0.05652844187629669, 0.11639432357851401, 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": 2.0}]}
diff --git a/y2020/actors/splines/autonav_bounce_2.json b/y2020/actors/splines/autonav_bounce_2.json
index e3046fe..127128e 100644
--- a/y2020/actors/splines/autonav_bounce_2.json
+++ b/y2020/actors/splines/autonav_bounce_2.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [-2.304892561983471, -2.1789421487603304, -1.6751404958677685, -0.3904462809917355, 0.08816528925619875, -0.012595041322314211], "spline_y": [1.5617851239669422, 0.251900826446281, -1.2846942148760332, -2.6701487603305787, -1.4106446280991736, 1.5114049586776859], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 2.0}]}
+{"spline_count": 2, "spline_x": [-2.300972622575431, -2.276803448275862, -2.2713968817349137, -1.6818424905711238, -1.7119211678340525, -1.5873674232219828, -1.462813678609913, -1.183627512122845, 0.07931769261853441, 0.20563043170797451, -0.0033345198006461863], "spline_y": [1.52789615352236, 0.9051463547279094, 0.30167396787446127, -0.15916462318157443, -0.3509412092537718, -0.7144320935479526, -1.0779229778421333, -1.6131281603582976, -2.2125802633351292, -1.0379113062365304, 1.5787289769665949], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.0}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
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diff --git a/y2020/actors/splines/autonav_bounce_3.json b/y2020/actors/splines/autonav_bounce_3.json
index abbd8ab..6636c41 100644
--- a/y2020/actors/splines/autonav_bounce_3.json
+++ b/y2020/actors/splines/autonav_bounce_3.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [0.012595041322314211, -0.11335537190082647, -0.18892561983471026, 2.3804628099173564, 2.3804628099173564, 2.304892561983471], "spline_y": [1.5869752066115703, -1.234314049586777, -2.241917355371901, -2.4182479338842975, -1.209123966942149, 1.536595041322314], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 2.0}]}
+{"spline_count": 1, "spline_x": [0.012595041322314211, -0.1130877609569499, -0.17110139636281083, 2.5749025625648345, 2.4596194323781124, 2.304892561983471], "spline_y": [1.5869752066115703, -1.207064795529694, -2.512129978037474, -2.7245033896038637, -1.2752370311689574, 1.536595041322314], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.0}, {"constraint_type": "VOLTAGE", "value": 2.0}]}
\ No newline at end of file
diff --git a/y2020/actors/splines/autonav_bounce_4.json b/y2020/actors/splines/autonav_bounce_4.json
index c1045a6..2f3a0e6 100644
--- a/y2020/actors/splines/autonav_bounce_4.json
+++ b/y2020/actors/splines/autonav_bounce_4.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [2.2545123966942158, 2.2545123966942158, 2.4056528925619842, 2.5567933884297522, 3.010214876033058, 3.765917355371901], "spline_y": [1.536595041322314, 0.9572231404958678, 0.6297520661157024, 0.2015206611570248, 0.0251900826446281, 0.0503801652892562], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 2.0}]}
+{"spline_count": 1, "spline_x": [2.2545123966942158, 2.2545123966942158, 2.3716765227891603, 2.7544087339535794, 3.0050034929330915, 3.765917355371901], "spline_y": [1.536595041322314, 0.9572231404958678, 0.689289587250389, 0.2103741125842842, 0.05097942228831691, 0.0503801652892562], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 6.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 6.0}, {"constraint_type": "VOLTAGE", "value": 2.0}]}
\ No newline at end of file