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Account for swerve drive skew while rotating #9

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79962ac
Account for swerve drive skew while rotating
BenBean18 Jan 9, 2025
67b584e
Test discretization in sim
BenBean18 Jan 10, 2025
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1 change: 1 addition & 0 deletions zebROS_ws/src/.gitignore
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Expand Up @@ -37,4 +37,5 @@ teraranger_description
turing_smart_screen
ydlidar
zed-ros-wrapper
smooth
*.egg-info
3 changes: 3 additions & 0 deletions zebROS_ws/src/.rosinstall
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Expand Up @@ -68,3 +68,6 @@
local-name: cv_camera
uri: https://github.com/FRC900/cv_camera
version: mono16
- git:
local-name: smooth
uri: https://github.com/pettni/smooth/
44 changes: 23 additions & 21 deletions zebROS_ws/src/auto_node/paths/2025_4_Note0_blue.csv
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44 changes: 23 additions & 21 deletions zebROS_ws/src/auto_node/paths/2025_4_Note0_red.csv
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72 changes: 35 additions & 37 deletions zebROS_ws/src/auto_node/paths/2025_4_Note1_blue.csv
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0.0,2.41163,4.39561,2.69014,0.0,0.0,0.0,2
0.033340000000000036,2.40851,4.39951,2.69014,0.0481,-0.18745,0.23444,2
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0.13334999999999997,2.36216,4.45849,2.70069,0.23473,-0.73546,0.94757,2
0.16668000000000005,2.33472,4.49412,2.70852,0.31223,-0.91071,1.19022,2
0.20001999999999998,2.30155,4.53791,2.71892,0.39885,-1.07982,1.43675,2
0.2333599999999999,2.26288,4.59001,2.73222,0.4963,-1.23982,1.68869,2
0.26669,2.21913,4.65063,2.74877,0.6074,-1.38505,1.94859,2
0.3000299999999999,2.17099,4.72013,2.76901,0.73744,-1.50273,2.22074,2
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1.2180500000000003,2.87213,5.57268,-3.1248,-0.04209,0.31785,-0.16696,2
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