Prospect-Robotics · gradyw · Dec 20, 2019 · Dec 20, 2019 · Dec 20, 2019 · Dec 21, 2019
diff --git a/OffSeasonBot2019/PathWeaver/Groups/Middle Blue to One in Rocket b/OffSeasonBot2019/PathWeaver/Groups/Middle Blue to One in Rocket
@@ -0,0 +1,3 @@
+Top Left Rocket to Top Left Pickup
+Top Left Pickup to Top Left Rocket Inner 1
+Top Left Pickup to Top Left Rocket Inner 2
diff --git a/OffSeasonBot2019/PathWeaver/Groups/test b/OffSeasonBot2019/PathWeaver/Groups/test
@@ -0,0 +1,2 @@
+Path 1
+Path2
diff --git a/OffSeasonBot2019/PathWeaver/Paths/Left Blue to Front Cargo.path b/OffSeasonBot2019/PathWeaver/Paths/Left Blue to Front Cargo.path
@@ -0,0 +1,5 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+1.9748431738345416,3.031841209347032,4.234038178082016,0.0,true,
+6.535623847974332,6.312880440593866,3.1448965245560947,0.013614270669073392,true,
+10.306776823307832,6.353723252601088,3.351991553672721,0.2506252106974214,false,
+16.242598835024097,7.565393342148676,3.4,-0.013614270669073836,true,Left Blue to Front Cargo
diff --git a/OffSeasonBot2019/PathWeaver/Paths/Middle Blue to Top Left Rocket Outer b/OffSeasonBot2019/PathWeaver/Paths/Middle Blue to Top Left Rocket Outer
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+2.07014306851806,4.1482114042111,3.048,0.0,true,
+5.283110946419524,0.554043947575564,1.4294984202527692,-0.7896276988062921,true,
diff --git a/OffSeasonBot2019/PathWeaver/Paths/Path 1 b/OffSeasonBot2019/PathWeaver/Paths/Path 1
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+0.0,0.0,3.048,0.0,true,
+4.289269187577122,2.882084231987218,0.0,3.048,false,
diff --git a/OffSeasonBot2019/PathWeaver/Paths/Path2 b/OffSeasonBot2019/PathWeaver/Paths/Path2
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+4.289,2.882,-0.013614270669073836,-1.061913112187772,false,
+6.90320915603933,0.771872278280748,1.293355713562029,-0.0952998946835184,true,
diff --git a/OffSeasonBot2019/PathWeaver/Paths/Top Left Pickup to Top Left Rocket Inner 1 b/OffSeasonBot2019/PathWeaver/Paths/Top Left Pickup to Top Left Rocket Inner 1
@@ -0,0 +1,4 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+0.028002468156960076,0.6629581129281559,3.048,0.0,true,
+4.3164977289152695,1.3572859170509297,1.946840705677582,0.2042140600361102,true,
+7.978736538896177,0.60850103025186,0.5854136387701825,-0.4492709320794419,true,
diff --git a/OffSeasonBot2019/PathWeaver/Paths/Top Left Pickup to Top Left Rocket Inner 2 b/OffSeasonBot2019/PathWeaver/Paths/Top Left Pickup to Top Left Rocket Inner 2
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+7.897050914881732,0.6493438422590819,-1.606483938950734,1.2388986308857342,true,
+6.345024058607296,0.581272488913712,-1.9332264350085087,-1.102755924194994,true,
diff --git a/OffSeasonBot2019/PathWeaver/Paths/Top Left Rocket to Top Left Pickup b/OffSeasonBot2019/PathWeaver/Paths/Top Left Rocket to Top Left Pickup
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+5.351182299764894,0.48597259423019384,-1.76985518697962,0.9257704054970319,true,
+0.0552310094951077,0.6901866542663039,-1.6585704649356399,0.011069750685180235,true,
diff --git a/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.left.pf1.csv b/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.left.pf1.csv
diff --git a/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.pf1.csv b/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.pf1.csv
diff --git a/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.right.pf1.csv b/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.right.pf1.csv
diff --git a/OffSeasonBot2019/PathWeaver/pathweaver.json b/OffSeasonBot2019/PathWeaver/pathweaver.json
@@ -0,0 +1,10 @@
+{
+  "lengthUnit": "Meter",
+  "timeStep": 0.02,
+  "maxVelocity": 2.0,
+  "maxAcceleration": 2.0,
+  "maxJerk": 60.0,
+  "wheelBase": 0.6096,
+  "gameName": "Destination: Deep Space",
+  "outputDir": ".."
