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paths.py
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paths.py
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import math
import pathfinder as pf
import os.path
import pickle
import wpilib
import const
pickle_file_name = os.path.join(os.path.dirname(__file__), 'trajectory.pickle')
if wpilib.RobotBase.isSimulation():
def gen_trajectory(points, spline_type, backwards = False):
if backwards:
points = list(reversed(points))
"""Returns a tuple of path information (TrajectoryInfo) and trajectory (Segment)"""
return pf.generate(points, spline_type, pf.SAMPLES_HIGH,
dt=0.05, # 50ms
max_velocity=const.DRIVE_MAX_SPEED,
max_acceleration=const.DRIVE_MAX_ACCEL,
max_jerk=const.DRIVE_MAX_JERK)
# Cross Baseline
cb_1_points = [
pf.Waypoint(0, 0, 0),
pf.Waypoint(12, 0, 0),
]
cb_1_pathinfo, cb_1_trajectory = gen_trajectory(cb_1_points, pf.FIT_HERMITE_CUBIC)
cb_1_modifier = pf.modifiers.TankModifier(cb_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# Center to Switch Right
cswr_1_points = [
pf.Waypoint(0, 13, 0),
pf.Waypoint(11, 8, 0)
]
cswr_1_pathinfo, cswr_1_trajectory = gen_trajectory(cswr_1_points, pf.FIT_HERMITE_CUBIC)
cswr_1_modifier = pf.modifiers.TankModifier(cswr_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# Center to Switch Left
cswl_1_points = [
pf.Waypoint(0, 13, 0),
pf.Waypoint(11, 18, 0),
]
cswl_1_pathinfo, cswl_1_trajectory = gen_trajectory(cswl_1_points, pf.FIT_HERMITE_CUBIC)
cswl_1_modifier = pf.modifiers.TankModifier(cswl_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# rswr = Right to Right Switch
# Part 1: Drive to Switch
rswr_1_points = [
pf.Waypoint(0, 3.5, 0),
pf.Waypoint(8, 3.5, 0),
pf.Waypoint(14, 7, math.radians(90)),
]
rswr_1_pathinfo, rswr_1_trajectory = gen_trajectory(rswr_1_points, pf.FIT_HERMITE_CUBIC)
rswr_1_modifier = pf.modifiers.TankModifier(rswr_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# rscr = Right to Right Scale
# Part 1: Drive to Scale
rscr_1_points = [
pf.Waypoint(0, 3.5, 0),
pf.Waypoint(14, 2, 0),
pf.Waypoint(25, 5.5, math.radians(45)),
]
rscr_2_points = [
pf.Waypoint(25, 5.5, math.radians(45)),
pf.Waypoint(27, 7.5, math.radians(30))
]
rscr_3_points = [
pf.Waypoint(27, 7.5, math.radians(30)),
pf.Waypoint(14, 4, 0)
]
rscr_1_pathinfo, rscr_1_trajectory = gen_trajectory(rscr_1_points, pf.FIT_HERMITE_CUBIC)
rscr_2_pathinfo, rscr_2_trajectory = gen_trajectory(rscr_2_points, pf.FIT_HERMITE_CUBIC)
rscr_3_pathinfo, rscr_3_trajectory = gen_trajectory(rscr_3_points, pf.FIT_HERMITE_CUBIC, backwards = True)
rscr_1_modifier = pf.modifiers.TankModifier(rscr_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
rscr_2_modifier = pf.modifiers.TankModifier(rscr_2_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
rscr_3_modifier = pf.modifiers.TankModifier(rscr_3_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# rswl = Right to Left Switch
# Part 1: Drive to Back of Switch
rswl_1_points = [
pf.Waypoint(0, 3.5, 0),
pf.Waypoint(14, 3.5, 0),
pf.Waypoint(20, 8, math.radians(90)),
pf.Waypoint(20, 14, math.radians(90)),
pf.Waypoint(17.5, 18, math.radians(180)),
]
rswl_1_pathinfo, rswl_1_trajectory = gen_trajectory(rswl_1_points, pf.FIT_HERMITE_CUBIC)
rswl_1_modifier = pf.modifiers.TankModifier(rswl_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# rscl = Right to Left Scale
# Part 1: Drive to Scale
rscl_1_points = [
pf.Waypoint(0, 3.5, 0),
pf.Waypoint(20, 3.5, 0),
