barrel auto

[alevin]

Barrel run

[alevin]

most successful run at the moment with following parameters:

311724d (HEAD -> barrel_0222, origin/barrel_0222) barrel 0222 run7 , speed 0.7->0.8

     public static double[][] barrel = {
        // from barrel_20210222 - corrected points
        // run 7
        {30,90},
        {60,90},
        {120,90},
        {150,90},
        {180,110},
        {180,140},
        {150,150},
        {110,140},
        {110,80},
        {160,90},
        {200,105},
        {225,110},
        {260,90},
        {270,60},
        {270,40},
        {240,30},
        {190,40},
        {190,80},
        {230,120},
        {250,140},
        {290,150},
        {310,130},
        {310,90},
        {280,80},
        {240,90},
        {120,85},
        {80,85},
        {25,85},
        };

config = new TrajectoryConfig(0.8, 0.5);  // (TrajectoryConfig​(double maxVelocityMetersPerSecond, double maxAccelerationMetersPerSecondSq))

public static final double WHEEL_SIZE = 4;

 private double speedMultiplier = 0.75;

---

[anton-levin]

hitting farthest point and closest point

[alevin]

next version of Barrel auto (16 sec, no penalty):

video

     public static double[][] barrel = {
        {30,90},
        {60,90},
        {120,90},
        {150,90},
        {180,110},
        {180,140},
        {150,150},
        {110,140},
        {110,80},
        {225,110},
        {260,90},
        {270,60},
        {270,30},
        {190,30},
        {190,80},
        {230,120},
        {250,140},
        {320,150},
        {320,80},
        {80,80},
        {25,80},
                };