+}
diff --git a/OffSeasonBot2019/build.gradle b/OffSeasonBot2019/build.gradle
@@ -1,5 +1,6 @@
 plugins {
     id "java"
+    id "idea"
     id "edu.wpi.first.GradleRIO" version "2019.4.1"
 }
 
@@ -49,7 +50,7 @@ dependencies {
     compile group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.10.0'
     compile group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.10.0'
     compile group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: '2.10.0'
-
+    compile group: 'org.ejml', name: 'ejml-all', version: '0.38'
 }
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')

diff --git a/OffSeasonBot2019/gradle/wrapper/gradle-wrapper.properties b/OffSeasonBot2019/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,6 @@
+#Sat Dec 28 12:38:02 PST 2019
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.2-all.zip
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.2-bin.zip
-zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
+zipStoreBase=GRADLE_USER_HOME
diff --git a/OffSeasonBot2019/src/main/deploy/motorConfig.yaml b/OffSeasonBot2019/src/main/deploy/motorConfig.yaml
@@ -21,7 +21,7 @@ sparks:
         inverted: FOLLOW_LEADER
     inverted: NONINVERTED
     pidControllers:
-      - p: 0.00013
+      - p: 0.00015
         i: 0
         d: 0
         f: 0
@@ -51,7 +51,7 @@ sparks:
         inverted: FOLLOW_LEADER
     inverted: INVERTED
     pidControllers:
-      - p: 0.00013
+      - p: 0.00015
         i: 0
         d: 0
         f: 0

diff --git a/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.left.pf1.csv b/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.left.pf1.csv
diff --git a/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.pf1.csv b/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.pf1.csv
diff --git a/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.right.pf1.csv b/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.right.pf1.csv
diff --git a/OffSeasonBot2019/src/main/deploy/paths/Middle Blue to Top Left Pickup.left.pf1.csv b/OffSeasonBot2019/src/main/deploy/paths/Middle Blue to Top Left Pickup.left.pf1.csv
diff --git a/OffSeasonBot2019/src/main/deploy/paths/Middle Blue to Top Left Pickup.pf1.csv b/OffSeasonBot2019/src/main/deploy/paths/Middle Blue to Top Left Pickup.pf1.csv
diff --git a/OffSeasonBot2019/src/main/deploy/paths/Middle Blue to Top Left Pickup.right.pf1.csv b/OffSeasonBot2019/src/main/deploy/paths/Middle Blue to Top Left Pickup.right.pf1.csv
diff --git a/OffSeasonBot2019/src/main/deploy/paths/Middle Blue to Top Left Rocket Outer.left.pf1.csv b/OffSeasonBot2019/src/main/deploy/paths/Middle Blue to Top Left Rocket Outer.left.pf1.csv
@@ -0,0 +1,183 @@
+dt,x,y,position,velocity,acceleration,jerk,heading
+0.020000,2.069463,4.453011,0.000200,0.020000,1.000000,50.000000,0.002231
+0.020000,2.069540,4.453011,0.000277,0.003862,-0.806915,-90.345729,0.001978
+0.020000,2.069695,4.453011,0.000432,0.007728,0.193306,50.011044,0.001471
+0.020000,2.069927,4.453011,0.000664,0.011603,0.193748,0.022092,0.000709
+0.020000,2.071204,4.453011,0.001941,0.063873,2.613495,120.987349,6.282878
+0.020000,2.075594,4.453007,0.006331,0.219468,7.779745,258.312496,6.281603
+0.020000,2.080862,4.452995,0.011599,0.263393,2.196248,-279.174834,6.280069
