Merge branch 'develop' into Levi-CoralScorer

build.gradle

@@ -2,8 +2,8 @@ plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id "com.peterabeles.gversion" version "1.10.3"
-    id "com.diffplug.spotless" version "6.25.0"
-    id "io.freefair.lombok" version "8.11"
+    id "com.diffplug.spotless" version "7.0.2"
+    id "io.freefair.lombok" version "8.12"
     id "com.google.protobuf" version "0.9.4"
 }
 
@@ -214,7 +214,7 @@ spotless {
             exclude '**/build/**', '**/build-*/**'
         }
         greclipse()
-        indentWithSpaces(4)
+        leadingTabsToSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }
@@ -232,7 +232,7 @@ spotless {
         }
         eclipseWtp('xml')
         trimTrailingWhitespace()
-        indentWithSpaces(2)
+        leadingTabsToSpaces(2)
         endWithNewline()
     }
     format "misc", {
@@ -241,7 +241,7 @@ spotless {
             exclude '**/build/**', '**/build-*/**'
         }
         trimTrailingWhitespace()
-        indentWithSpaces(2)
+        leadingTabsToSpaces(2)
         endWithNewline()
     }
 }

src/main/deploy/Choreo/Cherio Matey.chor

@@ -0,0 +1,78 @@
+{
+ "name":"Cherio Matey",
+ "version":1,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.5",
+   "val":6.5
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"6000 RPM",
+   "val":628.3185307179587
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[]
+}

src/main/deploy/Choreo/Cherio Matey.traj

@@ -0,0 +1,49 @@
+{
+ "name":"Cherio Matey",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":8.258777618408203, "y":6.292977809906006, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.338869094848633, "y":6.289803981781006, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"8.258777618408203 m", "val":8.258777618408203}, "y":{"exp":"6.292977809906006 m", "val":6.292977809906006}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.338869094848633 m", "val":9.338869094848633}, "y":{"exp":"6.289803981781006 m", "val":6.289803981781006}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.69238],
+  "samples":[
+    {"t":0.0, "x":8.25878, "y":6.29298, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.01891, "ay":-0.0265, "alpha":0.0, "fx":[153.40916,153.40916,153.40916,153.40916], "fy":[-0.45079,-0.45079,-0.45079,-0.45079]},
+    {"t":0.04946, "x":8.26981, "y":6.29295, "heading":0.0, "vx":0.44604, "vy":-0.00131, "omega":0.0, "ax":9.01749, "ay":-0.0265, "alpha":0.0, "fx":[153.38489,153.38489,153.38489,153.38489], "fy":[-0.45072,-0.45072,-0.45072,-0.45072]},
+    {"t":0.09891, "x":8.30289, "y":6.29285, "heading":0.0, "vx":0.892, "vy":-0.00262, "omega":0.0, "ax":9.01543, "ay":-0.02649, "alpha":0.0, "fx":[153.34984,153.34984,153.34984,153.34984], "fy":[-0.45062,-0.45062,-0.45062,-0.45062]},
+    {"t":0.14837, "x":8.35803, "y":6.29269, "heading":0.0, "vx":1.33787, "vy":-0.00393, "omega":0.0, "ax":9.01219, "ay":-0.02648, "alpha":0.0, "fx":[153.29478,153.29478,153.29478,153.29478], "fy":[-0.45045,-0.45045,-0.45045,-0.45045]},
+    {"t":0.19782, "x":8.43522, "y":6.29246, "heading":0.0, "vx":1.78357, "vy":-0.00524, "omega":0.0, "ax":9.00637, "ay":-0.02647, "alpha":0.0, "fx":[153.19571,153.19571,153.19571,153.19571], "fy":[-0.45016,-0.45016,-0.45016,-0.45016]},
+    {"t":0.24728, "x":8.53444, "y":6.29217, "heading":0.0, "vx":2.22899, "vy":-0.00655, "omega":0.0, "ax":8.99279, "ay":-0.02643, "alpha":0.0, "fx":[152.96479,152.96479,152.96479,152.96479], "fy":[-0.44948,-0.44948,-0.44948,-0.44948]},
+    {"t":0.29673, "x":8.65568, "y":6.29181, "heading":0.0, "vx":2.67373, "vy":-0.00786, "omega":0.0, "ax":8.92521, "ay":-0.02623, "alpha":0.0, "fx":[151.81529,151.81529,151.81529,151.81529], "fy":[-0.44611,-0.44611,-0.44611,-0.44611]},
+    {"t":0.34619, "x":8.79882, "y":6.29139, "heading":0.0, "vx":3.11514, "vy":-0.00915, "omega":0.0, "ax":-8.92521, "ay":0.02623, "alpha":0.0, "fx":[-151.81529,-151.81529,-151.81529,-151.81529], "fy":[0.44611,0.44611,0.44611,0.44611]},
+    {"t":0.39565, "x":8.94197, "y":6.29097, "heading":0.0, "vx":2.67373, "vy":-0.00786, "omega":0.0, "ax":-8.99279, "ay":0.02643, "alpha":0.0, "fx":[-152.96479,-152.96479,-152.96479,-152.96479], "fy":[0.44948,0.44948,0.44948,0.44948]},
+    {"t":0.4451, "x":9.0632, "y":6.29061, "heading":0.0, "vx":2.22899, "vy":-0.00655, "omega":0.0, "ax":-9.00637, "ay":0.02647, "alpha":0.0, "fx":[-153.19571,-153.19571,-153.19571,-153.19571], "fy":[0.45016,0.45016,0.45016,0.45016]},
+    {"t":0.49456, "x":9.16243, "y":6.29032, "heading":0.0, "vx":1.78357, "vy":-0.00524, "omega":0.0, "ax":-9.01219, "ay":0.02648, "alpha":0.0, "fx":[-153.29478,-153.29478,-153.29478,-153.29478], "fy":[0.45045,0.45045,0.45045,0.45045]},
+    {"t":0.54401, "x":9.23961, "y":6.2901, "heading":0.0, "vx":1.33787, "vy":-0.00393, "omega":0.0, "ax":-9.01543, "ay":0.02649, "alpha":0.0, "fx":[-153.34984,-153.34984,-153.34984,-153.34984], "fy":[0.45062,0.45062,0.45062,0.45062]},
+    {"t":0.59347, "x":9.29475, "y":6.28993, "heading":0.0, "vx":0.892, "vy":-0.00262, "omega":0.0, "ax":-9.01749, "ay":0.0265, "alpha":0.0, "fx":[-153.38489,-153.38489,-153.38489,-153.38489], "fy":[0.45072,0.45072,0.45072,0.45072]},
+    {"t":0.64292, "x":9.32784, "y":6.28984, "heading":0.0, "vx":0.44604, "vy":-0.00131, "omega":0.0, "ax":-9.01891, "ay":0.0265, "alpha":0.0, "fx":[-153.40916,-153.40916,-153.40916,-153.40916], "fy":[0.45079,0.45079,0.45079,0.45079]},
+    {"t":0.69238, "x":9.33887, "y":6.2898, "heading":0.0, "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]}],
+  "splits":[0]
+ },
+ "events":[]
+}