From b3b99fdd5884c9b9e94acc239a4dca6bf4518925 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Tue, 17 Dec 2024 19:48:34 -0500
Subject: [PATCH 01/52] Revert "Replace usage of deprecated ChassisSpeeds
 methods" (#932)

---
 .github/workflows/build-pplib-release.yaml    |  8 ++--
 .github/workflows/pplib-ci.yml                |  6 +--
 pathplannerlib/build.gradle                   | 35 ++++++++------
 pathplannerlib/config.gradle                  |  6 +--
 .../gradle/wrapper/gradle-wrapper.properties  |  2 +-
 .../PPHolonomicDriveController.java           | 14 +++---
 .../pathplanner/lib/path/PathPlannerPath.java |  5 +-
 .../lib/trajectory/PathPlannerTrajectory.java | 48 +++++++------------
 .../util/swerve/SwerveSetpointGenerator.java  |  2 +-
 9 files changed, 59 insertions(+), 67 deletions(-)

diff --git a/.github/workflows/build-pplib-release.yaml b/.github/workflows/build-pplib-release.yaml
index d0e00dfd..7a3ca519 100644
--- a/.github/workflows/build-pplib-release.yaml
+++ b/.github/workflows/build-pplib-release.yaml
@@ -14,16 +14,16 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: PPLib-Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/ubuntu-base:22.04
             artifact-name: PPLib-Linux
             build-options: "-Ponlylinuxx86-64"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm64
             build-options: "-Ponlylinuxarm64"
     name: "[PPLib] Build - ${{ matrix.artifact-name }}"
@@ -56,6 +56,8 @@ jobs:
           path: pathplannerlib/build/allOutputs
   
   build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 13.3
     strategy:
       fail-fast: false
       matrix:
diff --git a/.github/workflows/pplib-ci.yml b/.github/workflows/pplib-ci.yml
index dd2a2457..4021f9f8 100644
--- a/.github/workflows/pplib-ci.yml
+++ b/.github/workflows/pplib-ci.yml
@@ -117,16 +117,16 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: PPLib-Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/ubuntu-base:22.04
             artifact-name: PPLib-Linux
             build-options: "-Ponlylinuxx86-64"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm64
             build-options: "-Ponlylinuxarm64"
     name: "[PPLib] Build - ${{ matrix.artifact-name }}"
diff --git a/pathplannerlib/build.gradle b/pathplannerlib/build.gradle
index 2e6111e7..6809929c 100644
--- a/pathplannerlib/build.gradle
+++ b/pathplannerlib/build.gradle
@@ -2,16 +2,21 @@ plugins {
     id 'cpp'
     id 'java'
     id 'google-test'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-    id 'edu.wpi.first.NativeUtils' version '2025.3.0'
+    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0'
+    id 'edu.wpi.first.NativeUtils' version '2025.9.0'
     id 'edu.wpi.first.GradleJni' version '1.1.0'
     id 'edu.wpi.first.GradleVsCode' version '2.1.0'
     id 'com.diffplug.spotless' version '6.11.0'
     id 'jacoco'
 }
 
-sourceCompatibility = JavaVersion.VERSION_17
-targetCompatibility = JavaVersion.VERSION_17
+// WPILib Version
+ext.wpilibVersion = "2025.+"
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 repositories {
     mavenCentral()
@@ -27,20 +32,20 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    implementation 'edu.wpi.first.cscore:cscore-java:2025.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2025.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2025.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2025.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2025.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2025.+'
-    implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2025.+'
-    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2025.+'
-    implementation 'edu.wpi.first.hal:hal-java:2025.+'
+    implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
+    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
+    implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpiunits:wpiunits-java:$wpilibVersion"
+    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:$wpilibVersion"
     implementation "org.ejml:ejml-simple:0.43.1"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
     implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
     implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
-    implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-4'
+    implementation 'edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-2'
 
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.9.0'
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.9.0'
@@ -163,7 +168,7 @@ javadoc {
 apply from: 'publish.gradle'
 
 wrapper {
-    gradleVersion '8.5'
+    gradleVersion '8.11'
 }
 
 jacocoTestReport {
diff --git a/pathplannerlib/config.gradle b/pathplannerlib/config.gradle
index 025cf1f3..9dd94815 100644
--- a/pathplannerlib/config.gradle
+++ b/pathplannerlib/config.gradle
@@ -8,10 +8,10 @@ nativeUtils.withCrossLinuxArm64()
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = "2025.+"
-            opencvYear = "frc2024"
+            wpiVersion = wpilibVersion
+            opencvYear = "frc2025"
             niLibVersion = "2025.0.0"
-            opencvVersion = "4.8.0-4"
+            opencvVersion = "4.10.0-2"
         }
     }
 }
diff --git a/pathplannerlib/gradle/wrapper/gradle-wrapper.properties b/pathplannerlib/gradle/wrapper/gradle-wrapper.properties
index df97d72b..94113f20 100644
--- a/pathplannerlib/gradle/wrapper/gradle-wrapper.properties
+++ b/pathplannerlib/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.java b/pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.java
index f797098f..a44b42dc 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.java
@@ -5,6 +5,7 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import java.util.Optional;
 import java.util.function.DoubleSupplier;
@@ -16,6 +17,7 @@ public class PPHolonomicDriveController implements PathFollowingController {
   private final PIDController yController;
   private final PIDController rotationController;
 
+  private Translation2d translationError = new Translation2d();
   private boolean isEnabled = true;
 
   private static Supplier<Optional<Rotation2d>> rotationTargetOverride = null;
@@ -96,10 +98,10 @@ public ChassisSpeeds calculateRobotRelativeSpeeds(
     double xFF = targetState.fieldSpeeds.vxMetersPerSecond;
     double yFF = targetState.fieldSpeeds.vyMetersPerSecond;
 
+    this.translationError = currentPose.getTranslation().minus(targetState.pose.getTranslation());
+
     if (!this.isEnabled) {
-      ChassisSpeeds ret = new ChassisSpeeds(xFF, yFF, 0);
-      ret.toRobotRelativeSpeeds(currentPose.getRotation());
-      return ret;
+      return ChassisSpeeds.fromFieldRelativeSpeeds(xFF, yFF, 0, currentPose.getRotation());
     }
 
     double xFeedback = this.xController.calculate(currentPose.getX(), targetState.pose.getX());
@@ -125,10 +127,8 @@ public ChassisSpeeds calculateRobotRelativeSpeeds(
       rotationFeedback = rotFeedbackOverride.getAsDouble();
     }
 
-    ChassisSpeeds ret =
-        new ChassisSpeeds(xFF + xFeedback, yFF + yFeedback, rotationFF + rotationFeedback);
-    ret.toRobotRelativeSpeeds(currentPose.getRotation());
-    return ret;
+    return ChassisSpeeds.fromFieldRelativeSpeeds(
+        xFF + xFeedback, yFF + yFeedback, rotationFF + rotationFeedback, currentPose.getRotation());
   }
 
   /**
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
index 4bfbb13e..0ee5dd0f 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
@@ -650,8 +650,9 @@ public Optional<PathPlannerTrajectory> getIdealTrajectory(RobotConfig robotConfi
       // The ideal starting state is known, generate the ideal trajectory
       Rotation2d heading = getInitialHeading();
       Translation2d fieldSpeeds = new Translation2d(idealStartingState.velocityMPS(), heading);
-      ChassisSpeeds startingSpeeds = new ChassisSpeeds(fieldSpeeds.getX(), fieldSpeeds.getY(), 0.0);
-      startingSpeeds.toRobotRelativeSpeeds(idealStartingState.rotation());
+      ChassisSpeeds startingSpeeds =
+          ChassisSpeeds.fromFieldRelativeSpeeds(
+              fieldSpeeds.getX(), fieldSpeeds.getY(), 0.0, idealStartingState.rotation());
       idealTrajectory =
           Optional.of(
               generateTrajectory(startingSpeeds, idealStartingState.rotation(), robotConfig));
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
index 1d56a2c0..8f8565e3 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
@@ -70,7 +70,7 @@ public PathPlannerTrajectory(
 
       // Set the initial module velocities
       ChassisSpeeds fieldStartingSpeeds =
-          fromRobotRelativeSpeeds(startingSpeeds, states.get(0).pose.getRotation());
+          ChassisSpeeds.fromRobotRelativeSpeeds(startingSpeeds, states.get(0).pose.getRotation());
       var initialStates = config.toSwerveModuleStates(fieldStartingSpeeds);
       for (int m = 0; m < config.numModules; m++) {
         states.get(0).moduleStates[m].speedMetersPerSecond = initialStates[m].speedMetersPerSecond;
@@ -91,7 +91,7 @@ public PathPlannerTrajectory(
           new ChassisSpeeds(endSpeedTrans.getX(), endSpeedTrans.getY(), 0.0);
       var endStates =
           config.toSwerveModuleStates(
-              fromFieldRelativeSpeeds(
+              ChassisSpeeds.fromFieldRelativeSpeeds(
                   endFieldSpeeds, states.get(states.size() - 1).pose.getRotation()));
       for (int m = 0; m < config.numModules; m++) {
         states.get(states.size() - 1).moduleStates[m].speedMetersPerSecond =
@@ -136,9 +136,10 @@ public PathPlannerTrajectory(
         state.timeSeconds = prevState.timeSeconds + dt;
 
         ChassisSpeeds prevRobotSpeeds =
-            fromFieldRelativeSpeeds(prevState.fieldSpeeds, prevState.pose.getRotation());
+            ChassisSpeeds.fromFieldRelativeSpeeds(
+                prevState.fieldSpeeds, prevState.pose.getRotation());
         ChassisSpeeds robotSpeeds =
-            fromFieldRelativeSpeeds(state.fieldSpeeds, state.pose.getRotation());
+            ChassisSpeeds.fromFieldRelativeSpeeds(state.fieldSpeeds, state.pose.getRotation());
         double chassisAccelX =
             (robotSpeeds.vxMetersPerSecond - prevRobotSpeeds.vxMetersPerSecond) / dt;
         double chassisAccelY =
@@ -367,8 +368,8 @@ private static void forwardAccelPass(
       }
 
       ChassisSpeeds chassisAccel =
-          new ChassisSpeeds(accelVec.getX(), accelVec.getY(), angularAccel);
-      chassisAccel.toRobotRelativeSpeeds(state.pose.getRotation());
+          ChassisSpeeds.fromFieldRelativeSpeeds(
+              accelVec.getX(), accelVec.getY(), angularAccel, state.pose.getRotation());
       var accelStates = config.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < config.numModules; m++) {
         double moduleAcceleration = accelStates[m].speedMetersPerSecond;
@@ -445,8 +446,9 @@ private static void forwardAccelPass(
           maxChassisVel,
           maxChassisAngVel);
 
-      state.fieldSpeeds = config.toChassisSpeeds(state.moduleStates);
-      state.fieldSpeeds.toFieldRelativeSpeeds(state.pose.getRotation());
+      state.fieldSpeeds =
+          ChassisSpeeds.fromRobotRelativeSpeeds(
+              config.toChassisSpeeds(state.moduleStates), state.pose.getRotation());
       state.linearVelocity =
           Math.hypot(state.fieldSpeeds.vxMetersPerSecond, state.fieldSpeeds.vyMetersPerSecond);
     }
@@ -508,8 +510,9 @@ private static void reverseAccelPass(
       }
 
       ChassisSpeeds chassisAccel =
-          new ChassisSpeeds(accelVec.getX(), accelVec.getY(), angularAccel);
-      chassisAccel.toRobotRelativeSpeeds(state.pose.getRotation());
+          ChassisSpeeds.fromFieldRelativeSpeeds(
+              new ChassisSpeeds(accelVec.getX(), accelVec.getY(), angularAccel),
+              state.pose.getRotation());
       var accelStates = config.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < config.numModules; m++) {
         double moduleAcceleration = accelStates[m].speedMetersPerSecond;
@@ -576,8 +579,9 @@ private static void reverseAccelPass(
           maxChassisVel,
           maxChassisAngVel);
 
-      state.fieldSpeeds = config.toChassisSpeeds(state.moduleStates);
-      state.fieldSpeeds.toFieldRelativeSpeeds(state.pose.getRotation());
+      state.fieldSpeeds =
+          ChassisSpeeds.fromRobotRelativeSpeeds(
+              config.toChassisSpeeds(state.moduleStates), state.pose.getRotation());
       state.linearVelocity =
           Math.hypot(state.fieldSpeeds.vxMetersPerSecond, state.fieldSpeeds.vyMetersPerSecond);
     }
@@ -767,24 +771,4 @@ private static Rotation2d cosineInterpolate(Rotation2d start, Rotation2d end, do
     double t2 = (1.0 - Math.cos(t * Math.PI)) / 2.0;
     return start.interpolate(end, t2);
   }
-
-  // TODO: Remove if ChassisSpeeds factory methods get un-deprecated
-  private static ChassisSpeeds fromRobotRelativeSpeeds(
-      ChassisSpeeds speeds, Rotation2d robotRotation) {
-    ChassisSpeeds ret =
-        new ChassisSpeeds(
-            speeds.vxMetersPerSecond, speeds.vyMetersPerSecond, speeds.omegaRadiansPerSecond);
-    ret.toFieldRelativeSpeeds(robotRotation);
-    return ret;
-  }
-
-  // TODO: Remove if ChassisSpeeds factory methods get un-deprecated
-  private static ChassisSpeeds fromFieldRelativeSpeeds(
-      ChassisSpeeds speeds, Rotation2d robotRotation) {
-    ChassisSpeeds ret =
-        new ChassisSpeeds(
-            speeds.vxMetersPerSecond, speeds.vyMetersPerSecond, speeds.omegaRadiansPerSecond);
-    ret.toRobotRelativeSpeeds(robotRotation);
-    return ret;
-  }
 }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
index 60a3378d..bd9e6ca8 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -317,7 +317,7 @@ public SwerveSetpoint generateSetpoint(
             prevSetpoint.robotRelativeSpeeds().vxMetersPerSecond + min_s * dx,
             prevSetpoint.robotRelativeSpeeds().vyMetersPerSecond + min_s * dy,
             prevSetpoint.robotRelativeSpeeds().omegaRadiansPerSecond + min_s * dtheta);
-    retSpeeds.discretize(dt);
+    retSpeeds = ChassisSpeeds.discretize(retSpeeds, dt);
 
     double prevVelX = prevSetpoint.robotRelativeSpeeds().vxMetersPerSecond;
     double prevVelY = prevSetpoint.robotRelativeSpeeds().vyMetersPerSecond;

From 3853d4816873ad938730fc37a3fc39e579bc8dbb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E3=83=8F=E3=82=A4=E3=83=89=E3=83=A9=E3=83=B3=E3=83=88?=
 <thecomputer314@gmail.com>
Date: Tue, 17 Dec 2024 19:15:01 -0600
Subject: [PATCH 02/52] Prevent force from being applied if the magnitude of
 the force is 0 (#927)

---
 .../lib/util/swerve/SwerveSetpointGenerator.java          | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
index bd9e6ca8..01ad9004 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -273,9 +273,11 @@ public SwerveSetpoint generateSetpoint(
       chassisForceVec = chassisForceVec.plus(moduleForceVec);
 
       // Calculate the torque this module will apply to the chassis
-      Rotation2d angleToModule = config.moduleLocations[m].getAngle();
-      Rotation2d theta = moduleForceVec.getAngle().minus(angleToModule);
-      chassisTorque += forceAtCarpet * config.modulePivotDistance[m] * theta.getSin();
+      if (!epsilonEquals(0, moduleForceVec.getNorm())) {
+        Rotation2d angleToModule = config.moduleLocations[m].getAngle();
+        Rotation2d theta = moduleForceVec.getAngle().minus(angleToModule);
+        chassisTorque += forceAtCarpet * config.modulePivotDistance[m] * theta.getSin();
+      }
     }
 
     Translation2d chassisAccelVec = chassisForceVec.div(config.massKG);

From ee96bebcbada8de594fb5fbc4f5eae4cfba6fd2d Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 19 Dec 2024 12:14:10 -0500
Subject: [PATCH 03/52] Integrate field speeds to interpolate state positions
 (#935)

---
 lib/trajectory/trajectory.dart                | 34 +++++++++++++-
 lib/util/wpimath/kinematics.dart              |  2 +
 .../pathplannerlib/trajectory.py              | 45 +++++++++++++++----
 pathplannerlib-python/pyproject.toml          |  8 ++--
 pathplannerlib-python/requirements.txt        |  8 ++--
 .../PathPlannerTrajectoryState.java           | 31 ++++++++++++-
 .../trajectory/PathPlannerTrajectoryState.cpp | 38 +++++++++++++---
 7 files changed, 143 insertions(+), 23 deletions(-)

diff --git a/lib/trajectory/trajectory.dart b/lib/trajectory/trajectory.dart
index 305ea427..2cee540a 100644
--- a/lib/trajectory/trajectory.dart
+++ b/lib/trajectory/trajectory.dart
@@ -610,7 +610,39 @@ class TrajectoryState {
         MathUtil.interpolate(fieldSpeeds.omega, endVal.fieldSpeeds.omega, t);
     lerpedState.fieldSpeeds =
         ChassisSpeeds(vx: lerpedXVel, vy: lerpedYVel, omega: lerpedRotVel);
-    lerpedState.pose = pose.interpolate(endVal.pose, t);
+
+    lerpedState.heading = heading;
+    num lerpedLinearVel = MathUtil.interpolate(
+        fieldSpeeds.linearVel, endVal.fieldSpeeds.linearVel, t);
+
+    // Integrate the field speeds to get the pose for this interpolated state, since linearly
+    // interpolating the pose gives an inaccurate result if the speeds are changing between states
+    num poseX = pose.x;
+    num poseY = pose.y;
+    num intTime = timeSeconds + 0.01;
+    while (true) {
+      num intT =
+          (intTime - timeSeconds) / (lerpedState.timeSeconds - timeSeconds);
+      num intLinearVel =
+          MathUtil.interpolate(fieldSpeeds.linearVel, lerpedLinearVel, intT);
+      num intVX = intLinearVel * lerpedState.heading.cosine;
+      num intVY = intLinearVel * lerpedState.heading.sine;
+
+      if (intTime >= lerpedState.timeSeconds - 0.01) {
+        num dt = lerpedState.timeSeconds - intTime;
+        poseX += intVX * dt;
+        poseY += intVY * dt;
+        break;
+      }
+
+      poseX += intVX * 0.01;
+      poseY += intVY * 0.01;
+
+      intTime += 0.01;
+    }
+
+    lerpedState.pose = Pose2d(Translation2d(poseX, poseY),
+        pose.rotation.interpolate(endVal.pose.rotation, t));
     lerpedState.deltaPos = MathUtil.interpolate(deltaPos, endVal.deltaPos, t);
     lerpedState.deltaRot = deltaRot.interpolate(endVal.deltaRot, t);
 
diff --git a/lib/util/wpimath/kinematics.dart b/lib/util/wpimath/kinematics.dart
index 05f008d2..eabaec8a 100644
--- a/lib/util/wpimath/kinematics.dart
+++ b/lib/util/wpimath/kinematics.dart
@@ -42,6 +42,8 @@ class ChassisSpeeds {
         Translation2d(speeds.vx, speeds.vy).rotateBy(robotAngle);
     return ChassisSpeeds(vx: rotated.x, vy: rotated.y, omega: speeds.omega);
   }
+
+  num get linearVel => hypotenuse(vx.toDouble(), vy.toDouble());
 }
 
 class SwerveModuleState {
diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index 5675a606..23f36a77 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -4,7 +4,7 @@
 from dataclasses import dataclass, field
 from wpimath.geometry import Translation2d, Rotation2d, Pose2d
 from wpimath.kinematics import ChassisSpeeds, SwerveModuleState
-from .util import floatLerp, rotationLerp, poseLerp, calculateRadius, FlippingUtil, DriveFeedforwards
+from .util import floatLerp, rotationLerp, calculateRadius, FlippingUtil, DriveFeedforwards
 from .config import RobotConfig
 from .events import *
 from typing import List, Union, TYPE_CHECKING
@@ -60,8 +60,34 @@ def interpolate(self, end_val: PathPlannerTrajectoryState, t: float) -> PathPlan
             floatLerp(self.fieldSpeeds.vy, end_val.fieldSpeeds.vy, t),
             floatLerp(self.fieldSpeeds.omega, end_val.fieldSpeeds.omega, t)
         )
-        lerpedState.pose = poseLerp(self.pose, end_val.pose, t)
+
+        lerpedState.heading = self.heading
         lerpedState.linearVelocity = floatLerp(self.linearVelocity, end_val.linearVelocity, t)
+
+        # Integrate the field speeds to get the pose for this interpolated state, since linearly
+        # interpolating the pose gives an inaccurate result if the speeds are changing between states
+        lerpedXPos = self.pose.x
+        lerpedYPos = self.pose.y
+        intTime = self.timeSeconds + 0.01
+        while True:
+            intT = (intTime - self.timeSeconds) / (lerpedState.timeSeconds - self.timeSeconds)
+            intLinearVel = floatLerp(self.linearVelocity, lerpedState.linearVelocity, intT)
+            intVX = intLinearVel * lerpedState.heading.cos()
+            intVY = intLinearVel * lerpedState.heading.sin()
+
+            if intTime >= lerpedState.timeSeconds - 0.01:
+                dt = lerpedState.timeSeconds - intTime
+                lerpedXPos += intVX * dt
+                lerpedYPos += intVY * dt
+                break
+
+            lerpedXPos += intVX * 0.01
+            lerpedYPos += intVY * 0.01
+
+            intTime += 0.01
+
+        lerpedState.pose = Pose2d(lerpedXPos, lerpedYPos,
+                                  rotationLerp(self.pose.rotation(), end_val.pose.rotation(), t))
         lerpedState.feedforwards = self.feedforwards.interpolate(end_val.feedforwards, t)
 
         return lerpedState
@@ -235,7 +261,7 @@ def __init__(self, path: Union[PathPlannerPath, None], starting_speeds: Union[Ch
                     for m in range(config.numModules):
                         wheelForceDist = wheelForces[m].norm()
                         appliedForce = 0.0 if wheelForceDist <= 1e-6 else wheelForceDist * (
-                            wheelForces[m].angle() - state.moduleStates[m].angle).cos()
+                                wheelForces[m].angle() - state.moduleStates[m].angle).cos()
                         wheelTorque = appliedForce * config.moduleConfig.wheelRadiusMeters
                         torqueCurrent = wheelTorque / config.moduleConfig.driveMotor.Kt
 
@@ -244,7 +270,8 @@ def __init__(self, path: Union[PathPlannerPath, None], starting_speeds: Union[Ch
                         torqueCurrentFF.append(torqueCurrent)
                         forceXFF.append(wheelForces[m].x)
                         forceYFF.append(wheelForces[m].y)
-                    prevState.feedforwards = DriveFeedforwards(accelFF, linearForceFF, torqueCurrentFF, forceXFF, forceYFF)
+                    prevState.feedforwards = DriveFeedforwards(accelFF, linearForceFF, torqueCurrentFF, forceXFF,
+                                                               forceYFF)
 
                     # Un-added events have their timestamp set to a waypoint relative position
                     # When adding the event to this trajectory, set its timestamp properly
@@ -491,8 +518,9 @@ def _forwardAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
             # This pass will only be handling acceleration of the robot, meaning that the "torque"
             # acting on the module due to friction and other losses will be fighting the motor
             lastVelRadPerSec = lastVel / config.moduleConfig.wheelRadiusMeters
-            currentDraw = min(config.moduleConfig.driveMotor.current(lastVelRadPerSec, state.constraints.nominalVoltage),
-                              config.moduleConfig.driveCurrentLimit)
+            currentDraw = min(
+                config.moduleConfig.driveMotor.current(lastVelRadPerSec, state.constraints.nominalVoltage),
+                config.moduleConfig.driveCurrentLimit)
             availableTorque = config.moduleConfig.driveMotor.torque(currentDraw) - config.moduleConfig.torqueLoss
             availableTorque = min(availableTorque, config.maxTorqueFriction)
             forceAtCarpet = availableTorque / config.moduleConfig.wheelRadiusMeters
@@ -593,8 +621,9 @@ def _reverseAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
             # This pass will only be handling deceleration of the robot, meaning that the "torque"
             # acting on the module due to friction and other losses will not be fighting the motor
             lastVelRadPerSec = lastVel / config.moduleConfig.wheelRadiusMeters
-            currentDraw = min(config.moduleConfig.driveMotor.current(lastVelRadPerSec, state.constraints.nominalVoltage),
-                              config.moduleConfig.driveCurrentLimit)
+            currentDraw = min(
+                config.moduleConfig.driveMotor.current(lastVelRadPerSec, state.constraints.nominalVoltage),
+                config.moduleConfig.driveCurrentLimit)
             availableTorque = config.moduleConfig.driveMotor.torque(currentDraw)
             availableTorque = min(availableTorque, config.maxTorqueFriction)
             forceAtCarpet = availableTorque / config.moduleConfig.wheelRadiusMeters
diff --git a/pathplannerlib-python/pyproject.toml b/pathplannerlib-python/pyproject.toml
index 3a7dc77e..930c8bc9 100644
--- a/pathplannerlib-python/pyproject.toml
+++ b/pathplannerlib-python/pyproject.toml
@@ -16,11 +16,11 @@ classifiers = [
 ]
 keywords = ["pathplannerlib"]
 dependencies = [
-    "pyntcore >=2025.0.0b1",
-    "robotpy-wpimath >=2025.0.0b1",
+    "pyntcore >=2025.0.0b3",
+    "robotpy-wpimath >=2025.0.0b3",
     "robotpy-commands-v2 >=2025.0.0b1",
-    "robotpy-wpiutil >=2025.0.0b1",
-    "robotpy-hal >=2025.0.0b1",
+    "robotpy-wpiutil >=2025.0.0b3",
+    "robotpy-hal >=2025.0.0b3",
     "numpy >=2.1.1",
 ]
 requires-python = ">=3.8"
diff --git a/pathplannerlib-python/requirements.txt b/pathplannerlib-python/requirements.txt
index d447d848..0bd0b00d 100644
--- a/pathplannerlib-python/requirements.txt
+++ b/pathplannerlib-python/requirements.txt
@@ -1,7 +1,7 @@
 setuptools~=74.1.2
-pyntcore>=2025.0.0b1
-robotpy-wpimath>=2025.0.0b1
+pyntcore>=2025.0.0b3
+robotpy-wpimath>=2025.0.0b3
 robotpy-commands-v2>=2025.0.0b1
-robotpy-wpiutil>=2025.0.0b1
-robotpy-hal>=2025.0.0b1
+robotpy-wpiutil>=2025.0.0b3
+robotpy-hal>=2025.0.0b3
 numpy>=2.1.1
\ No newline at end of file
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
index b0c14148..1c697a95 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
@@ -65,8 +65,37 @@ public PathPlannerTrajectoryState interpolate(PathPlannerTrajectoryState endVal,
                 fieldSpeeds.vyMetersPerSecond, endVal.fieldSpeeds.vyMetersPerSecond, t),
             MathUtil.interpolate(
                 fieldSpeeds.omegaRadiansPerSecond, endVal.fieldSpeeds.omegaRadiansPerSecond, t));
-    lerpedState.pose = pose.interpolate(endVal.pose, t);
+
+    lerpedState.heading = heading;
     lerpedState.linearVelocity = MathUtil.interpolate(linearVelocity, endVal.linearVelocity, t);
+
+    // Integrate the field speeds to get the pose for this interpolated state, since linearly
+    // interpolating the pose gives an inaccurate result if the speeds are changing between states
+    double lerpedXPos = pose.getX();
+    double lerpedYPos = pose.getY();
+    double intTime = timeSeconds + 0.01;
+    while (true) {
+      double intT = (intTime - timeSeconds) / (lerpedState.timeSeconds - timeSeconds);
+      double intLinearVel = MathUtil.interpolate(linearVelocity, lerpedState.linearVelocity, intT);
+      double intVX = intLinearVel * lerpedState.heading.getCos();
+      double intVY = intLinearVel * lerpedState.heading.getSin();
+
+      if (intTime >= lerpedState.timeSeconds - 0.01) {
+        double dt = lerpedState.timeSeconds - intTime;
+        lerpedXPos += intVX * dt;
+        lerpedYPos += intVY * dt;
+        break;
+      }
+
+      lerpedXPos += intVX * 0.01;
+      lerpedYPos += intVY * 0.01;
+
+      intTime += 0.01;
+    }
+
+    lerpedState.pose =
+        new Pose2d(
+            lerpedXPos, lerpedYPos, pose.getRotation().interpolate(endVal.pose.getRotation(), t));
     lerpedState.feedforwards = feedforwards.interpolate(endVal.feedforwards, t);
 
     return lerpedState;
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectoryState.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectoryState.cpp
index e18c5331..2fe32510 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectoryState.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectoryState.cpp
@@ -18,13 +18,41 @@ PathPlannerTrajectoryState PathPlannerTrajectoryState::interpolate(
 			fieldSpeeds.vx, endVal.fieldSpeeds.vx, t), GeometryUtil::unitLerp(
 			fieldSpeeds.vy, endVal.fieldSpeeds.vy, t), GeometryUtil::unitLerp(
 			fieldSpeeds.omega, endVal.fieldSpeeds.omega, t) };
-	lerpedState.pose = frc::Pose2d(
-			GeometryUtil::translationLerp(pose.Translation(),
-					endVal.pose.Translation(), t),
-			GeometryUtil::rotationLerp(pose.Rotation(), endVal.pose.Rotation(),
-					t));
+
+	lerpedState.heading = heading;
 	lerpedState.linearVelocity = GeometryUtil::unitLerp(linearVelocity,
 			endVal.linearVelocity, t);
+
+	// Integrate the field speeds to get the pose for this interpolated state, since linearly
+	// interpolating the pose gives an inaccurate result if the speeds are changing between states
+	units::meter_t lerpedXPos = pose.X();
+	units::meter_t lerpedYPos = pose.Y();
+	units::second_t intTime = time + 0.01_s;
+	while (true) {
+		double intT = ((intTime - time) / (lerpedState.time - time))();
+		units::meters_per_second_t intLinearVel = GeometryUtil::unitLerp(
+				linearVelocity, lerpedState.linearVelocity, intT);
+		units::meters_per_second_t intVX = intLinearVel
+				* lerpedState.heading.Cos();
+		units::meters_per_second_t intVY = intLinearVel
+				* lerpedState.heading.Sin();
+
+		if (intTime >= lerpedState.time - 0.01_s) {
+			units::second_t dt = lerpedState.time - intTime;
+			lerpedXPos += intVX * dt;
+			lerpedYPos += intVY * dt;
+			break;
+		}
+
+		lerpedXPos += intVX * 0.01_s;
+		lerpedYPos += intVY * 0.01_s;
+
+		intTime += 0.01_s;
+	}
+
+	lerpedState.pose = frc::Pose2d(lerpedXPos, lerpedYPos,
+			GeometryUtil::rotationLerp(pose.Rotation(), endVal.pose.Rotation(),
+					t));
 	lerpedState.feedforwards = feedforwards.interpolate(endVal.feedforwards, t);
 
 	return lerpedState;

From cfdb5b43fbd0e9d484a1b81eb50339208c8601f5 Mon Sep 17 00:00:00 2001
From: Caden Dalley <61672111+PickleFace5@users.noreply.github.com>
Date: Thu, 19 Dec 2024 07:36:40 -1000
Subject: [PATCH 04/52] Add Swerve Setpoint Generator to PPLib Python (#917)

---
 .../topics/pplib-Swerve-Setpoint-Generator.md |  56 +-
 .../{util.py => util/__init__.py}             |   1 -
 .../pathplannerlib/util/swerve.py             | 500 ++++++++++++++++++
 3 files changed, 554 insertions(+), 3 deletions(-)
 rename pathplannerlib-python/pathplannerlib/{util.py => util/__init__.py} (99%)
 create mode 100644 pathplannerlib-python/pathplannerlib/util/swerve.py

diff --git a/Writerside/topics/pplib-Swerve-Setpoint-Generator.md b/Writerside/topics/pplib-Swerve-Setpoint-Generator.md
index f244b0cf..880de6e0 100644
--- a/Writerside/topics/pplib-Swerve-Setpoint-Generator.md
+++ b/Writerside/topics/pplib-Swerve-Setpoint-Generator.md
@@ -17,11 +17,14 @@ This improves on the original version in a few ways:
 
 > **Note**
 >
-> This feature is only available in PathPlannerLib Java. If you would like to see this feature in PPLib C++ or Python,
-> feel free to open a pull request to translate it to your language.
+> This feature is only available in PathPlannerLib Java and Python. If you would like to see this feature in PPLib C++,
+> feel free to open a pull request to translate it.
 >
 {style="note"}
 
