Tune arm back box place trajectories and hang location
Change-Id: Ic2e04e987e82695a35b44ea5939350d338ad4693
diff --git a/y2018/control_loops/python/graph_edit.py b/y2018/control_loops/python/graph_edit.py
index fbf5f8b..0694ae0 100644
--- a/y2018/control_loops/python/graph_edit.py
+++ b/y2018/control_loops/python/graph_edit.py
@@ -172,7 +172,7 @@
def __init__(self):
super(Silly, self).__init__()
- self.theta_version = True
+ self.theta_version = False
self.reinit_extents()
self.last_pos = (numpy.pi / 2.0, 1.0)
@@ -421,6 +421,11 @@
(self.last_pos[0], self.last_pos[1],
self.circular_index_select))
+ print('c1: numpy.array([%f, %f])' % (self.segments[0].control1[0],
+ self.segments[0].control1[1]))
+ print('c2: numpy.array([%f, %f])' % (self.segments[0].control2[0],
+ self.segments[0].control2[1]))
+
self.redraw()
diff --git a/y2018/control_loops/python/graph_generate.py b/y2018/control_loops/python/graph_generate.py
index 642a006..dae7caa 100644
--- a/y2018/control_loops/python/graph_generate.py
+++ b/y2018/control_loops/python/graph_generate.py
@@ -531,7 +531,7 @@
self_hang = numpy.array(
[numpy.pi / 2.0 - 0.191611, numpy.pi / 2.0])
partner_hang = numpy.array(
- [numpy.pi / 2.0 - (-0.25), numpy.pi / 2.0])
+ [numpy.pi / 2.0 - (-0.30), numpy.pi / 2.0])
above_hang = numpy.array(
[numpy.pi / 2.0 - 0.14, numpy.pi / 2.0 - (-0.165)])
@@ -663,11 +663,17 @@
tall_to_back_high_c2 = numpy.array([1.508610, 0.946147])
# If true, only plot the first named segment
-isolate = 0
+isolate = False
long_alpha_unitizer = numpy.matrix([[1.0 / 17.0, 0.0], [0.0, 1.0 / 17.0]])
+neutral_to_back_c1 = numpy.array([0.702527, -2.618276])
+neutral_to_back_c2 = numpy.array([0.526914, -3.109691])
+
+
named_segments = [
+ ThetaSplineSegment(neutral, neutral_to_back_c1, neutral_to_back_c2, back_switch, "BackSwitch"),
+
ThetaSplineSegment(neutral, neutral_to_back_low_c1, tall_to_back_high_c2, back_high_box, "NeutralBoxToHigh", alpha_unitizer=long_alpha_unitizer),
ThetaSplineSegment(neutral, neutral_to_back_low_c1, tall_to_back_high_c2, back_middle2_box, "NeutralBoxToMiddle2", long_alpha_unitizer),
ThetaSplineSegment(neutral, neutral_to_back_low_c1, tall_to_back_low_c2, back_middle1_box, "NeutralBoxToMiddle1", long_alpha_unitizer),
@@ -713,7 +719,6 @@
SplineSegment(ready_above_box, ready_to_up_c1, ready_to_up_c2, up),
ThetaSplineSegment(duck, duck_c1, duck_c2, neutral),
SplineSegment(neutral, front_switch_c1, front_switch_c2, front_switch),
- AngleSegment(neutral, back_switch),
XYSegment(ready_above_box, front_low_box),
XYSegment(ready_above_box, front_switch),