Create test json dir

test-jsons/beta-6/differential/differential.chor

@@ -0,0 +1,97 @@
+{
+ "name":"differential",
+ "version":"v2025.0.0",
+ "type":"Differential",
+ "variables":{
+  "expressions":{
+   "num":{
+    "dimension":"Number",
+    "var":{
+     "exp":"0",
+     "val":0.0
+    }
+   }
+  },
+  "poses":{
+   "pose":{
+    "x":{
+     "exp":"0 m",
+     "val":0.0
+    },
+    "y":{
+     "exp":"0 m",
+     "val":0.0
+    },
+    "heading":{
+     "exp":"0 rad",
+     "val":0.0
+    }
+   }
+  }
+ },
+ "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
+  },
+  "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":[]
+}

test-jsons/beta-6/differential/differential.traj

@@ -0,0 +1,85 @@
+{
+ "name":"differential",
+ "version":"v2025.0.0",
+ "snapshot":{
+  "waypoints":[
+    {"x":1.0, "y":1.0, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":1.0, "heading":0.0, "intervals":14, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":3.0, "y":1.0, "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":16.54, "h":8.21}}, "enabled":true},
+    {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":10.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"PointAt", "props":{"x":0.0, "y":1.0, "tolerance":0.017453292519943295, "flip":true}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepInCircle", "props":{"x":2.9236248955130577, "y":0.9550507944077252, "r":1.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":3.13802407681942, "y":3.2159875966608524, "r":1.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1 m", "val":1.0}, "y":{"exp":"1 m", "val":1.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"1 m", "val":1.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"3 m", "val":3.0}, "y":{"exp":"1 m", "val":1.0}, "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":"16.54 m", "val":16.54}, "h":{"exp":"8.21 m", "val":8.21}}}, "enabled":true},
+    {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"10 m / s ^ 2", "val":10.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"PointAt", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"1 m", "val":1.0}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":true}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepInCircle", "props":{"x":{"exp":"2.9236248955130577 m", "val":2.9236248955130577}, "y":{"exp":"0.9550507944077253 m", "val":0.9550507944077252}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"3.13802407681942 m", "val":3.13802407681942}, "y":{"exp":"3.2159875966608524 m", "val":3.2159875966608524}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "waypoints":[0.0,1.3316315160781926,1.3316422625088873],
+  "samples":[
+    {"t":0.0, "x":0.9999999999999936, "y":0.9999999999997023, "heading":0.0, "vl":0.0, "vr":0.0, "al":4.512379075356372, "ar":4.512379697740512, "fl":153.50855256221604, "fr":153.50857648033207},
+    {"t":0.09511653686272806, "x":1.020412099216918, "y":1.0000000000516478, "heading":5.104347395657512e-9, "vl":0.42920187097678936, "vr":0.429201930565972, "al":4.51219343263156, "ar":4.512193992784528, "fl":153.5022372401842, "fr":153.50225876676697},
+    {"t":0.19023307372545611, "x":1.081647556953533, "y":1.0000000008234953, "heading":1.9907119143467584e-8, "vl":0.8583860843432763, "vr":0.8583861975556272, "al":4.511925325863532, "ar":4.511925747821059, "fl":153.49311670610865, "fr":153.49313292186423},
+    {"t":0.2853496105881842, "x":1.1837043202005255, "y":1.00000000405135, "heading":4.276305432728662e-8, "vl":1.2875447964596032, "vr":1.2875449500649767, "al":4.511504070071746, "ar":4.51150423863458, "fl":153.47878638392186, "fr":153.47879286176268},
+    {"t":0.38046614745091223, "x":1.3265792697167884, "y":1.0000000122239787, "heading":7.046317888797223e-8, "vl":1.7166634404216017, "vr":1.71666361017496, "al":4.510745953054635, "ar":4.510745651009464, "fl":153.45299671461723, "fr":153.45298510707295},
