Tune cable carrier auto
Tune splines and arm movements.
Change-Id: I4b27ff9e2d4fad278057f0c8bdbf56c6646349d5
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/autonomous/autonomous_actor.cc b/y2023/autonomous/autonomous_actor.cc
index 58c31d0..cd4d4f1 100644
--- a/y2023/autonomous/autonomous_actor.cc
+++ b/y2023/autonomous/autonomous_actor.cc
@@ -475,7 +475,13 @@
splines[1].Start();
std::this_thread::sleep_for(chrono::milliseconds(300));
+ Neutral();
+
+ if (!splines[1].WaitForSplineDistanceTraveled(3.2)) return;
HighCubeScore();
+ AOS_LOG(
+ INFO, "Extending arm %lf s\n",
+ aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
if (!splines[1].WaitForSplineDistanceRemaining(0.08)) return;
AOS_LOG(
@@ -521,10 +527,17 @@
if (!splines[3].WaitForPlan()) return;
splines[3].Start();
+ std::this_thread::sleep_for(chrono::milliseconds(400));
+ Neutral();
+
AOS_LOG(
INFO, "Driving back %lf s\n",
aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
+ if (!splines[3].WaitForSplineDistanceTraveled(3.5)) return;
+ AOS_LOG(
+ INFO, "Extending arm %lf s\n",
+ aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
MidCubeScore();
if (!splines[3].WaitForSplineDistanceRemaining(0.07)) return;
diff --git a/y2023/autonomous/splines/splinecable.0.json b/y2023/autonomous/splines/splinecable.0.json
index 3fdcfbe..3a8a1c8 100644
--- a/y2023/autonomous/splines/splinecable.0.json
+++ b/y2023/autonomous/splines/splinecable.0.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [-6.468141183035714, -6.142335156250001, -5.834629464285714, -2.6851712053571433, -2.2145624999999995, -1.7620541294642855], "spline_y": [-3.493364620535714, -3.493364620535714, -3.4752642857142853, -3.0951572544642856, -3.0770569196428568, -3.0770569196428568], "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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+{"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}]}
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diff --git a/y2023/autonomous/splines/splinecable.1.json b/y2023/autonomous/splines/splinecable.1.json
index b9b4fdd..bf6838d 100644
--- a/y2023/autonomous/splines/splinecable.1.json
+++ b/y2023/autonomous/splines/splinecable.1.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [-1.7620541294642855, -2.2145624999999995, -2.6851712053571433, -5.8165291294642865, -6.124234821428573, -6.450040848214286], "spline_y": [-3.0770569196428568, -3.0770569196428568, -3.0951572544642856, -2.9141539062499993, -2.932254241071428, -2.932254241071428], "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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+{"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}]}
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diff --git a/y2023/autonomous/splines/splinecable.2.json b/y2023/autonomous/splines/splinecable.2.json
index cef0375..1caf288 100644
--- a/y2023/autonomous/splines/splinecable.2.json
+++ b/y2023/autonomous/splines/splinecable.2.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [-6.450040848214286, -6.124234821428573, -5.8165291294642865, -2.9023752232142854, -2.1059604910714285, -1.6353517857142856], "spline_y": [-2.932254241071428, -2.932254241071428, -2.9141539062499993, -3.2218595982142855, -2.6607492187499995, -2.244441517857142], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
\ 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": 3.0}, {"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}]}
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diff --git a/y2023/autonomous/splines/splinecable.3.json b/y2023/autonomous/splines/splinecable.3.json
index 60821fe..c49c1e8 100644
--- a/y2023/autonomous/splines/splinecable.3.json
+++ b/y2023/autonomous/splines/splinecable.3.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [-1.6353517857142856, -2.1059604910714285, -2.9023752232142854, -5.8165291294642865, -6.124234821428573, -6.450040848214286], "spline_y": [-2.244441517857142, -2.6607492187499995, -3.2218595982142855, -2.9141539062499993, -2.932254241071428, -2.932254241071428], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
\ 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": 3.0}, {"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}]}
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