+0.020000,2.087008,4.452970,0.017745,0.307343,2.197542,0.064661,6.278271
+0.020000,2.094037,4.452928,0.024774,0.351426,2.204137,0.329795,6.276206
+0.020000,2.101949,4.452864,0.032686,0.395610,2.209211,0.253677,6.273870
+0.020000,2.110745,4.452770,0.041483,0.439865,2.212753,0.177108,6.271257
+0.020000,2.120428,4.452641,0.051167,0.484161,2.214759,0.100313,6.268362
+0.020000,2.130996,4.452467,0.061736,0.528465,2.215230,0.023526,6.265181
+0.020000,2.142452,4.452241,0.073195,0.572946,2.224033,0.440149,6.261706
+0.020000,2.154800,4.451953,0.085546,0.617558,2.230627,0.329678,6.257929
+0.020000,2.168041,4.451591,0.098792,0.662306,2.237368,0.337080,6.253843
+0.020000,2.182176,4.451145,0.112934,0.707092,2.239326,0.097899,6.249440
+0.020000,2.197208,4.450602,0.127976,0.752082,2.249490,0.508209,6.244709
+0.020000,2.213139,4.449949,0.143920,0.797242,2.257981,0.424549,6.239641
+0.020000,2.229972,4.449170,0.160771,0.842538,2.264790,0.340441,6.234226
+0.020000,2.247707,4.448249,0.178530,0.887936,2.269916,0.256277,6.228451
+0.020000,2.266351,4.447170,0.197205,0.933755,2.290952,1.051819,6.222303
+0.020000,2.285900,4.445915,0.216794,0.979461,2.285286,-0.283308,6.215771
+0.020000,2.306363,4.444462,0.237309,1.025738,2.313867,1.429056,6.208837
+0.020000,2.327738,4.442791,0.258749,1.071997,2.312962,-0.045240,6.201489
+0.020000,2.350027,4.440879,0.281120,1.118551,2.327673,0.735531,6.193710
+0.020000,2.373232,4.438701,0.304427,1.165359,2.340394,0.636084,6.185482
+0.020000,2.397355,4.436231,0.328676,1.212458,2.354992,0.729853,6.176788
+0.020000,2.422400,4.433440,0.353876,1.259973,2.375754,1.038104,6.167607
+0.020000,2.448362,4.430299,0.380027,1.307565,2.379556,0.190132,6.157921
+0.020000,2.475244,4.426775,0.407139,1.355611,2.402315,1.137924,6.147708
+0.020000,2.503046,4.422833,0.435220,1.404035,2.421186,0.943575,6.136945
+0.020000,2.531766,4.418437,0.464274,1.452697,2.433143,0.597854,6.125611
+0.020000,2.561403,4.413547,0.494311,1.501869,2.458554,1.270519,6.113680
+0.020000,2.591950,4.408122,0.525337,1.551279,2.470506,0.597623,6.101129
+0.020000,2.623404,4.402117,0.557359,1.601089,2.490531,1.001266,6.087933
+0.020000,2.655757,4.395486,0.590384,1.651268,2.508950,0.920928,6.074066
+0.020000,2.689001,4.388178,0.624422,1.701919,2.532539,1.179435,6.059503
+0.020000,2.723127,4.380141,0.659482,1.752960,2.552060,0.976051,6.044218
+0.020000,2.758118,4.371320,0.695568,1.804309,2.567449,0.769477,6.028187
+0.020000,2.793958,4.361656,0.732687,1.855979,2.583477,0.801378,6.011387
+0.020000,2.830627,4.351089,0.770849,1.908071,2.604605,1.056399,5.993794
+0.020000,2.868102,4.339556,0.810058,1.960463,2.619633,0.751413,5.975390
+0.020000,2.906352,4.326991,0.850319,2.013070,2.630329,0.534782,5.956156
+0.020000,2.945347,4.313327,0.891639,2.065972,2.645118,0.739471,5.936080
+0.020000,2.985044,4.298496,0.934016,2.118832,2.642961,-0.107869,5.915153
+0.020000,3.025401,4.282429,0.977454,2.171906,2.653732,0.538574,5.893372
+0.020000,3.066366,4.265056,1.021950,2.224841,2.646757,-0.348743,5.870741
+0.020000,3.107883,4.246308,1.067504,2.277664,2.641150,-0.280358,5.847270
+0.020000,3.149885,4.226120,1.114106,2.330118,2.622697,-0.922665,5.822980
+0.020000,3.192093,4.204539,1.161511,2.370229,2.005529,-30.858407,5.798027
+0.020000,3.234017,4.181755,1.209226,2.385777,0.777389,-61.406985,5.772708
+0.020000,3.275397,4.157885,1.256997,2.388521,0.137225,-32.008183,5.747210
+0.020000,3.316183,4.132948,1.304803,2.390296,0.088718,-2.425348,5.721595
+0.020000,3.356329,4.106964,1.352624,2.391053,0.037883,-2.541783,5.695931
+0.020000,3.395790,4.079962,1.400439,2.390765,-0.014422,-2.615230,5.670286
+0.020000,3.434526,4.051975,1.448227,2.389418,-0.067319,-2.644876,5.644729
+0.020000,3.472497,4.023039,1.495968,2.387020,-0.119946,-2.631332,5.619330
+0.020000,3.509672,3.993194,1.543639,2.383590,-0.171478,-2.576599,5.594156
+0.020000,3.546019,3.962486,1.591223,2.379167,-0.221157,-2.483941,5.569271
+0.020000,3.581517,3.930960,1.638699,2.373803,-0.268178,-2.351080,5.544739
+0.020000,3.616146,3.898665,1.686050,2.367570,-0.311668,-2.174505,5.520617
+0.020000,3.649893,3.865650,1.733260,2.360502,-0.353374,-2.085256,5.496958
+0.020000,3.682749,3.831967,1.780314,2.352703,-0.389992,-1.830917,5.473811
+0.020000,3.714710,3.797664,1.827199,2.344254,-0.422422,-1.621493,5.451219
+0.020000,3.745779,3.762792,1.873904,2.335233,-0.451040,-1.430925,5.429219
+0.020000,3.775961,3.727399,1.920419,2.325730,-0.475171,-1.206514,5.407842
+0.020000,3.805266,3.691532,1.966735,2.315829,-0.495043,-0.993596,5.387116
+0.020000,3.833707,3.655236,2.012847,2.305600,-0.511431,-0.819438,5.367061
+0.020000,3.861301,3.618553,2.058750,2.295138,-0.523098,-0.583350,5.347692
+0.020000,3.888068,3.581525,2.104440,2.284507,-0.531589,-0.424522,5.329021
+0.020000,3.914030,3.544188,2.149915,2.273763,-0.537174,-0.279259,5.311056
+0.020000,3.939210,3.506580,2.195175,2.262963,-0.540001,-0.141332,5.293799
+0.020000,3.963634,3.468733,2.240218,2.252178,-0.539279,0.036071,5.277250
+0.020000,3.987328,3.430678,2.285047,2.241439,-0.536929,0.117494,5.261406
+0.020000,4.010320,3.392443,2.329663,2.230785,-0.532695,0.211709,5.246261
+0.020000,4.032637,3.354054,2.374068,2.220248,-0.526877,0.290894,5.231809
+0.020000,4.054309,3.315535,2.418265,2.209849,-0.519953,0.346193,5.218038
+0.020000,4.075363,3.276908,2.462257,2.199612,-0.511805,0.407425,5.204939
+0.020000,4.095829,3.238193,2.506048,2.189563,-0.502497,0.465372,5.192499
+0.020000,4.115733,3.199408,2.549642,2.179704,-0.492931,0.478309,5.180707
+0.020000,4.135106,3.160571,2.593043,2.170044,-0.482970,0.498060,5.169548
+0.020000,4.153973,3.121696,2.636255,2.160589,-0.472781,0.509428,5.159010
+0.020000,4.172362,3.082797,2.679282,2.151339,-0.462512,0.513465,5.149079
+0.020000,4.190301,3.043887,2.722128,2.142293,-0.452289,0.511144,5.139742
+0.020000,4.207813,3.004977,2.764797,2.133446,-0.442319,0.498530,5.130986
+0.020000,4.224926,2.966079,2.807292,2.124790,-0.432798,0.476015,5.122797
+0.020000,4.241664,2.927203,2.849619,2.116331,-0.422954,0.492218,5.115163
+0.020000,4.258051,2.888356,2.891780,2.108055,-0.413831,0.456141,5.108072
+0.020000,4.274110,2.849549,2.933779,2.099952,-0.405154,0.433855,5.101514
+0.020000,4.289865,2.810788,2.975619,2.092012,-0.396967,0.409347,5.095476
+0.020000,4.305337,2.772082,3.017304,2.084226,-0.389306,0.383054,5.089950
+0.020000,4.320549,2.733436,3.058835,2.076570,-0.382790,0.325790,5.084925
+0.020000,4.335522,2.694859,3.100216,2.069057,-0.375664,0.356318,5.080393
+0.020000,4.350277,2.656356,3.141450,2.061665,-0.369622,0.302098,5.076347
