diff --git a/src/main/deploy/choreo/bluesquare.traj b/src/main/deploy/choreo/bluesquare.traj index 718f1c8..7767461 100644 --- a/src/main/deploy/choreo/bluesquare.traj +++ b/src/main/deploy/choreo/bluesquare.traj @@ -1,6 +1,6 @@ { "name":"bluesquare", - "version":1, + "version":3, "snapshot":{ "waypoints":[ {"x":0.9762693643569946, "y":5.256224632263184, "heading":0.0, "intervals":86, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -31,320 +31,343 @@ } }, "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.3429, + "y":0.2667 + }, + "backLeft":{ + "x":-0.3429, + "y":0.2667 + }, + "mass":68.0388555, + "inertia":6.0, + "gearing":6.75, + "radius":0.0508, + "vmax":136.1356816555577, + "tmax":0.13, + "cof":1.2, + "bumper":{ + "front":0.4064, + "side":0.4064, + "back":0.4064 + }, + "differentialTrackWidth":0.5588 + }, "sampleType":"Swerve", - "waypoints":[0.0,2.5969,5.31461,6.94276,10.25916], + "waypoints":[0.0,2.59691,5.31461,6.94276,10.25917], 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"y":4.00876, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], diff --git a/src/main/deploy/choreo/offseason-2025.chor b/src/main/deploy/choreo/offseason-2025.chor index 63a11d9..0cde281 100644 --- a/src/main/deploy/choreo/offseason-2025.chor +++ b/src/main/deploy/choreo/offseason-2025.chor @@ -1,6 +1,6 @@ { "name":"offseason-2025", - "version":1, + "version":2, "type":"Swerve", "variables":{ "expressions":{}, @@ -74,5 +74,11 @@ "val":0.5588 } }, - "generationFeatures":[] + "generationFeatures":[], + "codegen":{ + "root":null, + "genVars":true, + "genTrajData":true, + "useChoreoLib":true + } } diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json index 843bcd5..cf7e7cf 100644 --- a/vendordeps/ChoreoLib2026.json +++ b/vendordeps/ChoreoLib2026.json @@ -1,7 +1,7 @@ { "fileName": "ChoreoLib2026.json", "name": "ChoreoLib", - "version": "2026.0.0", + "version": "2026.0.1", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-java", - "version": "2026.0.0" + "version": "2026.0.1" }, { "groupId": "com.google.code.gson", @@ -26,7 +26,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-cpp", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false,