SampleMotionProfile.java

package org.usfirst.frc.team8.robot;

public class SampleMotionProfile {			
	public static final int kNumPoints =364;		
	// Position (rotations)	Velocity (RPM)	Duration (ms)
	public static double [][]Points = new double[][]{		
	{0,	0	,10},
	{0.00016,	1.92	,10},
	{0.00064,	3.84	,10},
	{0.00144,	5.76	,10},
	{0.00256,	7.68	,10},
	{0.004,	9.6	,10},
	{0.00576,	11.52	,10},
	{0.00784,	13.44	,10},
	{0.01024,	15.36	,10},
	{0.01296,	17.28	,10},
	{0.016,	19.2	,10},
	{0.01936,	21.12	,10},
	{0.02304,	23.04	,10},
	{0.02704,	24.96	,10},
	{0.03136,	26.88	,10},
	{0.036,	28.8	,10},
	{0.04096,	30.72	,10},
	{0.04624,	32.64	,10},
	{0.05184,	34.56	,10},
	{0.05776,	36.48	,10},
	{0.064,	38.4	,10},
	{0.07056,	40.32	,10},
	{0.07744,	42.24	,10},
	{0.08464,	44.16	,10},
	{0.09216,	46.08	,10},
	{0.1,	48	,10},
	{0.10816,	49.92	,10},
	{0.11664,	51.84	,10},
	{0.12544,	53.76	,10},
	{0.13456,	55.68	,10},
	{0.144,	57.6	,10},
	{0.15376,	59.52	,10},
	{0.16384,	61.44	,10},
	{0.17424,	63.36	,10},
	{0.18496,	65.28	,10},
	{0.196,	67.2	,10},
	{0.20736,	69.12	,10},
	{0.21904,	71.04	,10},
	{0.23104,	72.96	,10},
	{0.24336,	74.88	,10},
	{0.256,	76.8	,10},
	{0.26896,	78.72	,10},
	{0.28224,	80.64	,10},
	{0.29584,	82.56	,10},
	{0.30976,	84.48	,10},
	{0.324,	86.4	,10},
	{0.33856,	88.32	,10},
	{0.35344,	90.24	,10},
	{0.36864,	92.16	,10},
	{0.38416,	94.08	,10},
	{0.4,	96	,10},
	{0.416,	96	,10},
	{0.432,	96	,10},
	{0.448,	96	,10},
	{0.464,	96	,10},
	{0.48,	96	,10},
	{0.496,	96	,10},
	{0.512,	96	,10},
	{0.528,	96	,10},
	{0.544,	96	,10},
	{0.56,	96	,10},
	{0.576,	96	,10},
	{0.592,	96	,10},
	{0.608,	96	,10},
	{0.624,	96	,10},
	{0.64,	96	,10},
	{0.656,	96	,10},
	{0.672,	96	,10},
	{0.688,	96	,10},
	{0.704,	96	,10},
	{0.72,	96	,10},
	{0.736,	96	,10},
	{0.752,	96	,10},
	{0.768000000000001,	96	,10},
	{0.784000000000001,	96	,10},
	{0.800000000000001,	96	,10},
	{0.816000000000001,	96	,10},
	{0.832000000000001,	96	,10},
	{0.848000000000001,	96	,10},
	{0.864000000000001,	96	,10},
	{0.880000000000001,	96	,10},
	{0.896000000000001,	96	,10},
	{0.912000000000001,	96	,10},
	{0.928000000000001,	96	,10},
	{0.944000000000001,	96	,10},
	{0.960000000000001,	96	,10},
	{0.976000000000001,	96	,10},
	{0.992000000000001,	96	,10},
	{1.008,	96	,10},
	{1.024,	96	,10},
	{1.04,	96	,10},
	{1.056,	96	,10},
	{1.072,	96	,10},
	{1.088,	96	,10},
	{1.104,	96	,10},
	{1.12,	96	,10},
	{1.136,	96	,10},
	{1.152,	96	,10},
	{1.168,	96	,10},
	{1.184,	96	,10},
	{1.2,	96	,10},
	{1.216,	96	,10},
