[docs] Fix nav bar and update ChoreoLib usage docs (#813)

docs/choreolib/auto-routines.md

@@ -1,7 +1,6 @@
 # Auto Routines
 
-Choreolib provides a higher level API to make it easier to create competitive and complex auto routines inside your robot code.
-This is done by providing the `AutoFactory` class.
+ChoreoLib provides the `AutoFactory` class as higher level API to make it easier to create competitive and complex auto routines inside your robot code.
 
 ## Triggers vs Composition
 

docs/choreolib/basic-usage.md

@@ -0,0 +1,44 @@
+# Basic Usage
+
+Teams that want to use their own path following structure can load trajectories directly with the following code.
+
+``` { .java .select }
+import java.util.Optional;
+
+import choreo.Choreo;
+import choreo.trajectory.ChoreoTrajectory;
+import choreo.trajectory.SwerveSample;
+
+// Loading a trajectory from a file, returns an optional if the file does not exist or is invalid
+var trajectory = Choreo.loadTrajectory("myTrajectory");
+if (trajectory.isPresent()) {
+    // Do something with the trajectory
+    drive.followTrajectory(trajectory.get()).schedule();
+} else {
+    // If the trajectory is not found, ChoreoLib already prints to DriverStation
+}
+```
+``` { .py .select }
+import choreo
+
+# Loading a trajectory from a file, throwing ValueError if the file does not exist or is invalid
+try:
+    trajectory = choreo.load_swerve_trajectory("myTrajectory")
+
+    # Do something with the trajectory
+    drive.followTrajectory(trajectory).schedule()
+except ValueError:
+    # If the trajectory is not found, ChoreoLib already prints to DriverStation
+    pass
+```
+``` { .cpp .select }
+#include <choreo/Choreo.h>
+
+// Loading a trajectory from a file, returns an optional if the file does not exist or is invalid
+if (auto trajectory = choreo::LoadTrajectory("myTrajectory")) {
+    // Do something with the trajectory
+    drive.followTrajectory(trajectory.value()).schedule();
+} else {
+    // If the trajectory is not found, ChoreoLib already prints to DriverStation
+}
+```

docs/choreolib/samples.md

@@ -1,7 +1,6 @@
 # Samples
 
-Choreolib supports swerve and differential drive systems.
-The only usage difference between using swerve and differential is the type of the sample used.
+ChoreoLib supports swerve and differential drive systems. The only usage difference between using swerve and differential is the type of the sample used.
 
 ## Swerve Drive
 

mkdocs.yml

@@ -94,7 +94,9 @@ nav:
       - Estimating Moment of Inertia: usage/estimating-moi.md
   - ChoreoLib:
       - Installation: choreolib/installation.md
-      - Usage: choreolib/usage.md
+      - Basic Usage: choreolib/basic-usage.md
+      - Samples: choreolib/samples.md
+      - Auto Routines: choreolib/auto-routines.md
       - Java API: api/choreolib/java/index.html
       - C++ API: api/choreolib/cpp/index.html
   - TrajoptLib: