AutoChooser, more (not all) paths, and auto sequences

elastic_layouts/elastic-4048-2026-dev-v1.0.json

@@ -62,18 +62,6 @@
                 }
               }
             ]
-          },
-          {
-            "title": "camera goes here",
-            "x": 768.0,
-            "y": 0.0,
-            "width": 512.0,
-            "height": 384.0,
-            "type": "List Layout",
-            "properties": {
-              "label_position": "TOP"
-            },
-            "children": []
           }
         ],
         "containers": [
@@ -117,16 +105,56 @@
           },
           {
             "title": "Auto Chooser",
+            "x": 1024.0,
+            "y": 512.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "ComboBox Chooser",
+            "properties": {
+              "topic": "/SmartDashboard/Action Chooser",
+              "period": 0.06,
+              "sort_options": false
+            }
+          },
+          {
+            "title": "DriverCam",
             "x": 768.0,
-            "y": 384.0,
+            "y": 0.0,
             "width": 512.0,
-            "height": 256.0,
+            "height": 384.0,
+            "type": "Camera Stream",
+            "properties": {
+              "topic": "/CameraPublisher/DriverCam",
+              "period": 0.06,
+              "rotation_turns": 0
+            }
+          },
+          {
+            "title": "Location Chooser",
+            "x": 768.0,
+            "y": 512.0,
+            "width": 256.0,
+            "height": 128.0,
             "type": "ComboBox Chooser",
             "properties": {
-              "topic": "/SmartDashboard/Action Chooser",
+              "topic": "/SmartDashboard/Location Chooser",
               "period": 0.06,
               "sort_options": false
             }
+          },
+          {
+            "title": "Selected Action",
+            "x": 768.0,
+            "y": 384.0,
+            "width": 512.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/SmartDashboard/Selected Action",
+              "period": 0.06,
+              "data_type": "string",
+              "show_submit_button": false
+            }
           }
         ]
       }
@@ -661,6 +689,19 @@
               "show_type": false,
               "maximize_button_space": true
             }
+          },
+          {
+            "title": "Location Chooser",
+            "x": 512.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "ComboBox Chooser",
+            "properties": {
+              "topic": "/SmartDashboard/Location Chooser",
+              "period": 0.06,
+              "sort_options": false
+            }
           }
         ]
       }