	{1.232,	96	,10},
	{1.248,	96	,10},
	{1.264,	96	,10},
	{1.28,	96	,10},
	{1.296,	96	,10},
	{1.312,	96	,10},
	{1.328,	96	,10},
	{1.344,	96	,10},
	{1.36,	96	,10},
	{1.376,	96	,10},
	{1.392,	96	,10},
	{1.408,	96	,10},
	{1.424,	96	,10},
	{1.44,	96	,10},
	{1.456,	96	,10},
	{1.472,	96	,10},
	{1.488,	96	,10},
	{1.504,	96	,10},
	{1.52,	96	,10},
	{1.536,	96	,10},
	{1.552,	96	,10},
	{1.568,	96	,10},
	{1.584,	96	,10},
	{1.6,	96	,10},
	{1.616,	96	,10},
	{1.632,	96	,10},
	{1.648,	96	,10},
	{1.664,	96	,10},
	{1.68,	96	,10},
	{1.696,	96	,10},
	{1.712,	96	,10},
	{1.728,	96	,10},
	{1.744,	96	,10},
	{1.76,	96	,10},
	{1.776,	96	,10},
	{1.792,	96	,10},
	{1.808,	96	,10},
	{1.824,	96	,10},
	{1.84,	96	,10},
	{1.856,	96	,10},
	{1.872,	96	,10},
	{1.888,	96	,10},
	{1.904,	96	,10},
	{1.92,	96	,10},
	{1.936,	96	,10},
	{1.952,	96	,10},
	{1.968,	96	,10},
	{1.984,	96	,10},
	{2.,	96	,10},
	{2.016,	96	,10},
	{2.032,	96	,10},
	{2.048,	96	,10},
	{2.064,	96	,10},
	{2.08,	96	,10},
	{2.096,	96	,10},
	{2.112,	96	,10},
	{2.128,	96	,10},
	{2.144,	96	,10},
	{2.16,	96	,10},
	{2.176,	96	,10},
	{2.192,	96	,10},
	{2.208,	96	,10},
	{2.224,	96	,10},
	{2.24,	96	,10},
	{2.256,	96	,10},
	{2.272,	96	,10},
	{2.288,	96	,10},
	{2.304,	96	,10},
	{2.32,	96	,10},
	{2.336,	96	,10},
	{2.352,	96	,10},
	{2.368,	96	,10},
	{2.384,	96	,10},
	{2.4,	96	,10},
	{2.416,	96	,10},
	{2.432,	96	,10},
	{2.448,	96	,10},
	{2.464,	96	,10},
	{2.48,	96	,10},
	{2.496,	96	,10},
	{2.512,	96	,10},
	{2.528,	96	,10},
	{2.544,	96	,10},
	{2.56,	96	,10},
	{2.576,	96	,10},
	{2.592,	96	,10},
	{2.608,	96	,10},
	{2.624,	96	,10},
	{2.64,	96	,10},
	{2.656,	96	,10},
	{2.672,	96	,10},
	{2.688,	96	,10},
	{2.704,	96	,10},
	{2.72,	96	,10},
	{2.736,	96	,10},
	{2.752,	96	,10},
	{2.768,	96	,10},
	{2.784,	96	,10},
	{2.8,	96	,10},
	{2.816,	96	,10},
	{2.832,	96	,10},
	{2.848,	96	,10},
	{2.864,	96	,10},
	{2.88,	96	,10},
	{2.896,	96	,10},
	{2.912,	96	,10},
	{2.928,	96	,10},
	{2.944,	96	,10},
	{2.96,	96	,10},
	{2.976,	96	,10},
	{2.992,	96	,10},
	{3.008,	96	,10},
	{3.024,	96	,10},
	{3.04,	96	,10},
	{3.056,	96	,10},
	{3.072,	96	,10},
	{3.088,	96	,10},
	{3.104,	96	,10},
	{3.12,	96	,10},
	{3.136,	96	,10},
	{3.152,	96	,10},
	{3.168,	96	,10},
	{3.184,	96	,10},
	{3.2,	96	,10},
	{3.216,	96	,10},
	{3.232,	96	,10},
	{3.248,	96	,10},
	{3.264,	96	,10},
	{3.28,	96	,10},
	{3.296,	96	,10},
	{3.312,	96	,10},
	{3.328,	96	,10},
	{3.344,	96	,10},
	{3.36,	96	,10},
	{3.376,	96	,10},
	{3.392,	96	,10},
	{3.408,	96	,10},
	{3.424,	96	,10},
	{3.44,	96	,10},
