Merge branch 'main' into always-visible-field-overlays

.vscode/settings.json

@@ -3,13 +3,14 @@
         "cargo", "clippy", "--target-dir", "./target/clippy"
     ],
     "files.associations": {
+        "*.py": "python",
         "*.traj": "json",
         "vector": "cpp",
         "array": "cpp",
         "deque": "cpp",
         "map": "cpp",
         "unordered_map": "cpp",
-        "xstring": "cpp"
+        "type_traits": "cpp"
     },
     "java.configuration.updateBuildConfiguration": "interactive",
 }

choreolib/src/main/java/choreo/Choreo.java

@@ -296,25 +296,25 @@ public void clear() {
    * Create a factory that can be used to create {@link AutoRoutine} and {@link AutoTrajectory}.
    *
    * @param <SampleType> The type of samples in the trajectory.
-   * @param driveSubsystem The drive {@link Subsystem} to require for {@link AutoTrajectory} {@link
-   *     Command}s.
    * @param poseSupplier A function that returns the current field-relative {@link Pose2d} of the
    *     robot.
    * @param controller A {@link BiConsumer} to follow the current {@link Trajectory}&lt;{@link
    *     SampleType}&gt;.
    * @param mirrorTrajectory If this returns true, the path will be mirrored to the opposite side,
    *     while keeping the same coordinate system origin. This will be called every loop during the
    *     command.
+   * @param driveSubsystem The drive {@link Subsystem} to require for {@link AutoTrajectory} {@link
+   *     Command}s.
    * @param bindings Universal trajectory event bindings.
    * @return An {@link AutoFactory} that can be used to create {@link AutoRoutine} and {@link
    *     AutoTrajectory}.
    * @see AutoChooser using this factory with AutoChooser to generate auto routines.
    */
   public static <SampleType extends TrajectorySample<SampleType>> AutoFactory createAutoFactory(
-      Subsystem driveSubsystem,
       Supplier<Pose2d> poseSupplier,
       BiConsumer<Pose2d, SampleType> controller,
       BooleanSupplier mirrorTrajectory,
+      Subsystem driveSubsystem,
       AutoBindings bindings) {
     return new AutoFactory(
         requireNonNullParam(poseSupplier, "poseSupplier", "Choreo.createAutoFactory"),
@@ -329,15 +329,15 @@ public static <SampleType extends TrajectorySample<SampleType>> AutoFactory crea
    * Create a factory that can be used to create {@link AutoRoutine} and {@link AutoTrajectory}.
    *
    * @param <SampleType> The type of samples in the trajectory.
-   * @param driveSubsystem The drive {@link Subsystem} to require for {@link AutoTrajectory} {@link
-   *     Command}s.
    * @param poseSupplier A function that returns the current field-relative {@link Pose2d} of the
    *     robot.
    * @param controller A {@link BiConsumer} to follow the current {@link Trajectory}&lt;{@link
    *     SampleType}&gt;.
    * @param mirrorTrajectory If this returns true, the path will be mirrored to the opposite side,
    *     while keeping the same coordinate system origin. This will be called every loop during the
    *     command.
+   * @param driveSubsystem The drive {@link Subsystem} to require for {@link AutoTrajectory} {@link
+   *     Command}s.
    * @param bindings Universal trajectory event bindings.
    * @param trajectoryLogger A {@link TrajectoryLogger} to log {@link Trajectory} as they start and
    *     finish.
@@ -346,10 +346,10 @@ public static <SampleType extends TrajectorySample<SampleType>> AutoFactory crea
    * @see AutoChooser using this factory with AutoChooser to generate auto routines.
    */
   public static <SampleType extends TrajectorySample<SampleType>> AutoFactory createAutoFactory(
-      Subsystem driveSubsystem,
       Supplier<Pose2d> poseSupplier,
       BiConsumer<Pose2d, SampleType> controller,
       BooleanSupplier mirrorTrajectory,
+      Subsystem driveSubsystem,
       AutoBindings bindings,
       TrajectoryLogger<SampleType> trajectoryLogger) {
     return new AutoFactory(

choreolib/src/main/java/choreo/trajectory/ProjectFile.java

@@ -81,6 +81,9 @@ public static class Config {
     /** The maximum torque of the robot. (N-m) */
     public final Expression tmax;
 
+    /** The Coefficient of Friction (CoF) of the wheels. */
+    public final Expression cof;
+
     /** The bumpers of the robot. */
     public final Bumpers bumper;
 
@@ -96,6 +99,7 @@ public static class Config {
         Expression wheelRadius,
         Expression vmax,
         Expression tmax,
+        Expression cof,
         Bumpers bumper,
         Expression differentialTrackWidth) {
       this.frontLeft = frontLeft;
@@ -106,6 +110,7 @@ public static class Config {
       this.wheelRadius = wheelRadius;
       this.vmax = vmax;
       this.tmax = tmax;
+      this.cof = cof;
       this.bumper = bumper;
       this.differentialTrackWidth = differentialTrackWidth;
     }

choreolib/src/main/native/cpp/choreo/trajectory/DifferentialSample.cpp

@@ -8,7 +8,7 @@
 #include "choreo/Choreo.h"
 #include "choreo/trajectory/TrajectorySample.h"
 
-using namespace choreo;
+namespace choreo {
 
 units::second_t DifferentialSample::GetTimestamp() const {
   return timestamp;
@@ -53,8 +53,7 @@ DifferentialSample DifferentialSample::Interpolate(
   };
 }
 
-void choreo::to_json(wpi::json& json,
-                     const DifferentialSample& trajectorySample) {
+void to_json(wpi::json& json, const DifferentialSample& trajectorySample) {
   json = wpi::json{{"t", trajectorySample.timestamp.value()},
                    {"x", trajectorySample.x.value()},
                    {"y", trajectorySample.y.value()},
@@ -67,8 +66,7 @@ void choreo::to_json(wpi::json& json,
                    {"fr", trajectorySample.fr.value()}};
 }
 
-void choreo::from_json(const wpi::json& json,
-                       DifferentialSample& trajectorySample) {
+void from_json(const wpi::json& json, DifferentialSample& trajectorySample) {
   trajectorySample.timestamp = units::second_t{json.at("t").get<double>()};
   trajectorySample.x = units::meter_t{json.at("x").get<double>()};
   trajectorySample.y = units::meter_t{json.at("y").get<double>()};
@@ -82,3 +80,5 @@ void choreo::from_json(const wpi::json& json,
   trajectorySample.fl = units::newton_t{json.at("fl").get<double>()};
   trajectorySample.fr = units::newton_t{json.at("fr").get<double>()};
 }
+
+}  // namespace choreo

choreolib/src/main/native/cpp/choreo/trajectory/ProjectFile.cpp

@@ -69,6 +69,7 @@ void choreo::to_json(wpi::json& json, const Config& config) {
                    {"radius", config.wheelRadius},
                    {"vmax", config.vmax},
                    {"tmax", config.tmax},
+                   {"cof", config.cof},
                    {"bumper", config.bumpers},
                    {"differentialTrackWidth", config.differentialTrackWidth}};
 }
@@ -82,6 +83,7 @@ void choreo::from_json(const wpi::json& json, Config& config) {
   json.at("radius").get_to(config.wheelRadius);
   json.at("vmax").get_to(config.vmax);
   json.at("tmax").get_to(config.tmax);
+  json.at("cof").get_to(config.cof);
   json.at("bumper").get_to(config.bumpers);
   json.at("differentialTrackWidth").get_to(config.differentialTrackWidth);
 }