src/main/deploy/choreo/MidToTower.traj

@@ -0,0 +1,91 @@
+{
+ "name":"MidToTower",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.609598159790039, "y":4.007639408111572, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.1108198165893555, "y":2.857714891433716, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.3226691484451294, "y":2.844794273376465, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"3.636425733566284 m", "val":3.636425733566284}, "y":{"exp":"4.022153377532959 m", "val":4.022153377532959}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.1108198165893555 m", "val":2.1108198165893555}, "y":{"exp":"2.857714891433716 m", "val":2.857714891433716}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.3226691484451294 m", "val":1.3226691484451294}, "y":{"exp":"2.844794273376465 m", "val":2.844794273376465}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.70219,1.129],
+  "samples":[
+    {"t":0.0, "x":3.6096, "y":4.00764, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.7722, "ay":-6.92692, "alpha":0.0, "fx":[-98.18353,-98.18353,-98.18353,-98.18353], "fy":[-117.82496,-117.82496,-117.82496,-117.82496]},
+    {"t":0.03696, "x":3.60566, "y":4.00291, "heading":0.0, "vx":-0.21333, "vy":-0.256, "omega":0.0, "ax":-5.83207, "ay":-6.8755, "alpha":0.0, "fx":[-99.20183,-99.20183,-99.20183,-99.20183], "fy":[-116.95025,-116.95025,-116.95025,-116.95025]},
+    {"t":0.07392, "x":3.59379, "y":3.98875, "heading":0.0, "vx":-0.42887, "vy":-0.5101, "omega":0.0, "ax":-5.90213, "ay":-6.81415, "alpha":0.0, "fx":[-100.39357,-100.39357,-100.39357,-100.39357], "fy":[-115.90667,-115.90667,-115.90667,-115.90667]},
+    {"t":0.11087, "x":3.57391, "y":3.96525, "heading":0.0, "vx":-0.64699, "vy":-0.76194, "omega":0.0, "ax":-5.98519, "ay":-6.73973, "alpha":0.0, "fx":[-101.80644,-101.80644,-101.80644,-101.80644], "fy":[-114.64086,-114.64086,-114.64086,-114.64086]},
+    {"t":0.14783, "x":3.54591, "y":3.93248, "heading":0.0, "vx":-0.86819, "vy":-1.01102, "omega":0.0, "ax":-6.08517, "ay":-6.64766, "alpha":0.0, "fx":[-103.50701,-103.50701,-103.50701,-103.50701], "fy":[-113.07477,-113.07477,-113.07477,-113.07477]},
+    {"t":0.18479, "x":3.50967, "y":3.89058, "heading":0.0, "vx":-1.09309, "vy":-1.2567, "omega":0.0, "ax":-6.20767, "ay":-6.53096, "alpha":0.0, "fx":[-105.59073,-105.59073,-105.59073,-105.59073], "fy":[-111.08972,-111.08972,-111.08972,-111.08972]},
+    {"t":0.22175, "x":3.46503, "y":3.83967, "heading":0.0, "vx":-1.32251, "vy":-1.49807, "omega":0.0, "ax":-6.361, "ay":-6.37852, "alpha":0.0, "fx":[-108.19872,-108.19872,-108.19872,-108.19872], "fy":[-108.49683,-108.49683,-108.49683,-108.49683]},
+    {"t":0.2587, "x":3.41181, "y":3.77995, "heading":0.0, "vx":-1.55759, "vy":-1.73381, "omega":0.0, "ax":-6.55783, "ay":-6.17164, "alpha":0.0, "fx":[-111.54682,-111.54682,-111.54682,-111.54682], "fy":[-104.97779,-104.97779,-104.97779,-104.97779]},
+    {"t":0.29566, "x":3.34977, "y":3.71166, "heading":0.0, "vx":-1.79996, "vy":-1.9619, "omega":0.0, "ax":-6.81824, "ay":-5.87646, "alpha":0.0, "fx":[-115.97624,-115.97624,-115.97624,-115.97624], "fy":[-99.9569,-99.9569,-99.9569,-99.9569]},
+    {"t":0.33262, "x":3.27859, "y":3.63514, "heading":0.0, "vx":-2.05194, "vy":-2.17908, "omega":0.0, "ax":-7.17457, "ay":-5.42601, "alpha":0.0, "fx":[-122.03743,-122.03743,-122.03743,-122.03743], "fy":[-92.29494,-92.29494,-92.29494,-92.29494]},
+    {"t":0.36958, "x":3.19785, "y":3.5509, "heading":0.0, "vx":-2.3171, "vy":-2.37961, "omega":0.0, "ax":-7.67647, "ay":-4.67197, "alpha":0.0, "fx":[-130.57459,-130.57459,-130.57459,-130.57459], "fy":[-79.46887,-79.46887,-79.46887,-79.46887]},
+    {"t":0.40653, "x":3.10698, "y":3.45977, "heading":0.0, "vx":-2.6008, "vy":-2.55227, "omega":0.0, "ax":-8.36556, "ay":-3.24198, "alpha":0.0, "fx":[-142.29585,-142.29585,-142.29585,-142.29585], "fy":[-55.14515,-55.14515,-55.14515,-55.14515]},
+    {"t":0.44349, "x":3.00514, "y":3.36323, "heading":0.0, "vx":-2.90997, "vy":-2.67209, "omega":0.0, "ax":-8.94655, "ay":-0.18463, "alpha":0.0, "fx":[-152.17829,-152.17829,-152.17829,-152.17829], "fy":[-3.14051,-3.14051,-3.14051,-3.14051]},
+    {"t":0.48045, "x":2.89149, "y":3.26435, "heading":0.0, "vx":-3.24061, "vy":-2.67891, "omega":0.0, "ax":-7.2967, "ay":5.15067, "alpha":0.0, "fx":[-124.1147,-124.1147,-124.1147,-124.1147], "fy":[87.6114,87.6114,87.6114,87.6114]},