+    {"t":0.47558268431364026, "x":1.5102670689390123, "y":1.0000000278008865, "heading":9.707885966500637e-8, "vl":2.145709975395425, "vr":2.145710116280348, "al":4.508977867932442, "ar":4.508976517106787, "fl":153.3928497833183, "fr":153.39279787131943},
+    {"t":0.5706992211763683, "x":1.7347562870978623, "y":1.0000000514814134, "heading":1.1016754360582416e-7, "vl":2.574588337597034, "vr":2.574588349273531, "al":4.5001661001389905, "ar":4.500161123692404, "fl":153.0930864807406, "fr":153.09289523674963},
+    {"t":0.6658157580390963, "x":1.9999990559440484, "y":1.0000000766780512, "heading":7.120522369128505e-8, "vl":3.002628567826223, "vr":3.0026281020076193, "al":-4.500137005694301, "ar":-4.5001371617840675, "fl":-153.09208538610935, "fr":-153.09209138461236},
+    {"t":0.7609322949018243, "x":2.2652419444912812, "y":1.0000000849746202, "heading":-9.837064485292364e-9, "vl":2.57459110537499, "vr":2.5745906257731037, "al":-4.508974122568977, "ar":-4.508972751571274, "fl":-153.39272241267986, "fr":-153.3926697254727},
+    {"t":0.8560488317645524, "x":2.4897314193395728, "y":1.0000000745737945, "heading":-8.069767383201193e-8, "vl":2.1457130993720455, "vr":2.145712751140719, "al":-4.510744597582283, "ar":-4.510743429949838, "fl":-153.45295251101706, "fr":-153.45290763910194},
+    {"t":0.9511653686272804, "x":2.6734195004439343, "y":1.0000000548914794, "heading":-1.307291530486803e-7, "vl":1.7166666932431445, "vr":1.7166664567358172, "al":-4.511503430085172, "ar":-4.511502522625177, "fl":-153.478766984791, "fr":-153.4787321112586},
+    {"t":1.0462819054900083, "x":2.816294745348478, "y":1.0000000336191353, "heading":-1.637684729679571e-7, "vl":1.2875481100709896, "vr":1.2875479603496172, "al":-4.511925000214646, "ar":-4.511924314701713, "fl":-153.4931080699144, "fr":-153.49308172576966},
+    {"t":1.1413984423527366, "x":2.918351813341242, "y":1.000000015705434, "heading":-1.837741220268109e-7, "vl":0.8583894288559603, "vr":0.8583893446754909, "al":-4.512193265941773, "ar":-4.512192758140522, "fl":-153.5022339245463, "fr":-153.50221440983108},
+    {"t":1.2365149792154646, "x":2.9795875829970244, "y":1.0000000040271493, "heading":-1.9402118624099924e-7, "vl":0.4292052312871755, "vr":0.42920519564572784, "al":-4.512378985860456, "ar":-4.512378612903242, "fl":-153.50855171254355, "fr":-153.50853737986156},
+    {"t":1.3316315160781926, "x":2.9999999999733657, "y":0.9999999999980244, "heading":-1.9706894412839938e-7, "vl":3.368785734482926e-6, "vr":3.3687857485598475e-6, "al":0.28382263844995004, "ar":0.2838226201318591, "fl":9.65548378295751, "fr":9.655483078996411},
+    {"t":1.331632283680385, "x":2.9999999999759996, "y":0.999999999998155, "heading":-1.9706888484438722e-7, "vl":3.5882810461865066e-6, "vr":3.5882810462079966e-6, "al":0.1585616831394997, "ar":0.15856168343713686, "fl":5.394177722826253, "fr":5.3941777342643995},
+    {"t":1.3316330512825776, "x":2.999999999978762, "y":0.9999999999982851, "heading":-1.9706882556409525e-7, "vl":3.711070097018435e-6, "vr":3.7110700970228265e-6, "al":0.024720032012966804, "ar":0.024720032302784346, "fl":0.8409613424037055, "fr":0.8409613535413439},
+    {"t":1.33163381888477, "x":2.999999999981575, "y":0.9999999999984152, "heading":-1.9706876628656117e-7, "vl":3.7305335181357433e-6, "vr":3.730533518142396e-6, "al":-0.10493735898012084, "ar":-0.1049373587395229, "fl":-3.569908902630601, "fr":-3.5699088933844636},
+    {"t":1.3316345864869623, "x":2.9999999999843645, "y":0.9999999999985464, "heading":-1.970687070119138e-7, "vl":3.649902817805863e-6, "vr":3.649902817816669e-6, "al":-0.22165280599807857, "ar":-0.22165280584278785, "fl":-7.540501619578849, "fr":-7.5405016136110525},
