Update waypoints

SoonerRobotics · Feb 20, 2024 · 26ebfd9 · 26ebfd9
1 parent 4c4d060
commit 26ebfd9
Showing 1 changed file with 1 addition and 19 deletions.
diff --git a/autonav_ws/src/autonav_nav/src/astar.py b/autonav_ws/src/autonav_nav/src/astar.py
@@ -34,31 +34,13 @@
     [],
 ]
 
-# competition_waypoints = [
-#     # Start Nomans, Frist Ramp, Middle Ramp, End Ramp, End Nomans
-#     [(42.6682697222 ,-83.2193403028),(42.6681206444,-83.2193606083),(42.66809863885, -83.2193598833), (42.6680766333,-83.2193591583),(42.6679277056,-83.2193276417), (42.6681268, -83.218887)], # Start Facing North
-#     # [(42.6679277056,-83.2193276417),(42.6680766333,-83.2193591583),(42.6681206444,-83.2193606083),(42.6682697222,-83.2193403028), (42.6681268, -83.218887)], # Start Facing South
-#     # [(42.668222,-83.218472),(42.6680859611,-83.2184456444),(42.6679600583,-83.2184326556)], # Start Facing North
-#     # [(42.6679600583,-83.2184326556), (42.6680859611,-83.2184456444),(42.668222,-83.218472)], # Start Facing South
-#     [],
-# ]
-
 practice_waypoints = [
     [(35.2104852, -97.44193), (35.210483, -97.44207), (35.2104841, -97.4421986), (35.2104819, -97.4423302), (35.2105455, -97.4423329),
      (35.2106096, -97.4423347), (35.2106107, -97.4422153), (35.2106078, -97.4421059), (35.2105575, -97.4420365), (35.2104852, -97.44193)]
 ]
 
 simulation_waypoints = [
-    [(35.19474407276026, -97.43853155838949), (35.19474444006683, -97.43853155838949), (35.19476343444084, -97.43853155838949), (35.194784303857695, -97.43853155838949), (35.19480517366998, -97.43853155838949), (35.194826043658466, -97.43853155838949), (35.194846913681346, -97.43853155838949), (35.19486778361504, -97.43853155838949), (35.19488865357613, -97.43853155838949), (35.19490952352433, -97.43853155838949), (35.19493039351497, -97.43853155908063), (35.19495092553071, -97.43853552083075), (35.19496904627728, -97.43854785157549), (35.19498133489532, -97.43856818587176), (35.194986852840486, -97.43859248699697), (35.19498544142225, -97.43861781734869), (35.19498216591245, -97.43864288876748), (35.194975713591994, -97.43866695750627), (35.19496281070465, -97.43868684693129), (35.19495206700054, -97.43870821496708), (35.19495306210649, -97.43873340525361), (35.19495373669383, -97.43875811465132), (35.1949525483157, -97.43876883071538), (35.19495038594336, -97.43877933293588), (35.1949494009205, -97.43878249462878), (35.19494565765572, -97.43878891692025), (35.19493780222935, -97.43879721568605), (35.19493412569523, -97.43880887472054), (35.194938969788005, -97.43881850730428),
-     (35.19494614845655, -97.43882251503061), (35.19495732373083, -97.43884312856127), (35.194963623223224, -97.43886733394329), (35.19496923716838, -97.43889181952832), (35.194969734085255, -97.43891718333695), (35.19496864285037, -97.43894257267571), (35.19496499368157, -97.43896743978841), (35.19495396416087, -97.4389889380561), (35.19494005654008, -97.43900789250587), (35.1949230614983, -97.4390214352402), (35.19490221187155, -97.43902250398679), (35.194881438055944, -97.4390244107245), (35.19486225311435, -97.43903435637161), (35.19484266931345, -97.43904271965387), (35.19482218904126, -97.43903970952904), (35.194802405220315, -97.4390316150356), (35.19478237714437, -97.43902471055158), (35.19476156857851, -97.43902505092527), (35.194740700769096, -97.43902542041042), (35.19471983307143, -97.43902577288944), (35.194700320969666, -97.43903368010614), (35.19468202116007, -97.43904577057661), (35.19466155409562, -97.43904408814375), (35.19464101652687, -97.43903961268632), (35.194620588058406, -97.43903441002884), (35.19460015971028, -97.43902920615665), (35.194579731929494, -97.43902400228444), (35.19456317970144, -97.43901978556296), (35.194562940045294, -97.43901972465927)],
-    [(35.194888446528864, -97.43902288310593), (35.194765121094015, -97.43902321108108),
-     (35.19472527123724, -97.4390233172227), (35.19459435968777, -97.43902366555493)],
-    [(35.19474411, -97.43852997), (35.19474792, -97.43863678),
-     (35.19484711, -97.43865967), (35.19494247, -97.43875885)],
-    # [(35.194816101646275, -97.43853155838949), (35.19496046401714, -97.43853155838949), (35.19501943703302, -97.4386386771562)],
-    # [(35.19496918, -97.43855286), (35.19475331, -97.43860863), (35.19493775, -97.43881094)],
-    [(35.19496918, -97.43855286), (35.19498780, -97.43859524), (35.19495163, -97.43871339), (35.19495182, -97.43877829), (35.19493406, - \
-                                                                                                                          97.43879432), (35.19493812, -97.43881810), (35.19495368, -97.43882411), (35.19493357, -97.43902773), (35.19485847, -97.43902381)],
+    [(35.19505, -97.43823),(35.19492, -97.43824),(35.19485, -97.43824),(35.19471, -97.43823)]
 ]