+<tabs group="pplib-language">
+<tab title="Java" group-key="java">
+
 ```Java
 public class SwerveSubsystem extends Subsystem {
     private final SwerveSetpointGenerator setpointGenerator;
@@ -70,3 +73,52 @@ public class SwerveSubsystem extends Subsystem {
     }
 }
 ```
+
+</tab>
+<tab title="Python" group-key="python">
+
+```Python
+from pathplannerlib.config import RobotConfig
+from pathplannerlib.util import DriveFeedforwards
+from pathplannerlib.util.swerve import SwerveSetpoint, SwerveSetpointGenerator
+from wpimath.kinematics import ChassisSpeeds
+from wpimath.units import rotationsToRadians
+
+class SwerveSubsystem(Subsystem):
+  def __init__(self):
+    # All other subsystem initialization
+    # ...
+
+    # Load the RobotConfig from the GUI settings. You should probably
+    # store this in your Constants file
+    config = RobotConfig.fromGUISettings()
+
+    self.setpointGenerator = SwerveSetpointGenerator(
+      config, # The robot configuration. This is the same config used for generating trajectories and running path following commands.
+      rotationsToRadians(10.0) # The max rotation velocity of a swerve module in radians per second. This should probably be stored in your Constants file
+    )
+
+    # Initialize the previous setpoint to the robot's current speeds & module states
+    currentSpeeds = self.getCurrentSpeeds() # Method to get current robot-relative chassis speeds
+    currentStates = self.getCurrentModuleStates() # Method to get the current swerve module states
+    self.previousSetpoint = SwerveSetpoint(currentSpeeds, currentStates, DriveFeedforwards.zeros(config.numModules))
+
+  def driveRobotRelative(self, speeds: ChassisSpeeds):
+    """
+    This method will take in desired robot-relative chassis speeds,
+    generate a swerve setpoint, then set the target state for each module
+
+    :param speeds: The desired robot-relative speeds
+    """
+    # Note: it is important to not discretize speeds before or after
+    # using the setpoint generator, as it will discretize them for you
+    self.previousSetpoint = self.setpointGenerator.generateSetpoint(
+      self.previousSetpoint, # The previous setpoint
+      speeds, # The desired target speeds
+      0.02, # The loop time of the robot code, in seconds
+    )
+    self.setModuleStates(self.previousSetpoint.moduleStates) # Method that will drive the robot given target module states
+```
+
+</tab>
+</tabs>
\ No newline at end of file
diff --git a/pathplannerlib-python/pathplannerlib/util.py b/pathplannerlib-python/pathplannerlib/util/__init__.py
similarity index 99%
rename from pathplannerlib-python/pathplannerlib/util.py
rename to pathplannerlib-python/pathplannerlib/util/__init__.py
index eed3d90b..89d8a9a2 100644
--- a/pathplannerlib-python/pathplannerlib/util.py
+++ b/pathplannerlib-python/pathplannerlib/util/__init__.py
@@ -6,7 +6,6 @@
 import math
 from typing import List
 
-
 def translation2dFromJson(translationJson: dict) -> Translation2d:
     x = float(translationJson['x'])
     y = float(translationJson['y'])
diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
new file mode 100644
index 00000000..084e9554
--- /dev/null
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -0,0 +1,500 @@
+from dataclasses import dataclass
+
+from wpimath.geometry import Translation2d, Rotation2d
+from wpimath.kinematics import ChassisSpeeds, SwerveDrive4Kinematics, SwerveModuleState
+from wpimath.units import rotationsToRadians
+from wpilib import RobotController
+from pathplannerlib.config import RobotConfig
+from pathplannerlib.util import DriveFeedforwards
+import math
+from typing import Callable, overload
+
+@dataclass
+class SwerveSetpoint:
+    robot_relative_speeds: ChassisSpeeds
+    module_states: list[SwerveModuleState]
+    feedforwards: DriveFeedforwards
+
+class SwerveSetpointGenerator:
+    """
+    Swerve setpoint generator based on a version created by FRC team 254.\n
+    Takes a prior setpoint, a desired setpoint, and outputs a new setpoint that respects all the 
+    kinematic constraints on module rotation and wheel velocity/torque, as well as preventing any 
+    forces acting on a module's wheel from exceeding the force of friction.
+    """
+    _k_epsilon = 1e-8
+    _MAX_STEER_ITERATIONS = 8
+    _MAX_DRIVE_ITERATIONS = 10
+
+    def __init__(self, config: RobotConfig, max_steer_velocity_rads_per_sec: float) -> None:
+        """
+        Create a new swerve setpoint generator
+
+        :param config: The robot configuration
+        :param max_steer_velocity_rads_per_sec: The maximum rotation velocity of a swerve module, in radians
+        per second
+        """
+        self._config = config
+        self._max_steer_velocity_rads_per_sec = max_steer_velocity_rads_per_sec
+
+    @classmethod
+    def from_rots_per_sec(cls, config: RobotConfig, max_steer_velocity: float) -> "SwerveSetpointGenerator":
+        """
+        Create a new swerve setpoint generator
+
+        :param config: The robot configuration
+        :param maxSteerVelocity: The maximum rotation velocity of a swerve module, in rotations
+        :return: A SwerveSetpointGenerator object
+        """
+        return cls(config, rotationsToRadians(max_steer_velocity))
+
+    def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_relative: ChassisSpeeds, dt: float) -> SwerveSetpoint:
+        """
+        Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
+        this method. This method will discretize the speeds for you.
+        :param prev_setpoint: The previous setpoint motion. Normally, you'd pass in the previous
+        iteration setpoint instead of the actual measured/estimated kinematic state.
+        :param desired_state_robot_relative: The desired state of motion, such as from the driver sticks or
+        a path following algorithm.
+        :param dt: The loop time.
+        :return: A Setpoint object that satisfies all the kinematic/friction limits while converging to
+        desired_state quickly.
+        """
+        desired_module_states = self._config.toSwerveModuleStates(desired_state_robot_relative)
+        # Make sure desired_state respects velocity limits.
+        SwerveDrive4Kinematics.desaturateWheelSpeeds(desired_module_states, self._config.moduleConfig.maxDriveVelocityMPS)
+        desired_state_robot_relative = self._config.toChassisSpeeds(desired_module_states)
+
+        # Special case: desired_state is a complete stop. In this case, module angle is arbitrary, so
+        # just use the previous angle.
+        need_to_steer = True
+        if self._epsilonEquals(desired_state_robot_relative, ChassisSpeeds()):
+            need_to_steer = False
+            for m in range(self._config.numModules):
+                desired_module_states[m].angle = prev_setpoint.module_states[m].angle
+                desired_module_states[m].speed = 0.0
+
+        # For each module, compute local Vx and Vy vectors.
+        prev_vx: list[float] = []
+        prev_vy: list[float] = []
+        prev_heading: list[Rotation2d] = []
+        desired_vx: list[float] = []
+        desired_vy: list[float] = []
+        desired_heading: list[Rotation2d] = []
+        all_modules_should_flip = True
+        for m in range(self._config.numModules):
+            prev_vx.append(
+                prev_setpoint.module_states[m].angle.cos() \
+                    * prev_setpoint.module_states[m].speed
+            )
+            prev_vy.append(
+                prev_setpoint.module_states[m].angle.sin() \
+                    * prev_setpoint.module_states[m].speed
+            )
+            prev_heading.append(prev_setpoint.module_states[m].angle)
+            if prev_setpoint.module_states[m].speed < 0.0:
+                prev_heading[m] = prev_heading[m].rotateBy(Rotation2d.fromDegrees(180))
+            
+            desired_vx.append(
+                desired_module_states[m].angle.cos() * desired_module_states[m].speed
+            )
+            desired_vy.append(
+                desired_module_states[m].angle.sin() * desired_module_states[m].speed
+            )
+            desired_heading.append(desired_module_states[m].angle)
+            if desired_module_states[m].speed < 0.0:
+                desired_heading[m] = desired_heading[m].rotateBy(Rotation2d.fromDegrees(180))
+            if all_modules_should_flip:
+                required_rotation_rad = \
+                    math.fabs((-prev_heading[m]).rotateBy(desired_heading[m]).radians())
+                if required_rotation_rad < math.pi / 2.0:
+                    all_modules_should_flip = False
+        if all_modules_should_flip \
+            and not self._epsilonEquals(prev_setpoint.robot_relative_speeds, ChassisSpeeds()) \
+            and not self._epsilonEquals(desired_state_robot_relative, ChassisSpeeds()):
+            # It will (likely) be faster to stop the robot, rotate the modules in place to the complement
+            # of the desired angle, and accelerate again.
+            return self.generateSetpoint(prev_setpoint, ChassisSpeeds(), dt)
+        
+        # Compute the deltas between start and goal. We can then interpolate from the start state to
+        # the goal state; then find the amount we can move from start towards goal in this cycle such
+        # that no kinematic limit is exceeded.
+        dx = desired_state_robot_relative.vx - prev_setpoint.robot_relative_speeds.vx
+        dy = desired_state_robot_relative.vy - prev_setpoint.robot_relative_speeds.vy
+        dtheta = desired_state_robot_relative.omega - prev_setpoint.robot_relative_speeds.omega
+
+        # 's' interpolates between start and goal. At 0, we are at prev_state and at 1, we are at
+        # desired_state.
+        min_s = 1.0
+
+        # In cases where an individual module is stopped, we want to remember the right steering angle
+        # to command (since inverse kinematics doesn't care about angle, we can be opportunistically
+        # lazy).
+        override_steering: list[Rotation2d | None] = []
+        # Enforce steering velocity limits. We do this by taking the derivative of steering angle at
+        # the current angle, and then backing out the maximum interpolant between start and goal
+        # states. We remember the minimum across all modules, since that is the active constraint.
+        for m in range(self._config.numModules):
+            if not need_to_steer:
+                override_steering.append(prev_setpoint.module_states[m].angle)
+                continue
+            override_steering.append(None)
+
+            max_theta_step = dt * self._max_steer_velocity_rads_per_sec
+
+            if self._epsilonEquals(prev_setpoint.module_states[m].speed, 0.0):
+                # If module is stopped, we know that we will need to move straight to the final steering
+                # angle, so limit based purely on rotation in place.
+                if self._epsilonEquals(desired_module_states[m].speed, 0.0):
+                    # Goal angle doesn't matter. Just leave module at its current angle.
+                    override_steering[m] = prev_setpoint.module_states[m].angle
+                    continue
+                
+                necessary_rotation = (-prev_setpoint.module_states[m].angle
+                    ).rotateBy(desired_module_states[m].angle)
+                if self.flipHeading(necessary_rotation):
+                    necessary_rotation = necessary_rotation.rotateBy(Rotation2d(math.pi))
+
+                # radians() bounds to +/- pi.
+                num_steps_needed = math.fabs(necessary_rotation.radians()) / max_theta_step
+
+                if num_steps_needed <= 1.0:
+                    # Steer directly to goal angle.
+                    override_steering[m] = desired_module_states[m].angle
+                else:
+                    # Adjust steering by max_theta_step.
+                    override_steering[m] = \
+                        prev_setpoint.module_states[m].angle.rotateBy(
+                            Rotation2d(
+                                self._signum(necessary_rotation.radians()) * max_theta_step
+                            )
+                        )
+                    min_s = 0.0
+                continue
+            if min_s == 0.0:
+                # s can't get any lower. Save some CPU.
+                continue
+
+            # Enforce centripetal force limits to prevent sliding.
+            # We do this by changing max_theta_step to the maximum change in heading over dt
+            # that would create a large enough radius to keep the centripetal force under the
+            # friction force.
+            max_heading_change = \
+                (dt * self._config.wheelFrictionForce) \
+                    / ((self._config.massKG / self._config.numModules)
+                        * math.fabs(prev_setpoint.module_states[m].speed))
+            max_theta_step = min(max_theta_step, max_heading_change)
+
+            s = self._findSteeringMaxS(
+                prev_vx[m],
+                prev_vy[m],
+                prev_heading[m].radians(),
+                desired_vx[m],
+                desired_vy[m],
+                desired_heading[m].radians(),
+                max_theta_step
+            )
+            min_s = min(min_s, s)
+
+        # Enforce drive wheel torque limits
+        chassis_force_vec = Translation2d()
+        chassis_torque = 0.0
+        for m in range(self._config.numModules):
+            last_vel_rad_per_sec = \
+                prev_setpoint.module_states[m].speed \
+                    / self._config.moduleConfig.wheelRadiusMeters
+            # Use the current battery voltage since we won't be able to supply 12v if the
+            # battery is sagging down to 11v, which will affect the max torque output
+            current_draw = \
+                self._config.moduleConfig.driveMotor.current(
+                    math.fabs(last_vel_rad_per_sec), RobotController.getInputVoltage())
+            current_draw = min(current_draw, self._config.moduleConfig.driveCurrentLimit)
+            module_torque = self._config.moduleConfig.driveMotor.torque(current_draw)
+
+            prev_speed = prev_setpoint.module_states[m].speed
+            desired_module_states[m].optimize(prev_setpoint.module_states[m].angle)
+            desired_speed = desired_module_states[m].speed
+
+            force_sign = None
+            force_angle = prev_setpoint.module_states[m].angle
+            if self._epsilonEquals(prev_speed, 0.0) \
+                or (prev_speed > 0 and desired_speed >= prev_speed) \
+                or (prev_speed < 0 and desired_speed <= prev_speed):
+                # Torque loss will be fighting motor
+                module_torque -= self._config.moduleConfig.torqueLoss
+                force_sign = 1 # Force will be applied in direction of module
+                if prev_speed < 0:
+                    force_angle = force_angle + Rotation2d(math.pi)
+            else:
+                # Torque loss will be helping the motor
+                module_torque += self._config.moduleConfig.torqueLoss
+                force_sign = -1 # Force will be applied in opposite direction of module
+                if prev_speed > 0:
+                    force_angle = force_angle + Rotation2d(math.pi)
+            
+            # Limit torque to prevent wheel slip
+            module_torque = min(module_torque, self._config.maxTorqueFriction)
+
+            force_at_carpet = module_torque / self._config.moduleConfig.wheelRadiusMeters
+            module_force_vec = Translation2d(force_at_carpet * force_sign, force_angle)
+
+            # Add the module force vector to the chassis force vector
+            chassis_force_vec = chassis_force_vec + module_force_vec
+
+            # Calculate the torque this module will apply to the chassis
+            if not self._epsilonEquals(0.0, module_force_vec.norm()):
+                angle_to_module = self._config.moduleLocations[m].angle()
+                theta = module_force_vec.angle() - angle_to_module
+                chassis_torque += force_at_carpet * self._config.modulePivotDistance[m] * theta.sin()
+
+        chassis_accel_vec = chassis_force_vec / self._config.massKG
+        chassis_angular_accel = chassis_torque / self._config.MOI
+
+        # Use kinematics to convert chassis accelerations to module accelerations
+        chassis_accel = \
+            ChassisSpeeds(chassis_accel_vec.X(), chassis_accel_vec.Y(), chassis_angular_accel)
+        accel_states = self._config.toSwerveModuleStates(chassis_accel)
+
+        for m in range(self._config.numModules):
+            if min_s == 0.0:
+                break
+
+            max_vel_step = math.fabs(accel_states[m].speed * dt)
+
+            vx_min_s = \
+                desired_vx[m] if min_s == 1.0 else (desired_vx[m] - prev_vx[m]) * min_s + prev_vx[m]
+            vy_min_s = \
+                desired_vy[m] if min_s == 1.0 else (desired_vy[m] - prev_vy[m]) * min_s + prev_vy[m]
+            # Find the max s for this drive wheel. Search on the interval between 0 and min_s, because we
+            # already know we can't go faster than that.
+            s = self._findDriveMaxS(
+                prev_vx[m],
+                prev_vy[m],
+                math.hypot(prev_vx[m], prev_vy[m]),
+                vx_min_s,
+                vy_min_s,
+                math.hypot(vx_min_s, vy_min_s),
+                max_vel_step
+            )
+            min_s = min(min_s, s)
+        
+        ret_speeds = ChassisSpeeds(
+            prev_setpoint.robot_relative_speeds.vx + min_s * dx,
+            prev_setpoint.robot_relative_speeds.vy + min_s * dy,
+            prev_setpoint.robot_relative_speeds.omega + min_s * dtheta
+        )
+        ret_speeds.discretize(ret_speeds, dt)
+
+        prev_vel_x = prev_setpoint.robot_relative_speeds.vx
+        prev_vel_y = prev_setpoint.robot_relative_speeds.vy
+        chassis_accel_x = (ret_speeds.vx - prev_vel_x) / dt
+        chassis_accel_y = (ret_speeds.vy - prev_vel_y) / dt
+        chassis_force_x = chassis_accel_x * self._config.massKG
+        chassis_force_y = chassis_accel_y * self._config.massKG
+
+        angular_accel = \
+            (ret_speeds.omega - prev_setpoint.robot_relative_speeds.omega) / dt
+        ang_torque = angular_accel * self._config.MOI
+        chassis_forces = ChassisSpeeds(chassis_force_x, chassis_force_y, ang_torque)
+
+        wheel_forces = self._config.chassisForcesToWheelForceVectors(chassis_forces)
+
+        ret_states = self._config.toSwerveModuleStates(ret_speeds)
+        accel_FF = []
+        linear_force_FF = []
+        torque_current_FF = []
+        force_X_FF = []
+        force_Y_FF = []
+        for m in range(self._config.numModules):
+            wheel_force_dist = wheel_forces[m].norm()
+            applied_force = wheel_force_dist * (wheel_forces[m].angle() - ret_states[m].angle).cos() \
+                if wheel_force_dist > 1e-6 else 0.0
+            wheel_torque = applied_force * self._config.moduleConfig.wheelRadiusMeters
+            torque_current = self._config.moduleConfig.driveMotor.current(wheel_torque)
+
+            maybe_override = override_steering[m]
+            if maybe_override is not None:
+                override = maybe_override
+                if self.flipHeading((-ret_states[m].angle).rotateBy(override)):
+                    ret_states[m].speed *= -1.0
+                    applied_force *= -1.0
+                    torque_current *= -1.0
+                ret_states[m].angle = override
+            delta_rotation = \
+                (-prev_setpoint.module_states[m].angle).rotateBy(ret_states[m].angle)
+            if self.flipHeading(delta_rotation):
+                ret_states[m].angle = ret_states[m].angle.rotateBy(Rotation2d.fromDegrees(180))
+                ret_states[m].speed *= -1.0
+                applied_force *= -1.0
+                torque_current *= -1.0
+            
+            accel_FF.append((ret_states[m].speed - prev_setpoint.module_states[m].speed) / dt)
+            linear_force_FF.append(applied_force)
+            torque_current_FF.append(torque_current)
+            force_X_FF.append(wheel_forces[m].X())
+            force_Y_FF.append(wheel_forces[m].Y())
+
+        return SwerveSetpoint(
+            ret_speeds,
+            ret_states,
+            DriveFeedforwards(accel_FF, linear_force_FF, torque_current_FF, force_X_FF, force_Y_FF)
+        )
+
+    @staticmethod
+    def flipHeading(prev_to_goal: Rotation2d) -> bool:
+        """
+        Check if it would be faster to go to the opposite of the goal heading (and reverse drive
+        direction).
+        :param prev_to_goal: The rotation from the previous state to the goal state (i.e.
+        prev.inverse().rotateBy(goal)).
+        :return: True if the shortest path to achieve this rotation involves flipping the drive
+        direction.
+        """
+        return math.fabs(prev_to_goal.radians()) > math.pi / 2.0
+
+    @staticmethod
+    def _unwrapAngle(ref: float, angle: float) -> float:
+        diff = angle - ref
+        if diff > math.pi:
+            return angle - 2.0 * math.pi
+        elif diff < -math.pi:
+            return angle + 2.0 * math.pi
+        else:
+            return angle
+
+    class Function2d:
+        def __init__(self, func: Callable[[float, float], float]):
+            self.func = func
+
+        def __call__(self, x: float, y: float) -> float:
+            return self.func(x, y)
+
+    @classmethod
+    def _findRoot(
+        cls, 
+        func: Function2d,
+        x_0: float,
+        y_0: float,
+        f_0: float,
+        x_1: float,
+        y_1: float,
+        f_1: float,
+        iterations_left: int
+    ) -> float:
+        """
+        Find the root of the generic 2D parametric function 'func' using the regula falsi technique.
+        This is a pretty naive way to do root finding, but it's usually faster than simple bisection
+        while being robust in ways that e.g. the Newton-Raphson method isn't.
+        :param func: The Function2d to take the root of.
+        :param x_0: x value of the lower bracket.
+        :param y_0: y value of the lower bracket.
+        :param f_0: value of 'func' at x_0, y_0 (passed in by caller to save a call to 'func' during
+        recursion)
+        :param x_1: x value of the upper bracket.
+        :param y_1: y value of the upper bracket.
+        :param f_1: value of 'func' at x_1, y_1 (passed in by caller to save a call to 'func' during
+        recursion)
+        :param iterations_left: Number of iterations of root finding left.
+        :return: The parameter value 's' that interpolating between 0 and 1 that corresponds to the
+        (approximate) root.
+        """
+        s_guess = max(0.0, min(1.0, -f_0 / (f_1 - f_0)))
+
+        if iterations_left < 0 or cls._epsilonEquals(f_0, f_1):
+            return s_guess
+        
+        x_guess = (x_1 - x_0) * s_guess + x_0
+        y_guess = (y_1 - y_0) * s_guess + y_0
+        f_guess = func(x_guess, y_guess)
+        if cls._signum(f_0) == cls._signum(f_guess):
+            # 0 and guess on same side of root, so use upper bracket.
+            return s_guess \
+                + (1.0 - s_guess) \
+                    * cls._findRoot(func, x_guess, y_guess, f_guess, x_1, y_1, f_1, iterations_left - 1)
+        else:
+            # Use lower bracket.
+            return s_guess \
+                * cls._findRoot(func, x_0, y_0, f_0, x_guess, y_guess, f_guess, iterations_left - 1)
+
+    @classmethod
+    def _findSteeringMaxS(
+        cls,
+        x_0: float,
+        y_0: float,
+        f_0: float,
+        x_1: float,
+        y_1: float,
+        f_1: float,
+        max_deviation: float
+    ) -> float:
+        f_1 = cls._unwrapAngle(f_0, f_1)
+        diff = f_1 - f_0
+        if math.fabs(diff) <= max_deviation:
+            # Can go all the way to s=1
+            return 1.0
+        offset = f_0 + cls._signum(diff) * max_deviation
+        func = lambda x, y: cls._unwrapAngle(f_0, math.atan2(y, x)) - offset
+        return cls._findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, cls._MAX_STEER_ITERATIONS)
+
+    @classmethod
+    def _findDriveMaxS(
+        cls,
+        x_0: float,
+        y_0: float,
+        f_0: float,
+        x_1: float,
+        y_1: float,
+        f_1: float,
+        max_vel_step: float
+    ) -> float:
+        diff = f_1 - f_0
+        if math.fabs(diff) <= max_vel_step:
+            # Can go all the way to s=1.
+            return 1.0
+        offset = f_0 + cls._signum(diff) * max_vel_step
+        func = lambda x, y: math.hypot(x, y) - offset
+        return cls._findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, cls._MAX_DRIVE_ITERATIONS)
+        
+        
+    @overload
+    def _epsilonEquals(a: float, b: float, epsilon: float) -> bool:
+        ...
+
+    @overload
+    def _epsilonEquals(a: float, b: float) -> bool:
+        ...
+
+    @overload
+    def _epsilonEquals(s1: ChassisSpeeds, s2: ChassisSpeeds) -> bool:
+        ...
+
+    @overload
+    def _epsilonEquals(s1: ChassisSpeeds, s2: ChassisSpeeds, epsilon: float) -> bool:
+        ...
+    
+    @classmethod
+    def _epsilonEquals(
+        cls,
+        a: float | ChassisSpeeds,
+        b: float | ChassisSpeeds,
+        epsilon: float = _k_epsilon
+    ) -> bool:
+        if isinstance(a, float) and isinstance(b, float):
+            return (a - epsilon <= b) and (a + epsilon >= b)
+        elif isinstance(a, ChassisSpeeds) and isinstance(b, ChassisSpeeds):
+            return (
+                cls._epsilonEquals(a.vx, b.vx, epsilon)
+                and cls._epsilonEquals(a.vy, b.vy, epsilon)
+                and cls._epsilonEquals(a.omega, b.omega, epsilon)
+            )
+        else:
+            raise TypeError("Invalid argument types for _epsilonEquals, must be (float, float) or (ChassisSpeeds, ChassisSpeeds).")
+
+    @staticmethod
+    def _signum(x: float) -> float:
+        if x > 0.0:
+            return 1.0
+        elif x < 0.0:
+            return -1.0
+        else:
+            return 0.0

From 3129ac1a73b177eda68d827b0a59c165d69efe76 Mon Sep 17 00:00:00 2001
From: Matthew Milunic <62996888+mmilunicmobile@users.noreply.github.com>
Date: Thu, 19 Dec 2024 20:26:19 -0500
Subject: [PATCH 05/52] Update SwerveSetpointGenerator to handle NaN Voltages
 (#930)

* Update SwerveSetpointGenerator.java to avoid NaN Voltages

Adds an option to generate a SwerveSetpoint with a specified battery voltage instead of depending on RobotController.getInputVoltage(). Additionally, by default checks if RobotController.getInputVoltage() is returning NaN and if it is, uses 12 as a sub in voltage.

* improvements & unit overloads

* add setpoint generator changes to python version

---------

Co-authored-by: Michael Jansen <mjansen4857@gmail.com>
---
 .../pathplannerlib/util/swerve.py             | 188 +++++++++---------
 .../util/swerve/SwerveSetpointGenerator.java  |  98 ++++++++-
 2 files changed, 186 insertions(+), 100 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
index 084e9554..529462a1 100644
--- a/pathplannerlib-python/pathplannerlib/util/swerve.py
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -7,7 +7,8 @@
 from pathplannerlib.config import RobotConfig
 from pathplannerlib.util import DriveFeedforwards
 import math
-from typing import Callable, overload
+from typing import Callable
+
 
 @dataclass
 class SwerveSetpoint:
@@ -15,6 +16,7 @@ class SwerveSetpoint:
     module_states: list[SwerveModuleState]
     feedforwards: DriveFeedforwards
 
+
 class SwerveSetpointGenerator:
     """
     Swerve setpoint generator based on a version created by FRC team 254.\n
@@ -36,6 +38,7 @@ def __init__(self, config: RobotConfig, max_steer_velocity_rads_per_sec: float)
         """
         self._config = config
         self._max_steer_velocity_rads_per_sec = max_steer_velocity_rads_per_sec
+        self._brownoutVoltage = RobotController.getBrownoutVoltage()
 
     @classmethod
     def from_rots_per_sec(cls, config: RobotConfig, max_steer_velocity: float) -> "SwerveSetpointGenerator":
@@ -43,12 +46,13 @@ def from_rots_per_sec(cls, config: RobotConfig, max_steer_velocity: float) -> "S
         Create a new swerve setpoint generator
 
         :param config: The robot configuration
-        :param maxSteerVelocity: The maximum rotation velocity of a swerve module, in rotations
+        :param max_steer_velocity: The maximum rotation velocity of a swerve module, in rotations
         :return: A SwerveSetpointGenerator object
         """
         return cls(config, rotationsToRadians(max_steer_velocity))
 
-    def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_relative: ChassisSpeeds, dt: float) -> SwerveSetpoint:
+    def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_relative: ChassisSpeeds, dt: float,
+                         input_voltage: float = None) -> SwerveSetpoint:
         """
         Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
         this method. This method will discretize the speeds for you.
@@ -57,18 +61,31 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
         :param desired_state_robot_relative: The desired state of motion, such as from the driver sticks or
         a path following algorithm.
         :param dt: The loop time.
+        :param input_voltage: The input voltage of the drive motor controllers, in volts. This can also
+            be a static nominal voltage if you do not want the setpoint generator to react to changes
+            in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input
+            voltage will be clamped to a minimum of the robot controller's brownout voltage.
         :return: A Setpoint object that satisfies all the kinematic/friction limits while converging to
         desired_state quickly.
         """
+        if input_voltage is None:
+            input_voltage = RobotController.getInputVoltage()
+
+        if math.isnan(input_voltage):
+            input_voltage = 12.0
+        else:
+            input_voltage = max(input_voltage, self._brownoutVoltage)
+
         desired_module_states = self._config.toSwerveModuleStates(desired_state_robot_relative)
         # Make sure desired_state respects velocity limits.
-        SwerveDrive4Kinematics.desaturateWheelSpeeds(desired_module_states, self._config.moduleConfig.maxDriveVelocityMPS)
+        SwerveDrive4Kinematics.desaturateWheelSpeeds(desired_module_states,
+                                                     self._config.moduleConfig.maxDriveVelocityMPS)
         desired_state_robot_relative = self._config.toChassisSpeeds(desired_module_states)
 
         # Special case: desired_state is a complete stop. In this case, module angle is arbitrary, so
         # just use the previous angle.
         need_to_steer = True
-        if self._epsilonEquals(desired_state_robot_relative, ChassisSpeeds()):
+        if self._epsilonEqualsSpeeds(desired_state_robot_relative, ChassisSpeeds()):
             need_to_steer = False
             for m in range(self._config.numModules):
                 desired_module_states[m].angle = prev_setpoint.module_states[m].angle
@@ -85,16 +102,16 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
         for m in range(self._config.numModules):
             prev_vx.append(
                 prev_setpoint.module_states[m].angle.cos() \
-                    * prev_setpoint.module_states[m].speed
+                * prev_setpoint.module_states[m].speed
             )
             prev_vy.append(
                 prev_setpoint.module_states[m].angle.sin() \
-                    * prev_setpoint.module_states[m].speed
+                * prev_setpoint.module_states[m].speed
             )
             prev_heading.append(prev_setpoint.module_states[m].angle)
             if prev_setpoint.module_states[m].speed < 0.0:
                 prev_heading[m] = prev_heading[m].rotateBy(Rotation2d.fromDegrees(180))
-            
+
             desired_vx.append(
                 desired_module_states[m].angle.cos() * desired_module_states[m].speed
             )
@@ -110,12 +127,12 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
                 if required_rotation_rad < math.pi / 2.0:
                     all_modules_should_flip = False
         if all_modules_should_flip \
-            and not self._epsilonEquals(prev_setpoint.robot_relative_speeds, ChassisSpeeds()) \
-            and not self._epsilonEquals(desired_state_robot_relative, ChassisSpeeds()):
+                and not self._epsilonEqualsSpeeds(prev_setpoint.robot_relative_speeds, ChassisSpeeds()) \
+                and not self._epsilonEqualsSpeeds(desired_state_robot_relative, ChassisSpeeds()):
             # It will (likely) be faster to stop the robot, rotate the modules in place to the complement
             # of the desired angle, and accelerate again.
-            return self.generateSetpoint(prev_setpoint, ChassisSpeeds(), dt)
-        
+            return self.generateSetpoint(prev_setpoint, ChassisSpeeds(), dt, input_voltage)
+
         # Compute the deltas between start and goal. We can then interpolate from the start state to
         # the goal state; then find the amount we can move from start towards goal in this cycle such
         # that no kinematic limit is exceeded.
@@ -130,7 +147,7 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
         # In cases where an individual module is stopped, we want to remember the right steering angle
         # to command (since inverse kinematics doesn't care about angle, we can be opportunistically
         # lazy).
-        override_steering: list[Rotation2d | None] = []
+        override_steering = []
         # Enforce steering velocity limits. We do this by taking the derivative of steering angle at
         # the current angle, and then backing out the maximum interpolant between start and goal
         # states. We remember the minimum across all modules, since that is the active constraint.
@@ -149,9 +166,8 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
                     # Goal angle doesn't matter. Just leave module at its current angle.
                     override_steering[m] = prev_setpoint.module_states[m].angle
                     continue
-                
-                necessary_rotation = (-prev_setpoint.module_states[m].angle
-                    ).rotateBy(desired_module_states[m].angle)
+
+                necessary_rotation = (-prev_setpoint.module_states[m].angle).rotateBy(desired_module_states[m].angle)
                 if self.flipHeading(necessary_rotation):
                     necessary_rotation = necessary_rotation.rotateBy(Rotation2d(math.pi))
 
@@ -181,8 +197,8 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
             # friction force.
             max_heading_change = \
                 (dt * self._config.wheelFrictionForce) \
-                    / ((self._config.massKG / self._config.numModules)
-                        * math.fabs(prev_setpoint.module_states[m].speed))
+                / ((self._config.massKG / self._config.numModules)
+                   * math.fabs(prev_setpoint.module_states[m].speed))
             max_theta_step = min(max_theta_step, max_heading_change)
 
             s = self._findSteeringMaxS(
@@ -202,12 +218,12 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
         for m in range(self._config.numModules):
             last_vel_rad_per_sec = \
                 prev_setpoint.module_states[m].speed \
-                    / self._config.moduleConfig.wheelRadiusMeters
+                / self._config.moduleConfig.wheelRadiusMeters
             # Use the current battery voltage since we won't be able to supply 12v if the
             # battery is sagging down to 11v, which will affect the max torque output
             current_draw = \
                 self._config.moduleConfig.driveMotor.current(
-                    math.fabs(last_vel_rad_per_sec), RobotController.getInputVoltage())
+                    math.fabs(last_vel_rad_per_sec), input_voltage)
             current_draw = min(current_draw, self._config.moduleConfig.driveCurrentLimit)
             module_torque = self._config.moduleConfig.driveMotor.torque(current_draw)
 
@@ -215,23 +231,23 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
             desired_module_states[m].optimize(prev_setpoint.module_states[m].angle)
             desired_speed = desired_module_states[m].speed
 
-            force_sign = None
+            force_sign = 1
             force_angle = prev_setpoint.module_states[m].angle
             if self._epsilonEquals(prev_speed, 0.0) \
-                or (prev_speed > 0 and desired_speed >= prev_speed) \
-                or (prev_speed < 0 and desired_speed <= prev_speed):
+                    or (prev_speed > 0 and desired_speed >= prev_speed) \
+                    or (prev_speed < 0 and desired_speed <= prev_speed):
                 # Torque loss will be fighting motor
                 module_torque -= self._config.moduleConfig.torqueLoss
-                force_sign = 1 # Force will be applied in direction of module
+                force_sign = 1  # Force will be applied in direction of module
                 if prev_speed < 0:
                     force_angle = force_angle + Rotation2d(math.pi)
             else:
                 # Torque loss will be helping the motor
                 module_torque += self._config.moduleConfig.torqueLoss
-                force_sign = -1 # Force will be applied in opposite direction of module
+                force_sign = -1  # Force will be applied in opposite direction of module
                 if prev_speed > 0:
                     force_angle = force_angle + Rotation2d(math.pi)
-            
+
             # Limit torque to prevent wheel slip
             module_torque = min(module_torque, self._config.maxTorqueFriction)
 
@@ -277,7 +293,7 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
                 max_vel_step
             )
             min_s = min(min_s, s)
-        
+
         ret_speeds = ChassisSpeeds(
             prev_setpoint.robot_relative_speeds.vx + min_s * dx,
             prev_setpoint.robot_relative_speeds.vy + min_s * dy,
@@ -327,7 +343,7 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
                 ret_states[m].speed *= -1.0
                 applied_force *= -1.0
                 torque_current *= -1.0
-            
+
             accel_FF.append((ret_states[m].speed - prev_setpoint.module_states[m].speed) / dt)
             linear_force_FF.append(applied_force)
             torque_current_FF.append(torque_current)
@@ -362,24 +378,17 @@ def _unwrapAngle(ref: float, angle: float) -> float:
         else:
             return angle
 
-    class Function2d:
-        def __init__(self, func: Callable[[float, float], float]):
-            self.func = func
-
-        def __call__(self, x: float, y: float) -> float:
-            return self.func(x, y)
-
     @classmethod
     def _findRoot(
-        cls, 
-        func: Function2d,
-        x_0: float,
-        y_0: float,
-        f_0: float,
-        x_1: float,
-        y_1: float,
-        f_1: float,
-        iterations_left: int
+            cls,
+            func: Callable[[float, float], float],
+            x_0: float,
+            y_0: float,
+            f_0: float,
+            x_1: float,
+            y_1: float,
+            f_1: float,
+            iterations_left: int
     ) -> float:
         """
         Find the root of the generic 2D parametric function 'func' using the regula falsi technique.
@@ -402,7 +411,7 @@ def _findRoot(
 
         if iterations_left < 0 or cls._epsilonEquals(f_0, f_1):
             return s_guess
-        
+
         x_guess = (x_1 - x_0) * s_guess + x_0
         y_guess = (y_1 - y_0) * s_guess + y_0
         f_guess = func(x_guess, y_guess)
@@ -410,7 +419,7 @@ def _findRoot(
             # 0 and guess on same side of root, so use upper bracket.
             return s_guess \
                 + (1.0 - s_guess) \
-                    * cls._findRoot(func, x_guess, y_guess, f_guess, x_1, y_1, f_1, iterations_left - 1)
+                * cls._findRoot(func, x_guess, y_guess, f_guess, x_1, y_1, f_1, iterations_left - 1)
         else:
             # Use lower bracket.
             return s_guess \
@@ -418,14 +427,14 @@ def _findRoot(
 
     @classmethod
     def _findSteeringMaxS(
-        cls,
-        x_0: float,
-        y_0: float,
-        f_0: float,
-        x_1: float,
-        y_1: float,
-        f_1: float,
-        max_deviation: float
+            cls,
+            x_0: float,
+            y_0: float,
+            f_0: float,
+            x_1: float,
+            y_1: float,
+            f_1: float,
+            max_deviation: float
     ) -> float:
         f_1 = cls._unwrapAngle(f_0, f_1)
         diff = f_1 - f_0
@@ -433,62 +442,55 @@ def _findSteeringMaxS(
             # Can go all the way to s=1
             return 1.0
         offset = f_0 + cls._signum(diff) * max_deviation
-        func = lambda x, y: cls._unwrapAngle(f_0, math.atan2(y, x)) - offset
+
+        def func(x: float, y: float):
+            return cls._unwrapAngle(f_0, math.atan2(y, x)) - offset
+
         return cls._findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, cls._MAX_STEER_ITERATIONS)
 
     @classmethod
     def _findDriveMaxS(
-        cls,
-        x_0: float,
-        y_0: float,
-        f_0: float,
-        x_1: float,
-        y_1: float,
-        f_1: float,
-        max_vel_step: float
+            cls,
+            x_0: float,
+            y_0: float,
+            f_0: float,
+            x_1: float,
+            y_1: float,
+            f_1: float,
+            max_vel_step: float
     ) -> float:
         diff = f_1 - f_0
         if math.fabs(diff) <= max_vel_step:
             # Can go all the way to s=1.
             return 1.0
         offset = f_0 + cls._signum(diff) * max_vel_step
-        func = lambda x, y: math.hypot(x, y) - offset
+
+        def func(x: float, y: float):
+            return math.hypot(x, y) - offset
+
         return cls._findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, cls._MAX_DRIVE_ITERATIONS)
-        
-        
-    @overload
-    def _epsilonEquals(a: float, b: float, epsilon: float) -> bool:
-        ...
-
-    @overload
-    def _epsilonEquals(a: float, b: float) -> bool:
-        ...
-
-    @overload
-    def _epsilonEquals(s1: ChassisSpeeds, s2: ChassisSpeeds) -> bool:
-        ...
-
-    @overload
-    def _epsilonEquals(s1: ChassisSpeeds, s2: ChassisSpeeds, epsilon: float) -> bool:
-        ...
-    
+
     @classmethod
     def _epsilonEquals(
-        cls,
-        a: float | ChassisSpeeds,
-        b: float | ChassisSpeeds,
-        epsilon: float = _k_epsilon
+            cls,
+            a: float,
+            b: float,
+            epsilon: float = _k_epsilon
     ) -> bool:
-        if isinstance(a, float) and isinstance(b, float):
-            return (a - epsilon <= b) and (a + epsilon >= b)
-        elif isinstance(a, ChassisSpeeds) and isinstance(b, ChassisSpeeds):
-            return (
+        return (a - epsilon <= b) and (a + epsilon >= b)
+
+    @classmethod
+    def _epsilonEqualsSpeeds(
+            cls,
+            a: ChassisSpeeds,
+            b: ChassisSpeeds,
+            epsilon: float = _k_epsilon
+    ) -> bool:
+        return (
                 cls._epsilonEquals(a.vx, b.vx, epsilon)
                 and cls._epsilonEquals(a.vy, b.vy, epsilon)
                 and cls._epsilonEquals(a.omega, b.omega, epsilon)
-            )
-        else:
-            raise TypeError("Invalid argument types for _epsilonEquals, must be (float, float) or (ChassisSpeeds, ChassisSpeeds).")
+        )
 
     @staticmethod
     def _signum(x: float) -> float:
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
index 01ad9004..8f046864 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -1,6 +1,6 @@
 package com.pathplanner.lib.util.swerve;
 
-import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.*;
 
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.util.DriveFeedforwards;
@@ -10,6 +10,8 @@
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotController;
 import java.util.ArrayList;
 import java.util.List;
@@ -29,6 +31,7 @@ public class SwerveSetpointGenerator {
 
   private final RobotConfig config;
   private final double maxSteerVelocityRadsPerSec;
+  private final double brownoutVoltage;
 
   /**
    * Create a new swerve setpoint generator
@@ -40,6 +43,7 @@ public class SwerveSetpointGenerator {
   public SwerveSetpointGenerator(RobotConfig config, double maxSteerVelocityRadsPerSec) {
     this.config = config;
     this.maxSteerVelocityRadsPerSec = maxSteerVelocityRadsPerSec;
+    this.brownoutVoltage = RobotController.getBrownoutVoltage();
   }
 
   /**
@@ -53,19 +57,32 @@ public SwerveSetpointGenerator(RobotConfig config, AngularVelocity maxSteerVeloc
   }
 
   /**
-   * Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
-   * this method. This method will discretize the speeds for you.
+   * Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds
+   * passed into or returned from this method. This method will discretize the speeds for you.
    *
    * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
    *     iteration setpoint instead of the actual measured/estimated kinematic state.
    * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
    *     a path following algorithm.
    * @param dt The loop time.
+   * @param inputVoltage The input voltage of the drive motor controllers, in volts. This can also
+   *     be a static nominal voltage if you do not want the setpoint generator to react to changes
+   *     in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input
+   *     voltage will be clamped to a minimum of the robot controller's brownout voltage.
    * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
    *     desiredState quickly.
    */
   public SwerveSetpoint generateSetpoint(
-      final SwerveSetpoint prevSetpoint, ChassisSpeeds desiredStateRobotRelative, double dt) {
+      final SwerveSetpoint prevSetpoint,
+      ChassisSpeeds desiredStateRobotRelative,
+      double dt,
+      double inputVoltage) {
+    if (Double.isNaN(inputVoltage)) {
+      inputVoltage = 12.0;
+    } else {
+      inputVoltage = Math.max(inputVoltage, brownoutVoltage);
+    }
+
     SwerveModuleState[] desiredModuleStates =
         config.toSwerveModuleStates(desiredStateRobotRelative);
     // Make sure desiredState respects velocity limits.
@@ -124,7 +141,7 @@ public SwerveSetpoint generateSetpoint(
         && !epsilonEquals(desiredStateRobotRelative, new ChassisSpeeds())) {
       // It will (likely) be faster to stop the robot, rotate the modules in place to the complement
       // of the desired angle, and accelerate again.
-      return generateSetpoint(prevSetpoint, new ChassisSpeeds(), dt);
+      return generateSetpoint(prevSetpoint, new ChassisSpeeds(), dt, inputVoltage);
     }
 
     // Compute the deltas between start and goal. We can then interpolate from the start state to
@@ -234,8 +251,7 @@ public SwerveSetpoint generateSetpoint(
       // Use the current battery voltage since we won't be able to supply 12v if the
       // battery is sagging down to 11v, which will affect the max torque output
       double currentDraw =
-          config.moduleConfig.driveMotor.getCurrent(
-              Math.abs(lastVelRadPerSec), RobotController.getInputVoltage());
+          config.moduleConfig.driveMotor.getCurrent(Math.abs(lastVelRadPerSec), inputVoltage);
       currentDraw = Math.min(currentDraw, config.moduleConfig.driveCurrentLimit);
       double moduleTorque = config.moduleConfig.driveMotor.getTorque(currentDraw);
 
@@ -385,6 +401,74 @@ public SwerveSetpoint generateSetpoint(
         new DriveFeedforwards(accelFF, linearForceFF, torqueCurrentFF, forceXFF, forceYFF));
   }
 
+  /**
+   * Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds
+   * passed into or returned from this method. This method will discretize the speeds for you.
+   *
+   * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+   *     iteration setpoint instead of the actual measured/estimated kinematic state.
+   * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+   *     a path following algorithm.
+   * @param dt The loop time.
+   * @param inputVoltage The input voltage of the drive motor controllers, in volts. This can also
+   *     be a static nominal voltage if you do not want the setpoint generator to react to changes
+   *     in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input
+   *     voltage will be clamped to a minimum of the robot controller's brownout voltage.
+   * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+   *     desiredState quickly.
+   */
+  public SwerveSetpoint generateSetpoint(
+      final SwerveSetpoint prevSetpoint,
+      ChassisSpeeds desiredStateRobotRelative,
+      Time dt,
+      Voltage inputVoltage) {
+    return generateSetpoint(
+        prevSetpoint, desiredStateRobotRelative, dt.in(Seconds), inputVoltage.in(Volts));
+  }
+
+  /**
+   * Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
+   * this method. This method will discretize the speeds for you.
+   *
+   * <p>Note: This method will automatically use the current robot controller input voltage.
+   *
+   * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+   *     iteration setpoint instead of the actual measured/estimated kinematic state.
+   * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+   *     a path following algorithm.
+   * @param dt The loop time.
+   * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+   *     desiredState quickly.
+   */
+  public SwerveSetpoint generateSetpoint(
+      SwerveSetpoint prevSetpoint, ChassisSpeeds desiredStateRobotRelative, double dt) {
+    return generateSetpoint(
+        prevSetpoint, desiredStateRobotRelative, dt, RobotController.getInputVoltage());
+  }
+
+  /**
+   * Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
+   * this method. This method will discretize the speeds for you.
+   *
+   * <p>Note: This method will automatically use the current robot controller input voltage.
+   *
+   * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+   *     iteration setpoint instead of the actual measured/estimated kinematic state.
+   * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+   *     a path following algorithm.
+   * @param dt The loop time.
+   * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+   *     desiredState quickly.
+   */
+  public SwerveSetpoint generateSetpoint(
+      SwerveSetpoint prevSetpoint, ChassisSpeeds desiredStateRobotRelative, Time dt) {
+    return generateSetpoint(
+        prevSetpoint,
+        desiredStateRobotRelative,
+        dt.in(Seconds),
+        RobotController.getBatteryVoltage());
+  }
+
   /**
    * Check if it would be faster to go to the opposite of the goal heading (and reverse drive
    * direction).

From 488688ab52be5556e5f9764311d1d20b62ef21f6 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 19 Dec 2024 20:59:51 -0500
Subject: [PATCH 06/52] Update choreo trajectory version check (#937)

---
 pathplannerlib-python/pathplannerlib/path.py      | 15 ++++++++++-----
 .../com/pathplanner/lib/path/PathPlannerPath.java | 13 +++++++++----
 .../cpp/pathplanner/lib/path/PathPlannerPath.cpp  | 12 ++++++------
 3 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/path.py b/pathplannerlib-python/pathplannerlib/path.py
index 6415caf3..418afa3f 100644
--- a/pathplannerlib-python/pathplannerlib/path.py
+++ b/pathplannerlib-python/pathplannerlib/path.py
@@ -520,13 +520,18 @@ def _loadChoreoTrajectoryIntoCache(trajectory_name: str) -> None:
         with open(filePath, 'r') as f:
             fJson = json.loads(f.read())
 
-            version = str(fJson['version'])
-            versions = version.split('.')
+            version = 0
+
+            try:
+                version = int(fJson['version'])
+            except ValueError:
+                # Assume version 0
+                pass
 
-            if len(versions) < 2 or versions[0] != 'v2025' or versions[1] != '0':
+            if version > 1:
                 raise RuntimeError("Incompatible file version for '" + trajectory_name
-                                   + ".traj'. Actual: '" + version
-                                   + "' Expected: 'v2025.0.X'")
+                                   + ".traj'. Actual: '" + str(version)
+                                   + "' Expected: <= 1")
 
             trajJson = fJson['trajectory']
 
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
index 0ee5dd0f..d1787ce7 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
@@ -349,11 +349,16 @@ private static void loadChoreoTrajectoryIntoCache(String trajectoryName)
       String fileContent = fileContentBuilder.toString();
       JSONObject json = (JSONObject) new JSONParser().parse(fileContent);
 
-      String version = json.get("version").toString();
-      String[] versions = version.split("\\.");
+      int version = 0;
+
+      try {
+        version = ((Number) json.get("version")).intValue();
+      } catch (Exception ignored) {
+        // Assume version 0
+      }
 
-      if (versions.length < 2 || !versions[0].equals("v2025") || !versions[1].equals("0")) {
-        throw new FileVersionException(version, "v2025.0.X", trajectoryName + ".traj");
+      if (version > 1) {
+        throw new FileVersionException(Integer.toString(version), "<= 1", trajectoryName + ".traj");
       }
 
       JSONObject trajJson = (JSONObject) json.get("trajectory");
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
index 4dabee12..ee4808f0 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
@@ -155,16 +155,16 @@ void PathPlannerPath::loadChoreoTrajectoryIntoCache(
 
 	wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
 
-	std::string version = "1.0";
-	if (json.at("version").is_string()) {
-		version = json.at("version").get<std::string>();
+	int version = 0;
+	if (json.at("version").is_number_integer()) {
+		version = json.at("version").get<int>();
 	}
 
-	if (version != "v2025.0.0") {
+	if (version > 1) {
 		throw std::runtime_error(
 				"Incompatible file version for '" + trajectoryName
-						+ ".traj'. Actual: '" + version
-						+ "' Expected: 'v2025.0.0'");
+						+ ".traj'. Actual: '" + std::to_string(version)
+						+ "' Expected: <= 1");
 	}
 
 	auto trajJson = json.at("trajectory");

From 4ab9314087902c5ac00d9e9413566d8f5589c41d Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 19 Dec 2024 21:43:02 -0500
Subject: [PATCH 07/52] Calculate heading for each state of choreo paths (#939)

---
 pathplannerlib-python/pathplannerlib/path.py                 | 2 ++
 .../main/java/com/pathplanner/lib/path/PathPlannerPath.java  | 5 +++++
 .../lib/trajectory/PathPlannerTrajectoryState.java           | 4 ++--
 .../main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp | 4 ++++
 4 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/path.py b/pathplannerlib-python/pathplannerlib/path.py
index 418afa3f..8e748d3c 100644
--- a/pathplannerlib-python/pathplannerlib/path.py
+++ b/pathplannerlib-python/pathplannerlib/path.py
@@ -559,6 +559,8 @@ def _loadChoreoTrajectoryIntoCache(trajectory_name: str) -> None:
                 state.linearVelocity = math.hypot(xVel, yVel)
                 state.pose = Pose2d(xPos, yPos, rotationRad)
                 state.fieldSpeeds = ChassisSpeeds(xVel, yVel, angularVelRps)
+                if abs(state.linearVelocity) > 1e-6:
+                    state.heading = Rotation2d(state.fieldSpeeds.vx, state.fieldSpeeds.vy)
 
                 # The module forces are field relative, rotate them to be robot relative
                 for i in range(len(forcesX)):
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
index d1787ce7..bb8d978e 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
@@ -389,6 +389,11 @@ private static void loadChoreoTrajectoryIntoCache(String trajectoryName)
         state.linearVelocity = Math.hypot(xVel, yVel);
         state.pose = new Pose2d(new Translation2d(xPos, yPos), new Rotation2d(rotationRad));
         state.fieldSpeeds = new ChassisSpeeds(xVel, yVel, angularVelRps);
+        if (Math.abs(state.linearVelocity) > 1e-6) {
+          state.heading =
+              new Rotation2d(
+                  state.fieldSpeeds.vxMetersPerSecond, state.fieldSpeeds.vyMetersPerSecond);
+        }
 
         // The module forces are field relative, rotate them to be robot relative
         for (int i = 0; i < forcesX.length; i++) {
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
index 1c697a95..9a98bda3 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
@@ -20,13 +20,13 @@ public class PathPlannerTrajectoryState implements Interpolatable<PathPlannerTra
   public Pose2d pose = Pose2d.kZero;
   /** The linear velocity at this state in m/s */
   public double linearVelocity = 0.0;
+  /** The field-relative heading, or direction of travel, at this state */
+  public Rotation2d heading = Rotation2d.kZero;
 
   /** The feedforwards for each module */
   public DriveFeedforwards feedforwards;
 
   // Values used only during generation, these will not be interpolated
-  /** The field-relative heading, or direction of travel, at this state */
-  protected Rotation2d heading = Rotation2d.kZero;
   /** The distance between this state and the previous state */
   protected double deltaPos = 0.0;
   /** The difference in rotation between this state and the previous state */
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
index ee4808f0..c7a68284 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
@@ -196,6 +196,10 @@ void PathPlannerPath::loadChoreoTrajectoryIntoCache(
 		state.pose = frc::Pose2d(frc::Translation2d(xPos, yPos),
 				frc::Rotation2d(rotationRad));
 		state.fieldSpeeds = frc::ChassisSpeeds { xVel, yVel, angularVelRps };
+		if (units::math::abs(state.linearVelocity) > 1e-6_mps) {
+			state.heading = frc::Rotation2d(state.fieldSpeeds.vx(),
+					state.fieldSpeeds.vy());
+		}
 
 		// The module forces are field relative, rotate them to be robot relative
 		for (size_t i = 0; i < forcesX.size(); i++) {

From ddbfaede526ef4b9b0c986f655586ae479fa16c3 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 19 Dec 2024 22:13:28 -0500
Subject: [PATCH 08/52] Calculate heading for each state of choreo paths oopsie
 edition (#941)

---
 lib/trajectory/trajectory.dart | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/lib/trajectory/trajectory.dart b/lib/trajectory/trajectory.dart
index 2cee540a..3d675277 100644
--- a/lib/trajectory/trajectory.dart
+++ b/lib/trajectory/trajectory.dart
@@ -576,7 +576,8 @@ class TrajectoryState {
 
   TrajectoryState();
 
-  TrajectoryState.pregen(this.timeSeconds, this.fieldSpeeds, this.pose);
+  TrajectoryState.pregen(this.timeSeconds, this.fieldSpeeds, this.pose)
+      : heading = Rotation2d.fromComponents(fieldSpeeds.vx, fieldSpeeds.vy);
 
   TrajectoryState copyWithTime(num time) {
     TrajectoryState s = TrajectoryState();

From d8f11f186968bb9419aec7cc603d2690d6f59ce3 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Fri, 20 Dec 2024 18:50:18 -0500
Subject: [PATCH 09/52] Fix state interpolation for flipped/reversed
 trajectories (#946)

---
 pathplannerlib-python/pathplannerlib/trajectory.py         | 4 +++-
 .../lib/trajectory/PathPlannerTrajectoryState.java         | 7 ++++---
 .../lib/trajectory/PathPlannerTrajectoryState.cpp          | 2 ++
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index 23f36a77..4c1622eb 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -31,8 +31,8 @@ class PathPlannerTrajectoryState:
     pose: Pose2d = field(default_factory=Pose2d)
     linearVelocity: float = 0.0
     feedforwards: DriveFeedforwards = None
-
     heading: Rotation2d = field(default_factory=Rotation2d)
+
     deltaPos: float = 0.0
     deltaRot: Rotation2d = field(default_factory=Rotation2d)
     moduleStates: List[SwerveModuleTrajectoryState] = field(default_factory=list)
@@ -106,6 +106,7 @@ def reverse(self) -> PathPlannerTrajectoryState:
         reversedState.pose = Pose2d(self.pose.translation(), self.pose.rotation() + Rotation2d.fromDegrees(180))
         reversedState.linearVelocity = -self.linearVelocity
         reversedState.feedforwards = self.feedforwards.reverse()
+        reversedState.heading = self.heading + Rotation2d.fromDegrees(180)
 
         return reversedState
 
@@ -122,6 +123,7 @@ def flip(self) -> PathPlannerTrajectoryState:
         flipped.pose = FlippingUtil.flipFieldPose(self.pose)
         flipped.fieldSpeeds = FlippingUtil.flipFieldSpeeds(self.fieldSpeeds)
         flipped.feedforwards = self.feedforwards.flip()
+        flipped.heading = FlippingUtil.flipFieldRotation(self.heading)
 
         return flipped
 
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
index 9a98bda3..4e0565b4 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
@@ -112,14 +112,14 @@ public PathPlannerTrajectoryState reverse() {
     reversed.timeSeconds = timeSeconds;
     Translation2d reversedSpeeds =
         new Translation2d(fieldSpeeds.vxMetersPerSecond, fieldSpeeds.vyMetersPerSecond)
-            .rotateBy(Rotation2d.fromDegrees(180));
+            .rotateBy(Rotation2d.k180deg);
     reversed.fieldSpeeds =
         new ChassisSpeeds(
             reversedSpeeds.getX(), reversedSpeeds.getY(), fieldSpeeds.omegaRadiansPerSecond);
-    reversed.pose =
-        new Pose2d(pose.getTranslation(), pose.getRotation().plus(Rotation2d.fromDegrees(180)));
+    reversed.pose = new Pose2d(pose.getTranslation(), pose.getRotation().plus(Rotation2d.k180deg));
     reversed.linearVelocity = -linearVelocity;
     reversed.feedforwards = feedforwards.reverse();
+    reversed.heading = heading.plus(Rotation2d.k180deg);
 
     return reversed;
   }
@@ -137,6 +137,7 @@ public PathPlannerTrajectoryState flip() {
     flipped.pose = FlippingUtil.flipFieldPose(pose);
     flipped.fieldSpeeds = FlippingUtil.flipFieldSpeeds(fieldSpeeds);
     flipped.feedforwards = feedforwards.flip();
+    flipped.heading = FlippingUtil.flipFieldRotation(heading);
 
     return flipped;
   }
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectoryState.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectoryState.cpp
index 2fe32510..e8ea6b7f 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectoryState.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectoryState.cpp
@@ -72,6 +72,7 @@ PathPlannerTrajectoryState PathPlannerTrajectoryState::reverse() const {
 			pose.Rotation() + frc::Rotation2d(180_deg));
 	reversed.linearVelocity = -linearVelocity;
 	reversed.feedforwards = feedforwards.reverse();
+	reversed.heading = heading + frc::Rotation2d(180_deg);
 
 	return reversed;
 }
@@ -84,6 +85,7 @@ PathPlannerTrajectoryState PathPlannerTrajectoryState::flip() const {
 	flipped.pose = FlippingUtil::flipFieldPose(pose);
 	flipped.fieldSpeeds = FlippingUtil::flipFieldSpeeds(fieldSpeeds);
 	flipped.feedforwards = feedforwards.flip();
+	flipped.heading = FlippingUtil::flipFieldRotation(heading);
 
 	return flipped;
 }

From 9aa034e07d136075f7a441a431cdc867a9bbf096 Mon Sep 17 00:00:00 2001
From: Matthew Milunic <62996888+mmilunicmobile@users.noreply.github.com>
Date: Sat, 21 Dec 2024 21:27:38 -0500
Subject: [PATCH 10/52] [SwerveSetpointGenerator] Use correct reverse torque
 limit (#948)

* Modified swerve setpoint generator to use the correct torque limit for motors when decelerating.

Modified swerve setpoint generator to use the correct torque limit for motors when decelerating instead of using the incorrect acceleration torque limit

* format

* python translation

---------

Co-authored-by: Michael Jansen <mjansen4857@gmail.com>
---
 pathplannerlib-python/pathplannerlib/util/swerve.py | 13 +++++++++----
 .../lib/util/swerve/SwerveSetpointGenerator.java    | 10 +++++++++-
 2 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
index 529462a1..9cc2877b 100644
--- a/pathplannerlib-python/pathplannerlib/util/swerve.py
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -221,11 +221,13 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
                 / self._config.moduleConfig.wheelRadiusMeters
             # Use the current battery voltage since we won't be able to supply 12v if the
             # battery is sagging down to 11v, which will affect the max torque output
-            current_draw = \
-                self._config.moduleConfig.driveMotor.current(
-                    math.fabs(last_vel_rad_per_sec), input_voltage)
+            current_draw = self._config.moduleConfig.driveMotor.current(abs(last_vel_rad_per_sec), input_voltage)
+            reverse_current_draw = abs(
+                self._config.moduleConfig.driveMotor.getCurrent(abs(last_vel_rad_per_sec), -input_voltage))
             current_draw = min(current_draw, self._config.moduleConfig.driveCurrentLimit)
-            module_torque = self._config.moduleConfig.driveMotor.torque(current_draw)
+            reverse_current_draw = min(reverse_current_draw, self._config.moduleConfig.driveCurrentLimit)
+            forward_module_torque = self._config.moduleConfig.driveMotor.torque(current_draw)
+            reverse_module_torque = self._config.moduleConfig.driveMotor.torque(reverse_current_draw)
 
             prev_speed = prev_setpoint.module_states[m].speed
             desired_module_states[m].optimize(prev_setpoint.module_states[m].angle)
@@ -233,15 +235,18 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
 
             force_sign = 1
             force_angle = prev_setpoint.module_states[m].angle
+            module_torque = 0.0
             if self._epsilonEquals(prev_speed, 0.0) \
                     or (prev_speed > 0 and desired_speed >= prev_speed) \
                     or (prev_speed < 0 and desired_speed <= prev_speed):
+                module_torque = forward_module_torque
                 # Torque loss will be fighting motor
                 module_torque -= self._config.moduleConfig.torqueLoss
                 force_sign = 1  # Force will be applied in direction of module
                 if prev_speed < 0:
                     force_angle = force_angle + Rotation2d(math.pi)
             else:
+                module_torque = reverse_module_torque
                 # Torque loss will be helping the motor
                 module_torque += self._config.moduleConfig.torqueLoss
                 force_sign = -1  # Force will be applied in opposite direction of module
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
index 8f046864..273d8afd 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -252,8 +252,13 @@ public SwerveSetpoint generateSetpoint(
       // battery is sagging down to 11v, which will affect the max torque output
       double currentDraw =
           config.moduleConfig.driveMotor.getCurrent(Math.abs(lastVelRadPerSec), inputVoltage);
+      double reverseCurrentDraw =
+          Math.abs(
+              config.moduleConfig.driveMotor.getCurrent(Math.abs(lastVelRadPerSec), -inputVoltage));
       currentDraw = Math.min(currentDraw, config.moduleConfig.driveCurrentLimit);
-      double moduleTorque = config.moduleConfig.driveMotor.getTorque(currentDraw);
+      reverseCurrentDraw = Math.min(reverseCurrentDraw, config.moduleConfig.driveCurrentLimit);
+      double forwardModuleTorque = config.moduleConfig.driveMotor.getTorque(currentDraw);
+      double reverseModuleTorque = config.moduleConfig.driveMotor.getTorque(reverseCurrentDraw);
 
       double prevSpeed = prevSetpoint.moduleStates()[m].speedMetersPerSecond;
       desiredModuleStates[m].optimize(prevSetpoint.moduleStates()[m].angle);
@@ -261,9 +266,11 @@ public SwerveSetpoint generateSetpoint(
 
       int forceSign;
       Rotation2d forceAngle = prevSetpoint.moduleStates()[m].angle;
+      double moduleTorque;
       if (epsilonEquals(prevSpeed, 0.0)
           || (prevSpeed > 0 && desiredSpeed >= prevSpeed)
           || (prevSpeed < 0 && desiredSpeed <= prevSpeed)) {
+        moduleTorque = forwardModuleTorque;
         // Torque loss will be fighting motor
         moduleTorque -= config.moduleConfig.torqueLoss;
         forceSign = 1; // Force will be applied in direction of module
@@ -271,6 +278,7 @@ public SwerveSetpoint generateSetpoint(
           forceAngle = forceAngle.plus(Rotation2d.k180deg);
         }
       } else {
+        moduleTorque = reverseModuleTorque;
         // Torque loss will be helping the motor
         moduleTorque += config.moduleConfig.torqueLoss;
         forceSign = -1; // Force will be applied in opposite direction of module

From 4071a24ac7f1b8567867513b63c7e8dd753051b8 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Sun, 22 Dec 2024 19:32:13 -0500
Subject: [PATCH 11/52] Add swerve.py to python import test (#949)

---
 pathplannerlib-python/tests/import_test.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pathplannerlib-python/tests/import_test.py b/pathplannerlib-python/tests/import_test.py
index 2c2b5c54..ecbd2fe0 100644
--- a/pathplannerlib-python/tests/import_test.py
+++ b/pathplannerlib-python/tests/import_test.py
@@ -10,6 +10,7 @@
 from pathplannerlib.telemetry import *
 from pathplannerlib.trajectory import *
 from pathplannerlib.util import *
+from pathplannerlib.util.swerve import *
 
 # Test that just imports everything to make sure there are no circular imports
 def importTest():

From b39acb10443577a53c7cfc40cdfd48e2e83ec0c7 Mon Sep 17 00:00:00 2001
From: Ryan Heuer <63077980+rmheuer@users.noreply.github.com>
Date: Sun, 22 Dec 2024 19:11:18 -0600
Subject: [PATCH 12/52] Replace iterative solver in SwerveSetpointGenerator
 with direct solutions (#944)

---
 .../pathplannerlib/util/swerve.py             | 151 ++++++++---------
 .../util/swerve/SwerveSetpointGenerator.java  | 158 +++++++++---------
 2 files changed, 158 insertions(+), 151 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
index 9cc2877b..9a77fe05 100644
--- a/pathplannerlib-python/pathplannerlib/util/swerve.py
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -25,8 +25,6 @@ class SwerveSetpointGenerator:
     forces acting on a module's wheel from exceeding the force of friction.
     """
     _k_epsilon = 1e-8
-    _MAX_STEER_ITERATIONS = 8
-    _MAX_DRIVE_ITERATIONS = 10
 
     def __init__(self, config: RobotConfig, max_steer_velocity_rads_per_sec: float) -> None:
         """
@@ -288,15 +286,7 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
                 desired_vy[m] if min_s == 1.0 else (desired_vy[m] - prev_vy[m]) * min_s + prev_vy[m]
             # Find the max s for this drive wheel. Search on the interval between 0 and min_s, because we
             # already know we can't go faster than that.
-            s = self._findDriveMaxS(
-                prev_vx[m],
-                prev_vy[m],
-                math.hypot(prev_vx[m], prev_vy[m]),
-                vx_min_s,
-                vy_min_s,
-                math.hypot(vx_min_s, vy_min_s),
-                max_vel_step
-            )
+            s = self._findDriveMaxS(prev_vx[m], prev_vy[m], vx_min_s, vy_min_s, max_vel_step)
             min_s = min(min_s, s)
 
         ret_speeds = ChassisSpeeds(
@@ -383,97 +373,108 @@ def _unwrapAngle(ref: float, angle: float) -> float:
         else:
             return angle
 