	{3.456,	96	,10},
	{3.472,	96	,10},
	{3.488,	96	,10},
	{3.504,	96	,10},
	{3.52,	96	,10},
	{3.536,	96	,10},
	{3.552,	96	,10},
	{3.568,	96	,10},
	{3.584,	96	,10},
	{3.6,	96	,10},
	{3.616,	96	,10},
	{3.632,	96	,10},
	{3.648,	96	,10},
	{3.664,	96	,10},
	{3.68,	96	,10},
	{3.696,	96	,10},
	{3.712,	96	,10},
	{3.728,	96	,10},
	{3.744,	96	,10},
	{3.76,	96	,10},
	{3.776,	96	,10},
	{3.792,	96	,10},
	{3.808,	96	,10},
	{3.824,	96	,10},
	{3.84,	96	,10},
	{3.856,	96	,10},
	{3.872,	96	,10},
	{3.888,	96	,10},
	{3.904,	96	,10},
	{3.92,	96	,10},
	{3.936,	96	,10},
	{3.952,	96	,10},
	{3.968,	96	,10},
	{3.984,	96	,10},
	{4.,	96	,10},
	{4.016,	96	,10},
	{4.032,	96	,10},
	{4.048,	96	,10},
	{4.064,	96	,10},
	{4.08,	96	,10},
	{4.096,	96	,10},
	{4.112,	96	,10},
	{4.128,	96	,10},
	{4.144,	96	,10},
	{4.16,	96	,10},
	{4.176,	96	,10},
	{4.192,	96	,10},
	{4.208,	96	,10},
	{4.224,	96	,10},
	{4.24,	96	,10},
	{4.256,	96	,10},
	{4.272,	96	,10},
	{4.288,	96	,10},
	{4.304,	96	,10},
	{4.32,	96	,10},
	{4.336,	96	,10},
	{4.352,	96	,10},
	{4.368,	96	,10},
	{4.384,	96	,10},
	{4.4,	96	,10},
	{4.416,	96	,10},
	{4.432,	96	,10},
	{4.448,	96	,10},
	{4.464,	96	,10},
	{4.48,	96	,10},
	{4.496,	96	,10},
	{4.512,	96	,10},
	{4.528,	96	,10},
	{4.544,	96	,10},
	{4.56,	96	,10},
	{4.576,	96	,10},
	{4.592,	96	,10},
	{4.608,	96	,10},
	{4.62384,	94.08	,10},
	{4.63936,	92.16	,10},
	{4.65456,	90.24	,10},
	{4.66944,	88.32	,10},
	{4.684,	86.4	,10},
	{4.69824,	84.48	,10},
	{4.71216,	82.56	,10},
	{4.72576,	80.64	,10},
	{4.73904,	78.72	,10},
	{4.752,	76.8	,10},
	{4.76464,	74.88	,10},
	{4.77696,	72.96	,10},
	{4.78896,	71.04	,10},
	{4.80064,	69.12	,10},
	{4.812,	67.2	,10},
	{4.82304,	65.28	,10},
	{4.83376,	63.36	,10},
	{4.84416,	61.44	,10},
	{4.85424,	59.52	,10},
	{4.864,	57.6	,10},
	{4.87344,	55.68	,10},
	{4.88256,	53.76	,10},
	{4.89136,	51.84	,10},
	{4.89984,	49.92	,10},
	{4.908,	48	,10},
	{4.91584,	46.08	,10},
	{4.92336,	44.16	,10},
	{4.93056,	42.24	,10},
	{4.93744,	40.32	,10},
	{4.944,	38.4	,10},
	{4.95024,	36.48	,10},
	{4.95616,	34.56	,10},
	{4.96176,	32.64	,10},
	{4.96704,	30.72	,10},
	{4.972,	28.8	,10},
	{4.97664,	26.88	,10},
	{4.98096,	24.96	,10},
	{4.98496,	23.04	,10},
	{4.98864,	21.12	,10},
	{4.992,	19.2	,10},
	{4.99504,	17.28	,10},
	{4.99776,	15.36	,10},
	{5.00016,	13.44	,10},
	{5.00224,	11.52	,10},
	{5.004,	9.6	,10},
	{5.00544,	7.68	,10},
	{5.00656,	5.76	,10},
	{5.00736,	3.84	,10},
	{5.00784,	1.92	,10},
	{5.008,	0	,10}};
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
			
}