Write 2023 autonomous splines
Wrote the 2023 spline jsons for autonomous and moved
everything to y2023/autonomous/splines.
Signed-off-by: Nathan Leong <nathanrleong@gmail.com>
Change-Id: I6507165895183524a653f003db7804793419605a
diff --git a/frc971/control_loops/python/constants.py b/frc971/control_loops/python/constants.py
index 3a61b5e..7bc45db 100644
--- a/frc971/control_loops/python/constants.py
+++ b/frc971/control_loops/python/constants.py
@@ -36,7 +36,7 @@
Robot2020 = RobotType(width=0.8128, length=0.8636) # 32 in x 34 in
Robot2021 = Robot2020
Robot2022 = RobotType(width=0.8763, length=0.96647)
-Robot2023 = RobotType(width=0.8763, length=0.96647)
+Robot2023 = RobotType(width=0.6061, length=0.77581)
FIELDS = {
"2019 Field":
@@ -137,6 +137,8 @@
return "y2020/actors/splines"
elif field.year == 2022:
return "y2022/actors/splines"
+ elif field.year == 2023:
+ return "y2023/autonomous/splines"
else:
return "frc971/control_loops/python/spline_jsons"
diff --git a/y2023/autonomous/splines/README.md b/y2023/autonomous/splines/README.md
new file mode 100644
index 0000000..c655416
--- /dev/null
+++ b/y2023/autonomous/splines/README.md
@@ -0,0 +1,3 @@
+# Spline Descriptions
+This folder contains reference material for what each spline does
+
diff --git a/y2023/autonomous/splines/spline_1.json b/y2023/autonomous/splines/spline_1.json
new file mode 100644
index 0000000..e6e24ed
--- /dev/null
+++ b/y2023/autonomous/splines/spline_1.json
@@ -0,0 +1 @@
+{"spline_count": 1, "spline_x": [-6.450466090790975, -6.021160733648118, -5.591855376505261, -3.3652785421474576, -2.7749836760760287, -1.7732711760760287], "spline_y": [0.9493418961252269, 0.9493418961252269, 0.9314541729109411, 0.5975544198946889, 0.5975544198946889, 0.5796666966804032], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 10}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline_2.json b/y2023/autonomous/splines/spline_2.json
new file mode 100644
index 0000000..032a081
--- /dev/null
+++ b/y2023/autonomous/splines/spline_2.json
@@ -0,0 +1 @@
+{"spline_count": 1, "spline_x": [-1.7732711760760287, -2.7749836760760287, -3.3652785421474576, -5.591855376505261, -6.021160733648118, -6.450466090790975], "spline_y": [0.5796666966804032, 0.5975544198946889, 0.5975544198946889, 0.40105062588141127, 0.41893834909569705, 0.41893834909569705], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 10}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline_3.json b/y2023/autonomous/splines/spline_3.json
new file mode 100644
index 0000000..4ca06a8
--- /dev/null
+++ b/y2023/autonomous/splines/spline_3.json
@@ -0,0 +1 @@
+{"spline_count": 1, "spline_x": [-6.450466090790975, -6.021160733648118, -5.591855376505261, -3.605574338541678, -3.0269522872367363, -1.6929070022836754], "spline_y": [0.41893834909569705, 0.41893834909569705, 0.40105062588141127, 0.5475210271634618, 0.515375357646521, -0.3364848845524211], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 10}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline_4.json b/y2023/autonomous/splines/spline_4.json
new file mode 100644
index 0000000..a56d24e
--- /dev/null
+++ b/y2023/autonomous/splines/spline_4.json
@@ -0,0 +1 @@
+{"spline_count": 1, "spline_x": [-1.6929070022836754, -3.0269522872367363, -3.605574338541678, -5.591855376505261, -6.021160733648118, -6.450466090790975], "spline_y": [-0.3364848845524211, 0.515375357646521, 0.5475210271634618, 0.40105062588141127, 0.41893834909569705, 0.41893834909569705], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 10}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline_5.json b/y2023/autonomous/splines/spline_5.json
new file mode 100644
index 0000000..4eee822
--- /dev/null
+++ b/y2023/autonomous/splines/spline_5.json
@@ -0,0 +1 @@
+{"spline_count": 1, "spline_x": [-6.450466090790975, -6.448323209188465, -6.468936183333308, -5.63485982210851, -5.224861021501398, -4.383040925048516], "spline_y": [0.41893834909569705, -0.2089748700255587, -1.0435424455861884, -0.6390449134590346, -0.8779649804883709, -0.8766708249234052], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 10}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/test_spline.json b/y2023/autonomous/splines/test_spline.json
index 7672596..733d516 100644
--- a/y2023/autonomous/splines/test_spline.json
+++ b/y2023/autonomous/splines/test_spline.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [6.22420997455908, 6.1347950111487386, 6.080329974810555, 6.023577036950107, 5.9617203084135255, 5.81469341092744], "spline_y": [-2.63127733767268, -2.63127733767268, -2.656484781970896, -2.656484781970896, -2.6668098529078925, -2.6448802602350456], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 2}, {"constraint_type": "LATERAL_ACCELERATION", "value": 1}, {"constraint_type": "VOLTAGE", "value": 4}]}
+{"spline_count": 1, "spline_x": [0, 0.4, 0.4, 0.6, 0.6, 1.0], "spline_y": [0, 0, 0.05, 0.1, 0.15, 0.15], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 1}, {"constraint_type": "LATERAL_ACCELERATION", "value": 1}, {"constraint_type": "VOLTAGE", "value": 2}]}