-    @classmethod
-    def _findRoot(
-            cls,
-            func: Callable[[float, float], float],
-            x_0: float,
-            y_0: float,
-            f_0: float,
-            x_1: float,
-            y_1: float,
-            f_1: float,
-            iterations_left: int
-    ) -> float:
-        """
-        Find the root of the generic 2D parametric function 'func' using the regula falsi technique.
-        This is a pretty naive way to do root finding, but it's usually faster than simple bisection
-        while being robust in ways that e.g. the Newton-Raphson method isn't.
-        :param func: The Function2d to take the root of.
-        :param x_0: x value of the lower bracket.
-        :param y_0: y value of the lower bracket.
-        :param f_0: value of 'func' at x_0, y_0 (passed in by caller to save a call to 'func' during
-        recursion)
-        :param x_1: x value of the upper bracket.
-        :param y_1: y value of the upper bracket.
-        :param f_1: value of 'func' at x_1, y_1 (passed in by caller to save a call to 'func' during
-        recursion)
-        :param iterations_left: Number of iterations of root finding left.
-        :return: The parameter value 's' that interpolating between 0 and 1 that corresponds to the
-        (approximate) root.
-        """
-        s_guess = max(0.0, min(1.0, -f_0 / (f_1 - f_0)))
-
-        if iterations_left < 0 or cls._epsilonEquals(f_0, f_1):
-            return s_guess
-
-        x_guess = (x_1 - x_0) * s_guess + x_0
-        y_guess = (y_1 - y_0) * s_guess + y_0
-        f_guess = func(x_guess, y_guess)
-        if cls._signum(f_0) == cls._signum(f_guess):
-            # 0 and guess on same side of root, so use upper bracket.
-            return s_guess \
-                + (1.0 - s_guess) \
-                * cls._findRoot(func, x_guess, y_guess, f_guess, x_1, y_1, f_1, iterations_left - 1)
-        else:
-            # Use lower bracket.
-            return s_guess \
-                * cls._findRoot(func, x_0, y_0, f_0, x_guess, y_guess, f_guess, iterations_left - 1)
-
     @classmethod
     def _findSteeringMaxS(
             cls,
             x_0: float,
             y_0: float,
-            f_0: float,
+            theta_0: float,
             x_1: float,
             y_1: float,
-            f_1: float,
+            theta_1: float,
             max_deviation: float
     ) -> float:
-        f_1 = cls._unwrapAngle(f_0, f_1)
-        diff = f_1 - f_0
+        theta_1 = cls._unwrapAngle(theta_0, theta_1)
+        diff = theta_1 - theta_0
         if math.fabs(diff) <= max_deviation:
             # Can go all the way to s=1
             return 1.0
-        offset = f_0 + cls._signum(diff) * max_deviation
 
-        def func(x: float, y: float):
-            return cls._unwrapAngle(f_0, math.atan2(y, x)) - offset
-
-        return cls._findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, cls._MAX_STEER_ITERATIONS)
+        target = theta_0 + math.copysign(max_deviation, diff)
+
+        # Rotate the velocity vectors such that the target angle becomes the +X
+        # axis. We only need find the Y components, h_0 and h_1, since they are
+        # proportional to the distances from the two points to the solution
+        # point (x_0 + (x_1 - x_0)s, y_0 + (y_1 - y_0)s).
+        sin = math.sin(-target)
+        cos = math.cos(-target)
+        h_0 = sin * x_0 + cos * y_0
+        h_1 = sin * x_1 + cos * y_1
+
+        # Undo linear interpolation from h_0 to h_1:
+        # 0 = h_0 + (h_1 - h_0) * s
+        # -h_0 = (h_1 - h_0) * s
+        # -h_0 / (h_1 - h_0) = s
+        # h_0 / (h_0 - h_1) = s
+        # Guaranteed to not divide by zero, since if h_0 was equal to h_1, theta_0
+        # would be equal to theta_1, which is caught by the difference check.
+        return h_0 / (h_0 - h_1)
 
     @classmethod
     def _findDriveMaxS(
             cls,
             x_0: float,
             y_0: float,
-            f_0: float,
             x_1: float,
             y_1: float,
-            f_1: float,
             max_vel_step: float
     ) -> float:
-        diff = f_1 - f_0
+        # Derivation:
+        # Want to find point P(s) between (x_0, y_0) and (x_1, y_1) where the
+        # length of P(s) is the target T. P(s) is linearly interpolated between the
+        # points, so P(s) = (x_0 + (x_1 - x_0) * s, y_0 + (y_1 - y_0) * s).
+        # Then,
+        #     T = sqrt(P(s).x^2 + P(s).y^2)
+        #   T^2 = (x_0 + (x_1 - x_0) * s)^2 + (y_0 + (y_1 - y_0) * s)^2
+        #   T^2 = x_0^2 + 2x_0(x_1-x_0)s + (x_1-x_0)^2*s^2
+        #       + y_0^2 + 2y_0(y_1-y_0)s + (y_1-y_0)^2*s^2
+        #   T^2 = x_0^2 + 2x_0x_1s - 2x_0^2*s + x_1^2*s^2 - 2x_0x_1s^2 + x_0^2*s^2
+        #       + y_0^2 + 2y_0y_1s - 2y_0^2*s + y_1^2*s^2 - 2y_0y_1s^2 + y_0^2*s^2
+        #     0 = (x_0^2 + y_0^2 + x_1^2 + y_1^2 - 2x_0x_1 - 2y_0y_1)s^2
+        #       + (2x_0x_1 + 2y_0y_1 - 2x_0^2 - 2y_0^2)s
+        #       + (x_0^2 + y_0^2 - T^2).
+        #
+        # To simplify, we can factor out some common parts:
+        # Let l_0 = x_0^2 + y_0^2, l_1 = x_1^2 + y_1^2, and
+        # p = x_0 * x_1 + y_0 * y_1.
+        # Then we have
+        #   0 = (l_0 + l_1 - 2p)s^2 + 2(p - l_0)s + (l_0 - T^2),
+        # with which we can solve for s using the quadratic formula.
+
+        l_0 = x_0 * x_0 + y_0 * y_0
+        l_1 = x_1 * x_1 + y_1 * y_1
+        sqrt_l_0 = math.sqrt(l_0)
+        diff = math.sqrt(l_1) - sqrt_l_0
         if math.fabs(diff) <= max_vel_step:
             # Can go all the way to s=1.
             return 1.0
-        offset = f_0 + cls._signum(diff) * max_vel_step
-
-        def func(x: float, y: float):
-            return math.hypot(x, y) - offset
 
-        return cls._findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, cls._MAX_DRIVE_ITERATIONS)
+        target = sqrt_l_0 + math.copysign(max_vel_step, diff)
+        p = x_0 * x_1 + y_0 * y_1
+
+        # Quadratic of s
+        a = l_0 + l_1 - 2 * p
+        b = 2 * (p - l_0)
+        c = l_0 - target * target
+        root = math.sqrt(b * b - 4 * a * c)
+
+        def is_valid_s(s):
+            return math.isfinite(s) and s >= 0 and s <= 1
+
+        # Check if either of the solutions are valid
+        # Won't divide by zero because it is only possible for a to be zero if the
+        # target velocity is exactly the same or the reverse of the current
+        # velocity, which would be caught by the difference check.
+        s_1 = (-b + root) / (2 * a)
+        if is_valid_s(s_1):
+            return s_1
+        s_2 = (-b - root) / (2 * a)
+        if is_valid_s(s_2):
+            return s_2
+
+        # Since we passed the initial max_vel_step check, a solution should exist,
+        # but if no solution was found anyway, just don't limit movement
+        return 1.0
 
     @classmethod
     def _epsilonEquals(
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
index 273d8afd..107cc266 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -26,8 +26,6 @@
  */
 public class SwerveSetpointGenerator {
   private static final double kEpsilon = 1E-8;
-  private static final int MAX_STEER_ITERATIONS = 8;
-  private static final int MAX_DRIVE_ITERATIONS = 10;
 
   private final RobotConfig config;
   private final double maxSteerVelocityRadsPerSec;
@@ -326,15 +324,7 @@ public SwerveSetpoint generateSetpoint(
           min_s == 1.0 ? desired_vy[m] : (desired_vy[m] - prev_vy[m]) * min_s + prev_vy[m];
       // Find the max s for this drive wheel. Search on the interval between 0 and min_s, because we
       // already know we can't go faster than that.
-      double s =
-          findDriveMaxS(
-              prev_vx[m],
-              prev_vy[m],
-              Math.hypot(prev_vx[m], prev_vy[m]),
-              vx_min_s,
-              vy_min_s,
-              Math.hypot(vx_min_s, vy_min_s),
-              maxVelStep);
+      double s = findDriveMaxS(prev_vx[m], prev_vy[m], vx_min_s, vy_min_s, maxVelStep);
       min_s = Math.min(min_s, s);
     }
 
@@ -501,88 +491,104 @@ private static double unwrapAngle(double ref, double angle) {
     }
   }
 
-  @FunctionalInterface
-  private interface Function2d {
-    double f(double x, double y);
-  }
-
-  /**
-   * Find the root of the generic 2D parametric function 'func' using the regula falsi technique.
-   * This is a pretty naive way to do root finding, but it's usually faster than simple bisection
-   * while being robust in ways that e.g. the Newton-Raphson method isn't.
-   *
-   * @param func The Function2d to take the root of.
-   * @param x_0 x value of the lower bracket.
-   * @param y_0 y value of the lower bracket.
-   * @param f_0 value of 'func' at x_0, y_0 (passed in by caller to save a call to 'func' during
-   *     recursion)
-   * @param x_1 x value of the upper bracket.
-   * @param y_1 y value of the upper bracket.
-   * @param f_1 value of 'func' at x_1, y_1 (passed in by caller to save a call to 'func' during
-   *     recursion)
-   * @param iterations_left Number of iterations of root finding left.
-   * @return The parameter value 's' that interpolating between 0 and 1 that corresponds to the
-   *     (approximate) root.
-   */
-  private static double findRoot(
-      Function2d func,
-      double x_0,
-      double y_0,
-      double f_0,
-      double x_1,
-      double y_1,
-      double f_1,
-      int iterations_left) {
-    var s_guess = Math.max(0.0, Math.min(1.0, -f_0 / (f_1 - f_0)));
-
-    if (iterations_left < 0 || epsilonEquals(f_0, f_1)) {
-      return s_guess;
-    }
-
-    var x_guess = (x_1 - x_0) * s_guess + x_0;
-    var y_guess = (y_1 - y_0) * s_guess + y_0;
-    var f_guess = func.f(x_guess, y_guess);
-    if (Math.signum(f_0) == Math.signum(f_guess)) {
-      // 0 and guess on same side of root, so use upper bracket.
-      return s_guess
-          + (1.0 - s_guess)
-              * findRoot(func, x_guess, y_guess, f_guess, x_1, y_1, f_1, iterations_left - 1);
-    } else {
-      // Use lower bracket.
-      return s_guess
-          * findRoot(func, x_0, y_0, f_0, x_guess, y_guess, f_guess, iterations_left - 1);
-    }
-  }
-
   private static double findSteeringMaxS(
       double x_0,
       double y_0,
-      double f_0,
+      double theta_0,
       double x_1,
       double y_1,
-      double f_1,
+      double theta_1,
       double max_deviation) {
-    f_1 = unwrapAngle(f_0, f_1);
-    double diff = f_1 - f_0;
+    theta_1 = unwrapAngle(theta_0, theta_1);
+    double diff = theta_1 - theta_0;
     if (Math.abs(diff) <= max_deviation) {
       // Can go all the way to s=1.
       return 1.0;
     }
-    double offset = f_0 + Math.signum(diff) * max_deviation;
-    Function2d func = (x, y) -> unwrapAngle(f_0, Math.atan2(y, x)) - offset;
-    return findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, MAX_STEER_ITERATIONS);
+
+    double target = theta_0 + Math.copySign(max_deviation, diff);
+
+    // Rotate the velocity vectors such that the target angle becomes the +X
+    // axis. We only need find the Y components, h_0 and h_1, since they are
+    // proportional to the distances from the two points to the solution
+    // point (x_0 + (x_1 - x_0)s, y_0 + (y_1 - y_0)s).
+    double sin = Math.sin(-target);
+    double cos = Math.cos(-target);
+    double h_0 = sin * x_0 + cos * y_0;
+    double h_1 = sin * x_1 + cos * y_1;
+
+    // Undo linear interpolation from h_0 to h_1:
+    // 0 = h_0 + (h_1 - h_0) * s
+    // -h_0 = (h_1 - h_0) * s
+    // -h_0 / (h_1 - h_0) = s
+    // h_0 / (h_0 - h_1) = s
+    // Guaranteed to not divide by zero, since if h_0 was equal to h_1, theta_0
+    // would be equal to theta_1, which is caught by the difference check.
+    return h_0 / (h_0 - h_1);
+  }
+
+  private static boolean isValidS(double s) {
+    return Double.isFinite(s) && s >= 0 && s <= 1;
   }
 
   private static double findDriveMaxS(
-      double x_0, double y_0, double f_0, double x_1, double y_1, double f_1, double max_vel_step) {
-    double diff = f_1 - f_0;
+      double x_0, double y_0, double x_1, double y_1, double max_vel_step) {
+    // Derivation:
+    // Want to find point P(s) between (x_0, y_0) and (x_1, y_1) where the
+    // length of P(s) is the target T. P(s) is linearly interpolated between the
+    // points, so P(s) = (x_0 + (x_1 - x_0) * s, y_0 + (y_1 - y_0) * s).
+    // Then,
+    //     T = sqrt(P(s).x^2 + P(s).y^2)
+    //   T^2 = (x_0 + (x_1 - x_0) * s)^2 + (y_0 + (y_1 - y_0) * s)^2
+    //   T^2 = x_0^2 + 2x_0(x_1-x_0)s + (x_1-x_0)^2*s^2
+    //       + y_0^2 + 2y_0(y_1-y_0)s + (y_1-y_0)^2*s^2
+    //   T^2 = x_0^2 + 2x_0x_1s - 2x_0^2*s + x_1^2*s^2 - 2x_0x_1s^2 + x_0^2*s^2
+    //       + y_0^2 + 2y_0y_1s - 2y_0^2*s + y_1^2*s^2 - 2y_0y_1s^2 + y_0^2*s^2
+    //     0 = (x_0^2 + y_0^2 + x_1^2 + y_1^2 - 2x_0x_1 - 2y_0y_1)s^2
+    //       + (2x_0x_1 + 2y_0y_1 - 2x_0^2 - 2y_0^2)s
+    //       + (x_0^2 + y_0^2 - T^2).
+    //
+    // To simplify, we can factor out some common parts:
+    // Let l_0 = x_0^2 + y_0^2, l_1 = x_1^2 + y_1^2, and
+    // p = x_0 * x_1 + y_0 * y_1.
+    // Then we have
+    //   0 = (l_0 + l_1 - 2p)s^2 + 2(p - l_0)s + (l_0 - T^2),
+    // with which we can solve for s using the quadratic formula.
+
+    double l_0 = x_0 * x_0 + y_0 * y_0;
+    double l_1 = x_1 * x_1 + y_1 * y_1;
+    double sqrt_l_0 = Math.sqrt(l_0);
+    double diff = Math.sqrt(l_1) - sqrt_l_0;
     if (Math.abs(diff) <= max_vel_step) {
       // Can go all the way to s=1.
       return 1.0;
     }
-    double offset = f_0 + Math.signum(diff) * max_vel_step;
-    Function2d func = (x, y) -> Math.hypot(x, y) - offset;
-    return findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, MAX_DRIVE_ITERATIONS);
+
+    double target = sqrt_l_0 + Math.copySign(max_vel_step, diff);
+    double p = x_0 * x_1 + y_0 * y_1;
+
+    // Quadratic of s
+    double a = l_0 + l_1 - 2 * p;
+    double b = 2 * (p - l_0);
+    double c = l_0 - target * target;
+    double root = Math.sqrt(b * b - 4 * a * c);
+
+    // Check if either of the solutions are valid
+    // Won't divide by zero because it is only possible for a to be zero if the
+    // target velocity is exactly the same or the reverse of the current
+    // velocity, which would be caught by the difference check.
+    double s_1 = (-b + root) / (2 * a);
+    if (isValidS(s_1)) {
+      return s_1;
+    }
+    double s_2 = (-b - root) / (2 * a);
+    if (isValidS(s_2)) {
+      return s_2;
+    }
+
+    // Since we passed the initial max_vel_step check, a solution should exist,
+    // but if no solution was found anyway, just don't limit movement
+    return 1.0;
   }
 
   private static boolean epsilonEquals(double a, double b, double epsilon) {

From 506af99b11102d0fb88fee3ed6225c33ba09c8ac Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 26 Dec 2024 14:10:45 -0500
Subject: [PATCH 13/52] Add ModuleConfig overload w/ separate gear reduction
 (#951)