+0.020000,4.364833,2.617933,3.182537,2.054379,-0.364268,0.267719,5.072779
+0.020000,4.379210,2.579597,3.223481,2.047181,-0.359897,0.218546,5.069683
+0.020000,4.393429,2.541353,3.264282,2.040073,-0.355415,0.224093,5.067054
+0.020000,4.407506,2.503207,3.304943,2.033038,-0.351743,0.183569,5.064886
+0.020000,4.421462,2.465165,3.345464,2.026060,-0.348896,0.142344,5.063176
+0.020000,4.435314,2.427232,3.385847,2.019125,-0.346744,0.107603,5.061921
+0.020000,4.449079,2.389415,3.426091,2.012230,-0.344773,0.098562,5.061119
+0.020000,4.462776,2.351719,3.466199,2.005355,-0.343754,0.050964,5.060767
+0.020000,4.476421,2.314151,3.506168,1.998489,-0.343305,0.022456,5.060866
+0.020000,4.490031,2.276716,3.546001,1.991621,-0.343395,-0.004534,5.061416
+0.020000,4.503624,2.239421,3.585695,1.984736,-0.344228,-0.041621,5.062418
+0.020000,4.517214,2.202272,3.625252,1.977825,-0.345563,-0.066741,5.063873
+0.020000,4.530819,2.165277,3.664670,1.970877,-0.347426,-0.093152,5.065784
+0.020000,4.544455,2.128442,3.703947,1.963871,-0.350257,-0.141541,5.068155
+0.020000,4.558137,2.091776,3.743083,1.956801,-0.353542,-0.164260,5.070989
+0.020000,4.571881,2.055285,3.782076,1.949661,-0.356974,-0.171623,5.074292
+0.020000,4.585702,2.018978,3.820925,1.942428,-0.361680,-0.235294,5.078070
+0.020000,4.599617,1.982865,3.859627,1.935090,-0.366881,-0.260027,5.082329
+0.020000,4.613640,1.946953,3.898179,1.927639,-0.372549,-0.283423,5.087077
+0.020000,4.627786,1.911252,3.936581,1.920072,-0.378366,-0.290853,5.092322
+0.020000,4.642071,1.875772,3.974828,1.912365,-0.385317,-0.347560,5.098072
+0.020000,4.656509,1.840524,4.012918,1.904507,-0.392910,-0.379626,5.104338
+0.020000,4.671115,1.805520,4.050848,1.896491,-0.400791,-0.394072,5.111130
+0.020000,4.685904,1.770769,4.088614,1.888308,-0.409165,-0.418682,5.118458
+0.020000,4.700890,1.736286,4.126213,1.879948,-0.417996,-0.441565,5.126335
+0.020000,4.716087,1.702082,4.163641,1.871406,-0.427082,-0.454306,5.134773
+0.020000,4.731510,1.668171,4.200895,1.862673,-0.436668,-0.479303,5.143783
+0.020000,4.747172,1.634567,4.237969,1.853736,-0.446840,-0.508587,5.153380
+0.020000,4.763087,1.601284,4.274861,1.844597,-0.456973,-0.506658,5.163577
+0.020000,4.779268,1.568338,4.311566,1.835252,-0.467225,-0.512597,5.174387
+0.020000,4.795728,1.535745,4.348080,1.825703,-0.477482,-0.512856,5.185823
+0.020000,4.812481,1.503520,4.384399,1.815950,-0.487611,-0.506429,5.197899
+0.020000,4.829538,1.471681,4.420520,1.806001,-0.497455,-0.492205,5.210627
+0.020000,4.846911,1.440245,4.456437,1.795865,-0.506835,-0.468986,5.224021
+0.020000,4.864548,1.409339,4.492021,1.779224,-0.832043,-16.260401,5.238040
+0.020000,4.882301,1.379237,4.526969,1.747382,-1.592084,-38.002039,5.252557
+0.020000,4.900048,1.350131,4.561058,1.704457,-2.146247,-27.708151,5.267455
+0.020000,4.917751,1.322057,4.594248,1.659498,-2.247941,-5.084708,5.282679
+0.020000,4.935399,1.295003,4.626549,1.615073,-2.221276,1.333231,5.298194
+0.020000,4.952977,1.268955,4.657974,1.571224,-2.192429,1.442374,5.313960
+0.020000,4.970471,1.243898,4.688533,1.527964,-2.163010,1.470931,5.329940
+0.020000,4.987866,1.219817,4.718240,1.485324,-2.131976,1.551677,5.346094
+0.020000,5.005147,1.196695,4.747106,1.443299,-2.101299,1.533897,5.362381