+    {"t":1.331635354089155, "x":2.999999999987057, "y":0.999999999998676, "heading":-1.970686477396788e-7, "vl":3.4791669024049343e-6, "vr":3.47916690241992e-6, "al":-0.3199817386390008, "ar":-0.31998173860566026, "fl":-10.885595639022394, "fr":-10.885595637741122},
+    {"t":1.3316361216913477, "x":2.9999999999895905, "y":0.9999999999988072, "heading":-1.970685884709742e-7, "vl":3.232516562911719e-6, "vr":3.232516562928935e-6, "al":-0.3971195757286614, "ar":-0.3971195758376585, "fl":-13.509780714371493, "fr":-13.509780718560233},
+    {"t":1.33163688929354, "x":2.999999999991915, "y":0.9999999999989376, "heading":-1.970685292049327e-7, "vl":2.9263086843457004e-6, "vr":2.926308684361278e-6, "al":-0.45261390709288746, "ar":-0.45261390733105206, "fl":-15.397666110466496, "fr":-15.397666119619124},
+    {"t":1.3316376568957324, "x":2.9999999999939906, "y":0.999999999999068, "heading":-1.9706846994155426e-7, "vl":2.5772515478414027e-6, "vr":2.5772515478509576e-6, "al":-0.4886987169116813, "ar":-0.4886987172317576, "fl":-16.625250690788814, "fr":-16.625250703089293},
+    {"t":1.331638424497925, "x":2.999999999995791, "y":0.9999999999991978, "heading":-1.970684106807237e-7, "vl":2.2003306639356037e-6, "vr":2.200330663932631e-6, "al":-0.5239860720416862, "ar":-0.52398607233341, "fl":-17.82570631918513, "fr":-17.825706330396024},
+    {"t":1.3316391921001174, "x":2.9999999999972946, "y":0.9999999999993284, "heading":-1.970683514225901e-7, "vl":1.7961606978565586e-6, "vr":1.7961606978408832e-6, "al":-0.560614452039411, "ar":-0.5606144521836791, "fl":-19.07178284644244, "fr":-19.071782851986647},
+    {"t":1.33163995970231, "x":2.999999999998483, "y":0.9999999999994588, "heading":-1.97068292167804e-7, "vl":1.363704842851081e-6, "vr":1.3637048428360662e-6, "al":-0.5909887365443778, "ar":-0.5909887365594542, "fl":-20.105098623901995, "fr":-20.105098624481386},
+    {"t":1.3316407273045023, "x":2.9999999999993334, "y":0.9999999999995892, "heading":-1.970682329158774e-7, "vl":9.07791710006498e-7, "vr":9.077917099968428e-7, "al":-0.5842514576051574, "ar":-0.5842514575394768, "fl":-19.87590024997568, "fr":-19.87590024745159},
+    {"t":1.3316414949066948, "x":2.999999999999841, "y":0.9999999999997196, "heading":-1.9706817366680365e-7, "vl":4.570816898747113e-7, "vr":4.570816898719033e-7, "al":-0.5925018480000925, "ar":-0.5925018479089388, "fl":-20.156573809981644, "fr":-20.156573806478615},
+    {"t":1.3316422625088873, "x":3.0000000000000058, "y":0.99999999999985, "heading":-1.970681144202439e-7, "vl":0.0, "vr":0.0, "al":0.0, "ar":0.0, "fl":0.0, "fr":0.0}],
+  "splits":[0]
+ },
+ "events":[
+   {"name":"Marker", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":null},
+   {"name":"Marker", "from":{"target":2, "targetTimestamp":1.3316422625088873, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[
+       {"type":"parallel", "data":{"commands":[
+          {"type":"deadline", "data":{"commands":[
+             {"type":"race", "data":{"commands":[
+                {"type":"named", "data":{"name":"cmd"}},
+                {"type":"wait", "data":{"waitTime":{"exp":"0 s", "val":0.0}}}]}}]}}]}}]}}}]
+}

test-jsons/beta-6/swerve/swerve.chor

@@ -0,0 +1,97 @@
+{
+ "name":"swerve",
+ "version":"v2025.0.0",
+ "type":"Swerve",
+ "variables":{
+  "expressions":{
+   "num":{
+    "dimension":"Number",
+    "var":{
+     "exp":"0",
+     "val":0.0
+    }
+   }
+  },
+  "poses":{
+   "pose":{
+    "x":{
+     "exp":"0 m",
+     "val":0.0
+    },
+    "y":{
+     "exp":"0 m",
+     "val":0.0
+    },
+    "heading":{
+     "exp":"0 rad",
+     "val":0.0
+    }
+   }
+  }
+ },
+ "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
+  },
+  "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":[]
+}