pf.Waypoint(22, 8, math.radians(90)),
pf.Waypoint(20, 16, math.radians(90)),
pf.Waypoint(24, 19.5, 0),
]
rscl_1_pathinfo, rscl_1_trajectory = gen_trajectory(rscl_1_points, pf.FIT_HERMITE_CUBIC)
rscl_1_modifier = pf.modifiers.TankModifier(rscl_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# lswl = Left to Left Switch
# Part 1: Drive to Switch
lswl_1_points = [
pf.Waypoint(0, 23.5, 0),
pf.Waypoint(8, 23.5, 0),
pf.Waypoint(15, 20, math.radians(-90)),
]
lswl_1_pathinfo, lswl_1_trajectory = gen_trajectory(lswl_1_points, pf.FIT_HERMITE_CUBIC)
lswl_1_modifier = pf.modifiers.TankModifier(lswl_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# lswr = Left to Right Switch
# Part 1: Drive to Switch
lswr_1_points = [
pf.Waypoint(0, 23.5, 0),
pf.Waypoint(14, 23.5, 0),
pf.Waypoint(20, 19, math.radians(90)),
pf.Waypoint(20, 13, math.radians(90)),
pf.Waypoint(17.5, 9, math.radians(180)),
]
lswr_1_pathinfo, lswr_1_trajectory = gen_trajectory(lswr_1_points, pf.FIT_HERMITE_CUBIC)
lswr_1_modifier = pf.modifiers.TankModifier(lswr_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# lscl = Left to Left Scale #CHANGEEEEEEEEE
# Part 1: Drive to Scale
lscl_1_points = [
pf.Waypoint(0, 23.5, 0),
pf.Waypoint(14, 25, 0),
pf.Waypoint(24.5, 23, math.radians(-45)),
]
lscl_2_points = [
pf.Waypoint(24.5, 23, math.radians(-45)),
pf.Waypoint(25.5, 22.5, math.radians(-35))
]
lscl_3_points = [
pf.Waypoint(25.5, 22.5, math.radians(-35)),
pf.Waypoint(14, 25, 0)
]
lscl_1_pathinfo, lscl_1_trajectory = gen_trajectory(lscl_1_points, pf.FIT_HERMITE_CUBIC)
lscl_2_pathinfo, lscl_2_trajectory = gen_trajectory(lscl_2_points, pf.FIT_HERMITE_CUBIC)
lscl_3_pathinfo, lscl_3_trajectory = gen_trajectory(lscl_3_points, pf.FIT_HERMITE_CUBIC, backwards = True)
lscl_1_modifier = pf.modifiers.TankModifier(lscl_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
lscl_2_modifier = pf.modifiers.TankModifier(lscl_2_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
lscl_3_modifier = pf.modifiers.TankModifier(lscl_3_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# lscr = Left to Right Scale
# Part 1: Drive to Scale
lscr_1_points = [
pf.Waypoint(0, 23.5, 0),
pf.Waypoint(14, 24, math.radians(-15)),
pf.Waypoint(18, 22, math.radians(-45)),
pf.Waypoint(19.50, 19, math.radians(-60)),
pf.Waypoint(19.75, 14, math.radians(-90)),
pf.Waypoint(20.50, 8, math.radians(-60)),
]
lscr_2_points = [
pf.Waypoint(20.50, 8, math.radians(-60)),
pf.Waypoint(24, 5, 0),
]
lscr_1_pathinfo, lscr_1_trajectory = gen_trajectory(lscr_1_points, pf.FIT_HERMITE_CUBIC)
lscr_2_pathinfo, lscr_2_trajectory = gen_trajectory(lscr_2_points, pf.FIT_HERMITE_CUBIC)
lscr_1_modifier = pf.modifiers.TankModifier(lscr_1_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
lscr_2_modifier = pf.modifiers.TankModifier(lscr_2_trajectory).modify(const.DRIVE_WHEELBASE_WIDTH)
# Dictionary of all mode tuples to be pickled
mode_dict = {
"CB": cb_1_modifier,
"CSWL": cswl_1_modifier,
"CSWR": cswr_1_modifier,
"RSWR": rswr_1_modifier,
"RSWL": rswl_1_modifier,
"RSCR": (rscr_1_modifier, rscr_2_modifier, rscr_3_modifier),
"RSCL": rscl_1_modifier,
"LSWL": lswl_1_modifier,
"LSWR": lswr_1_modifier,
"LSCL": (lscl_1_modifier, lscl_2_modifier, lscl_3_modifier),
"LSCR": (lscr_1_modifier, lscr_2_modifier),
}
# Pickle our dictionary
with open(pickle_file_name, 'wb') as fp:
pickle.dump(mode_dict, fp)
else:
# Open the jar of pickles
with open(pickle_file_name, 'rb') as fp:
mode_dict = pickle.load(fp)