+0.020000,5.022296,1.174513,4.775144,1.401908,-2.069550,1.587410,5.378759
+0.020000,5.039298,1.153252,4.802367,1.361163,-2.037223,1.616369,5.395186
+0.020000,5.056136,1.132891,4.828788,1.321050,-2.005675,1.577400,5.411620
+0.020000,5.072792,1.113410,4.854420,1.281577,-1.973634,1.602070,5.428020
+0.020000,5.089251,1.094786,4.879274,1.242729,-1.942388,1.562285,5.444344
+0.020000,5.105495,1.076996,4.903364,1.204495,-1.911699,1.534440,5.460552
+0.020000,5.121508,1.060019,4.926701,1.166855,-1.882013,1.484318,5.476606
+0.020000,5.137272,1.043831,4.949297,1.129788,-1.853353,1.432969,5.492467
+0.020000,5.152771,1.028408,4.971162,1.093267,-1.826057,1.364811,5.508100
+0.020000,5.167989,1.013727,4.992308,1.057261,-1.800283,1.288727,5.523470
+0.020000,5.182911,0.999765,5.012742,1.021737,-1.776187,1.204779,5.538547
+0.020000,5.197519,0.986499,5.032476,0.986669,-1.753391,1.139801,5.553301
+0.020000,5.211800,0.973906,5.051516,0.952019,-1.732539,1.042577,5.567704
+0.020000,5.225738,0.961963,5.069871,0.917740,-1.713937,0.930119,5.581731
+0.020000,5.239318,0.950648,5.087547,0.883809,-1.696567,0.868492,5.595360
+0.020000,5.252526,0.939940,5.104551,0.850186,-1.681123,0.772202,5.608570
+0.020000,5.265350,0.929817,5.120888,0.816842,-1.667231,0.694596,5.621344
+0.020000,5.277774,0.920261,5.136562,0.783730,-1.655594,0.581877,5.633666
+0.020000,5.289786,0.911250,5.151579,0.750828,-1.645099,0.524728,5.645522
+0.020000,5.301375,0.902765,5.165941,0.718118,-1.635464,0.481782,5.656901
+0.020000,5.312526,0.894790,5.179652,0.685523,-1.629782,0.284097,5.667793
+0.020000,5.323231,0.887305,5.192713,0.653093,-1.621475,0.415339,5.678189
+0.020000,5.333477,0.880294,5.205128,0.620745,-1.617409,0.203290,5.688082
+0.020000,5.343254,0.873742,5.216898,0.588467,-1.613884,0.176257,5.697469
+0.020000,5.352552,0.867633,5.228023,0.556255,-1.610635,0.162447,5.706344
+0.020000,5.361362,0.861954,5.238505,0.524107,-1.607406,0.161421,5.714705
+0.020000,5.369674,0.856689,5.248344,0.491967,-1.606969,0.021881,5.722549
+0.020000,5.377482,0.851827,5.257542,0.459874,-1.604672,0.114861,5.729877
+0.020000,5.384776,0.847356,5.266097,0.427750,-1.606190,-0.075929,5.736686
+0.020000,5.391549,0.843265,5.274010,0.395651,-1.604946,0.062218,5.742977
+0.020000,5.397795,0.839544,5.281280,0.363519,-1.606583,-0.081866,5.748750
+0.020000,5.403508,0.836183,5.287908,0.331401,-1.605943,0.032005,5.754007
+0.020000,5.408682,0.833173,5.293894,0.299287,-1.605669,0.013705,5.758748
+0.020000,5.413312,0.830508,5.299236,0.267107,-1.608999,-0.166523,5.762974
+0.020000,5.417393,0.828180,5.303935,0.234932,-1.608735,0.013238,5.766687
+0.020000,5.420922,0.826183,5.307990,0.202747,-1.609267,-0.026628,5.769888
+0.020000,5.423896,0.824512,5.311401,0.170546,-1.610067,-0.040013,5.772577
+0.020000,5.426311,0.823163,5.314167,0.138310,-1.611770,-0.085133,5.774757
+0.020000,5.428164,0.822132,5.316288,0.106059,-1.612590,-0.041012,5.776427
+0.020000,5.429456,0.821416,5.317764,0.073821,-1.611862,0.036421,5.777589
+0.020000,5.430183,0.821014,5.318596,0.041574,-1.612358,-0.024779,5.778243
+0.020000,5.430447,0.820868,5.318897,0.015046,-1.326419,14.296937,5.778479
+0.020000,5.430487,0.820846,5.318943,0.002325,-0.636025,34.519688,5.778516
+0.020000,5.430487,0.820846,5.318943,0.000000,-0.116264,25.988057,5.778516