+    {"t":0.51741, "x":2.76674, "y":3.16886, "heading":0.0, "vx":-3.51028, "vy":-2.48856, "omega":0.0, "ax":-2.98654, "ay":8.43748, "alpha":0.0, "fx":[-50.80027,-50.80027,-50.80027,-50.80027], "fy":[143.51918,143.51918,143.51918,143.51918]},
+    {"t":0.55436, "x":2.63497, "y":3.08265, "heading":0.0, "vx":-3.62066, "vy":-2.17673, "omega":0.0, "ax":-0.08484, "ay":8.97274, "alpha":0.0, "fx":[-1.44316,-1.44316,-1.44316,-1.44316], "fy":[152.62372,152.62372,152.62372,152.62372]},
+    {"t":0.59132, "x":2.5011, "y":3.00833, "heading":0.0, "vx":-3.62379, "vy":-1.84512, "omega":0.0, "ax":1.42977, "ay":8.87273, "alpha":0.0, "fx":[24.31997,24.31997,24.31997,24.31997], "fy":[150.92266,150.92266,150.92266,150.92266]},
+    {"t":0.62828, "x":2.36815, "y":2.9462, "heading":0.0, "vx":-3.57095, "vy":-1.5172, "omega":0.0, "ax":2.2881, "ay":8.69997, "alpha":0.0, "fx":[38.91995,38.91995,38.91995,38.91995], "fy":[147.98401,147.98401,147.98401,147.98401]},
+    {"t":0.66524, "x":2.23774, "y":2.89607, "heading":0.0, "vx":-3.48639, "vy":-1.19567, "omega":0.0, "ax":2.82631, "ay":8.54628, "alpha":0.0, "fx":[48.07472,48.07472,48.07472,48.07472], "fy":[145.36983,145.36983,145.36983,145.36983]},
+    {"t":0.70219, "x":2.11082, "y":2.85771, "heading":0.0, "vx":-3.38194, "vy":-0.87982, "omega":0.0, "ax":3.86823, "ay":8.12858, "alpha":0.0, "fx":[65.79755,65.79755,65.79755,65.79755], "fy":[138.2648,138.2648,138.2648,138.2648]},
+    {"t":0.73776, "x":1.99298, "y":2.83156, "heading":0.0, "vx":-3.24435, "vy":-0.59071, "omega":0.0, "ax":5.51487, "ay":7.11424, "alpha":0.0, "fx":[93.80639,93.80639,93.80639,93.80639], "fy":[121.01114,121.01114,121.01114,121.01114]},
+    {"t":0.77333, "x":1.88108, "y":2.81505, "heading":0.0, "vx":-3.04821, "vy":-0.33768, "omega":0.0, "ax":6.9095, "ay":5.77021, "alpha":0.0, "fx":[117.52858,117.52858,117.52858,117.52858], "fy":[98.14955,98.14955,98.14955,98.14955]},
+    {"t":0.8089, "x":1.77703, "y":2.80669, "heading":0.0, "vx":-2.80246, "vy":-0.13245, "omega":0.0, "ax":7.90863, "ay":4.30321, "alpha":0.0, "fx":[134.52346,134.52346,134.52346,134.52346], "fy":[73.19638,73.19638,73.19638,73.19638]},
+    {"t":0.84446, "x":1.68236, "y":2.8047, "heading":0.0, "vx":-2.52117, "vy":0.0206, "omega":0.0, "ax":8.52107, "ay":2.91409, "alpha":0.0, "fx":[144.94092,144.94092,144.94092,144.94092], "fy":[49.5678,49.5678,49.5678,49.5678]},
+    {"t":0.88003, "x":1.59808, "y":2.80728, "heading":0.0, "vx":-2.2181, "vy":0.12425, "omega":0.0, "ax":8.84379, "ay":1.71057, "alpha":0.0, "fx":[150.4303,150.4303,150.4303,150.4303], "fy":[29.09637,29.09637,29.09637,29.09637]},
+    {"t":0.9156, "x":1.52478, "y":2.81278, "heading":0.0, "vx":-1.90355, "vy":0.18509, "omega":0.0, "ax":8.98125, "ay":0.71515, "alpha":0.0, "fx":[152.76843,152.76843,152.76843,152.76843], "fy":[12.16457,12.16457,12.16457,12.16457]},
+    {"t":0.95116, "x":1.46276, "y":2.81982, "heading":0.0, "vx":-1.58411, "vy":0.21053, "omega":0.0, "ax":9.01094, "ay":-0.09297, "alpha":0.0, "fx":[153.27352,153.27352,153.27352,153.27352], "fy":[-1.58145,-1.58145,-1.58145,-1.58145]},
+    {"t":0.98673, "x":1.41211, "y":2.82725, "heading":0.0, "vx":-1.26362, "vy":0.20722, "omega":0.0, "ax":8.98189, "ay":-0.74727, "alpha":0.0, "fx":[152.77944,152.77944,152.77944,152.77944], "fy":[-12.71093,-12.71093,-12.71093,-12.71093]},
+    {"t":1.0223, "x":1.37285, "y":2.83414, "heading":0.0, "vx":-0.94416, "vy":0.18064, "omega":0.0, "ax":8.92288, "ay":-1.27996, "alpha":0.0, "fx":[151.77559,151.77559,151.77559,151.77559], "fy":[-21.77168,-21.77168,-21.77168,-21.77168]},
+    {"t":1.05787, "x":1.34491, "y":2.83976, "heading":0.0, "vx":-0.6268, "vy":0.13512, "omega":0.0, "ax":8.85017, "ay":-1.71768, "alpha":0.0, "fx":[150.53878,150.53878,150.53878,150.53878], "fy":[-29.21721,-29.21721,-29.21721,-29.21721]},
+    {"t":1.09343, "x":1.32822, "y":2.84348, "heading":0.0, "vx":-0.31202, "vy":0.07402, "omega":0.0, "ax":8.77276, "ay":-2.08125, "alpha":0.0, "fx":[149.22206,149.22206,149.22206,149.22206], "fy":[-35.40146,-35.40146,-35.40146,-35.40146]},
+    {"t":1.129, "x":1.32267, "y":2.84479, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}

src/main/deploy/choreo/NewPath.traj

@@ -0,0 +1,29 @@
+{
+ "name":"NewPath",
+ "version":3,
+ "snapshot":{
+  "waypoints":[],
+  "constraints":[],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"3.9904961585998535 m", "val":3.9904961585998535}, "y":{"exp":"8.07487678527832 m", "val":8.07487678527832}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":null,
+  "sampleType":null,
+  "waypoints":[],
+  "samples":[],
+  "splits":[]
+ },
+ "events":[]
+}