---
 .../pathplanner/lib/config/ModuleConfig.java  | 66 +++++++++++++++++++
 .../pathplanner/lib/config/ModuleConfig.h     | 23 +++++++
 2 files changed, 89 insertions(+)

diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/config/ModuleConfig.java b/pathplannerlib/src/main/java/com/pathplanner/lib/config/ModuleConfig.java
index 2f27c377..fe5796b2 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/config/ModuleConfig.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/config/ModuleConfig.java
@@ -91,4 +91,70 @@ public ModuleConfig(
         driveCurrentLimit.in(Amps),
         numMotors);
   }
+
+  /**
+   * Configuration of a robot drive module. This can either be a swerve module, or one side of a
+   * differential drive train.
+   *
+   * @param wheelRadiusMeters Radius of the drive wheels, in meters.
+   * @param maxDriveVelocityMPS The max speed that the drive motor can reach while actually driving
+   *     the robot at full output, in M/S.
+   * @param wheelCOF The coefficient of friction between the drive wheel and the carpet. If you are
+   *     unsure, just use a placeholder value of 1.0.
+   * @param driveMotor The DCMotor representing the drive motor gearbox, NOT including gear
+   *     reduction
+   * @param driveGearing The gear reduction between the drive motor and the wheels
+   * @param driveCurrentLimit The current limit of the drive motor, in Amps
+   * @param numMotors The number of motors per module. For swerve, this is 1. For differential, this
+   *     is usually 2.
+   */
+  public ModuleConfig(
+      double wheelRadiusMeters,
+      double maxDriveVelocityMPS,
+      double wheelCOF,
+      DCMotor driveMotor,
+      double driveGearing,
+      double driveCurrentLimit,
+      int numMotors) {
+    this(
+        wheelRadiusMeters,
+        maxDriveVelocityMPS,
+        wheelCOF,
+        driveMotor.withReduction(driveGearing),
+        driveCurrentLimit,
+        numMotors);
+  }
+
+  /**
+   * Configuration of a robot drive module. This can either be a swerve module, or one side of a
+   * differential drive train.
+   *
+   * @param wheelRadius Radius of the drive wheels.
+   * @param maxDriveVelocity The max speed that the drive motor can reach while actually driving the
+   *     robot at full output.
+   * @param wheelCOF The coefficient of friction between the drive wheel and the carpet. If you are
+   *     unsure, just use a placeholder value of 1.0.
+   * @param driveMotor The DCMotor representing the drive motor gearbox, NOT including gear
+   *     reduction
+   * @param driveGearing The gear reduction between the drive motor and the wheels
+   * @param driveCurrentLimit The current limit of the drive motor
+   * @param numMotors The number of motors per module. For swerve, this is 1. For differential, this
+   *     is usually 2.
+   */
+  public ModuleConfig(
+      Distance wheelRadius,
+      LinearVelocity maxDriveVelocity,
+      double wheelCOF,
+      DCMotor driveMotor,
+      double driveGearing,
+      Current driveCurrentLimit,
+      int numMotors) {
+    this(
+        wheelRadius.in(Meters),
+        maxDriveVelocity.in(MetersPerSecond),
+        wheelCOF,
+        driveMotor.withReduction(driveGearing),
+        driveCurrentLimit.in(Amps),
+        numMotors);
+  }
 }
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/config/ModuleConfig.h b/pathplannerlib/src/main/native/include/pathplanner/lib/config/ModuleConfig.h
index 3a363dff..eba0eb05 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/config/ModuleConfig.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/config/ModuleConfig.h
@@ -51,5 +51,28 @@ class ModuleConfig {
 											maxDriveVelocityRadPerSec, 12_V),
 									driveCurrentLimit)), 0_Nm)) {
 	}
+
+	/**
+	 * Configuration of a robot drive module. This can either be a swerve module, or one side of a
+	 * differential drive train.
+	 *
+	 * @param wheelRadius Radius of the drive wheels, in meters.
+	 * @param maxDriveVelocityMPS The max speed that the drive motor can reach while actually driving
+	 *     the robot at full output, in M/S.
+	 * @param wheelCOF The coefficient of friction between the drive wheel and the carpet. If you are
+	 *     unsure, just use a placeholder value of 1.0.
+	 * @param driveMotor The DCMotor representing the drive motor gearbox, NOT including gear reduction
+	 * @param driveGearing The gear reduction between the drive motor and the wheels
+	 * @param driveCurrentLimit The current limit of the drive motor, in Amps
+	 * @param numMotors The number of motors per module. For swerve, this is 1. For differential, this is usually 2.
+	 */
+	ModuleConfig(units::meter_t wheelRadius,
+			units::meters_per_second_t maxDriveVelocityMPS, double wheelCOF,
+			frc::DCMotor driveMotor, double driveGearing,
+			units::ampere_t driveCurrentLimit, int numMotors) : ModuleConfig(
+			wheelRadius, maxDriveVelocityMPS, wheelCOF,
+			driveMotor.WithReduction(driveGearing), driveCurrentLimit,
+			numMotors) {
+	}
 };
 }

From 77413cfdbac354562185d4f98dc3a599b259555a Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 26 Dec 2024 14:39:42 -0500
Subject: [PATCH 14/52] Change failed generation error message (#952)

---
 lib/widgets/editor/split_auto_editor.dart | 2 +-
 lib/widgets/editor/split_path_editor.dart | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/lib/widgets/editor/split_auto_editor.dart b/lib/widgets/editor/split_auto_editor.dart
index 0561b90c..d2e12e50 100644
--- a/lib/widgets/editor/split_auto_editor.dart
+++ b/lib/widgets/editor/split_auto_editor.dart
@@ -293,7 +293,7 @@ class _SplitAutoEditorState extends State<SplitAutoEditor>
       ScaffoldMessenger.of(context).showSnackBar(
         SnackBar(
           content: Text(
-            'Failed to generate trajectory for ${widget.auto.name}. Please open an issue on the pathplanner github and include the failing path file.',
+            'Failed to generate trajectory for ${widget.auto.name}. This is likely due to bad control point placement. Please adjust your control points to avoid kinks in the path.',
             style: TextStyle(
                 color: Theme.of(context).colorScheme.onErrorContainer),
           ),
diff --git a/lib/widgets/editor/split_path_editor.dart b/lib/widgets/editor/split_path_editor.dart
index 642487fc..07b3ada4 100644
--- a/lib/widgets/editor/split_path_editor.dart
+++ b/lib/widgets/editor/split_path_editor.dart
@@ -779,7 +779,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
         ScaffoldMessenger.of(context).showSnackBar(
           SnackBar(
             content: Text(
-              'Failed to generate trajectory. Please open an issue on the pathplanner github and include this path file',
+              'Failed to generate trajectory. This is likely due to bad control point placement. Please adjust your control points to avoid kinks in the path.',
               style: TextStyle(
                   color: Theme.of(context).colorScheme.onErrorContainer),
             ),

From e21e2d3c795209dae2747ff94c4cacff00a2190e Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 26 Dec 2024 21:23:14 -0500
Subject: [PATCH 15/52] Upgrade to Flutter 3.27 (#953)

* update for flutter 3.27

* use built in color scheme seed stuff again
---
 .github/workflows/format-command.yml          |   2 +-
 .github/workflows/pathplanner-ci.yaml         |   8 +-
 lib/main.dart                                 |  12 +-
 lib/pages/home_page.dart                      |   5 +-
 lib/pages/nav_grid_page.dart                  |   2 +-
 lib/pages/project/project_item_card.dart      |   4 +-
 lib/pages/project/project_page.dart           |   4 +-
 lib/pages/telemetry_page.dart                 |  16 +-
 lib/util/path_painter_util.dart               |   2 +-
 lib/widgets/editor/path_painter.dart          |   8 +-
 .../tree_widgets/path_optimization_tree.dart  |  10 +-
 lib/widgets/error_popup.dart                  |  68 ++---
 lib/widgets/field_image.dart                  |   1 -
 lib/widgets/keyboard_shortcuts.dart           |   2 -
 macos/Runner/AppDelegate.swift                |   4 +
 pubspec.lock                                  | 250 +++++++++---------
 pubspec.yaml                                  |   1 -
 test/widgets/app_settings_test.dart           |   7 +-
 18 files changed, 208 insertions(+), 198 deletions(-)

diff --git a/.github/workflows/format-command.yml b/.github/workflows/format-command.yml
index 159463f7..d1205b85 100644
--- a/.github/workflows/format-command.yml
+++ b/.github/workflows/format-command.yml
@@ -36,7 +36,7 @@ jobs:
       - name: Setup flutter
         uses: subosito/flutter-action@v2
         with:
-          flutter-version: 3.24.4
+          flutter-version: 3.27.1
           cache: true
           cache-path: ${{ runner.tool_cache }}/flutter/linux
       
diff --git a/.github/workflows/pathplanner-ci.yaml b/.github/workflows/pathplanner-ci.yaml
index 7eb5f64d..0f504c50 100644
--- a/.github/workflows/pathplanner-ci.yaml
+++ b/.github/workflows/pathplanner-ci.yaml
@@ -14,7 +14,7 @@ on:
         required: true
 
 env:
-  FLUTTER_VERSION: 3.24.4
+  FLUTTER_VERSION: 3.27.1
 
 jobs:
   formatting-analysis:
@@ -34,15 +34,15 @@ jobs:
       
       - name: Get dependencies
         run: flutter pub get
+
+      - name: Check formatting
+        run: dart format -o none --set-exit-if-changed lib/* test/*
       
       - name: Generate mocks
         run: dart run build_runner build
       
       - name: Analyze
         run: flutter analyze
-      
-      - name: Check formatting
-        run: dart format -o none --set-exit-if-changed lib/* test/*
   
   test:
     name: "[GUI] Run Tests"
diff --git a/lib/main.dart b/lib/main.dart
index 30e1b52a..db45efd9 100644
--- a/lib/main.dart
+++ b/lib/main.dart
@@ -3,9 +3,9 @@ import 'dart:io';
 
 import 'package:file/file.dart';
 import 'package:file/local.dart';
-import 'package:flex_seed_scheme/flex_seed_scheme.dart';
 import 'package:flutter/material.dart';
 import 'package:flutter_animate/flutter_animate.dart';
+import 'package:flutter_colorpicker/flutter_colorpicker.dart';
 import 'package:package_info_plus/package_info_plus.dart';
 import 'package:pathplanner/services/log.dart';
 import 'package:pathplanner/services/pplib_telemetry.dart';
@@ -151,11 +151,8 @@ class _PathPlannerState extends State<PathPlanner> {
       title: 'PathPlanner',
       theme: ThemeData(
         useMaterial3: true,
-        colorScheme: SeedColorScheme.fromSeeds(
-          primaryKey: _teamColor,
-          brightness: Brightness.dark,
-          tones: FlexTones.material3Legacy(Brightness.dark),
-        ),
+        colorSchemeSeed: _teamColor,
+        brightness: Brightness.dark,
       ),
       home: HomePage(
         appVersion: widget.appVersion,
@@ -167,7 +164,8 @@ class _PathPlannerState extends State<PathPlanner> {
         onTeamColorChanged: (Color color) {
           setState(() {
             _teamColor = color;
-            widget.prefs.setInt(PrefsKeys.teamColor, _teamColor.value);
+            widget.prefs.setInt(PrefsKeys.teamColor,
+                int.parse(_teamColor.toHexString(), radix: 16));
           });
         },
       ),
diff --git a/lib/pages/home_page.dart b/lib/pages/home_page.dart
index f02a60d7..b6c550c7 100644
--- a/lib/pages/home_page.dart
+++ b/lib/pages/home_page.dart
@@ -342,7 +342,10 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
                 Navigator.pop(this.context);
                 _showSettingsDialog();
               },
-              icon: const Icon(Icons.settings),
+              icon: Icon(
+                Icons.settings,
+                color: colorScheme.onSurface,
+              ),
               label: 'Settings',
               backgroundColor: colorScheme.surfaceContainer,
               foregroundColor: colorScheme.onSurface,
diff --git a/lib/pages/nav_grid_page.dart b/lib/pages/nav_grid_page.dart
index 7a6f51e5..5fd716c1 100644
--- a/lib/pages/nav_grid_page.dart
+++ b/lib/pages/nav_grid_page.dart
@@ -291,7 +291,7 @@ class _NavigationPainter extends CustomPainter {
       ..strokeWidth = 1;
     var fillPaint = Paint()
       ..style = PaintingStyle.fill
-      ..color = Colors.red.withOpacity(0.4);
+      ..color = Colors.red.withAlpha(100);
 
     for (int row = 0; row < grid.length; row++) {
       for (int col = 0; col < grid[row].length; col++) {
diff --git a/lib/pages/project/project_item_card.dart b/lib/pages/project/project_item_card.dart
index 49595926..78712166 100644
--- a/lib/pages/project/project_item_card.dart
+++ b/lib/pages/project/project_item_card.dart
@@ -58,7 +58,7 @@ class _ProjectItemCardState extends State<ProjectItemCard> {
                 flex: 4,
                 child: Container(
                   height: 38,
-                  color: Colors.white.withOpacity(0.05),
+                  color: Colors.white.withAlpha(15),
                   child: Row(
                     children: [
                       const SizedBox(width: 4),
@@ -120,7 +120,7 @@ class _ProjectItemCardState extends State<ProjectItemCard> {
                   flex: 5,
                   child: InkWell(
                     onTap: widget.onOpened,
-                    hoverColor: Colors.white.withOpacity(0.05),
+                    hoverColor: Colors.white.withAlpha(15),
                     child: Row(
                       mainAxisAlignment: MainAxisAlignment.center,
                       children: [
diff --git a/lib/pages/project/project_page.dart b/lib/pages/project/project_page.dart
index 54c5c6eb..d49b1bf5 100644
--- a/lib/pages/project/project_page.dart
+++ b/lib/pages/project/project_page.dart
@@ -282,7 +282,7 @@ class _ProjectPageState extends State<ProjectPage> {
     return Stack(
       children: [
         Container(
-          color: colorScheme.surfaceTint.withOpacity(0.05),
+          color: colorScheme.surfaceTint.withAlpha(15),
           child: MultiSplitViewTheme(
             data: MultiSplitViewThemeData(
               dividerPainter: DividerPainters.grooved1(
@@ -416,7 +416,7 @@ class _ProjectPageState extends State<ProjectPage> {
               child: Stack(
                 children: [
                   Container(
-                    color: colorScheme.surfaceTint.withOpacity(0.1),
+                    color: colorScheme.surfaceTint.withAlpha(30),
                   ),
                   const Center(child: Icon(Icons.edit_note_rounded)),
                 ],
diff --git a/lib/pages/telemetry_page.dart b/lib/pages/telemetry_page.dart
index b8b1af9d..442e83c5 100644
--- a/lib/pages/telemetry_page.dart
+++ b/lib/pages/telemetry_page.dart
@@ -336,7 +336,7 @@ class _TelemetryPageState extends State<TelemetryPage> {
                 legend: Container(
                   padding: const EdgeInsets.all(4),
                   decoration: BoxDecoration(
-                    color: Colors.black.withOpacity(0.6),
+                    color: Colors.black.withAlpha(150),
                     borderRadius: BorderRadius.circular(4),
                   ),
                   child: Row(
@@ -479,11 +479,11 @@ class _TelemetryPageState extends State<TelemetryPage> {
         drawVerticalLine: true,
         drawHorizontalLine: true,
         getDrawingVerticalLine: (value) => FlLine(
-          color: Colors.grey.withOpacity(0.1),
+          color: Colors.grey.withAlpha(25),
           strokeWidth: 0.5,
         ),
         getDrawingHorizontalLine: (value) => FlLine(
-          color: Colors.grey.withOpacity(0.1),
+          color: Colors.grey.withAlpha(25),
           strokeWidth: 0.5,
         ),
       ),
@@ -506,7 +506,7 @@ class _TelemetryPageState extends State<TelemetryPage> {
             }).toList();
           },
           getTooltipColor: (LineBarSpot touchedSpot) {
-            return Colors.black.withOpacity(0.5);
+            return Colors.black.withAlpha(125);
           },
         ),
       ),
@@ -535,8 +535,8 @@ class _TelemetryPageState extends State<TelemetryPage> {
               show: true,
               gradient: LinearGradient(
                 colors: [
-                  lineGradients[i].colors.first.withOpacity(0.3),
-                  lineGradients[i].colors.last.withOpacity(0.0),
+                  lineGradients[i].colors.first.withAlpha(75),
+                  lineGradients[i].colors.last.withAlpha(0),
                 ],
                 begin: Alignment.topCenter,
                 end: Alignment.bottomCenter,
@@ -551,7 +551,7 @@ class _TelemetryPageState extends State<TelemetryPage> {
     return Container(
       padding: const EdgeInsets.all(4),
       decoration: BoxDecoration(
-        color: Colors.black.withOpacity(0.6),
+        color: Colors.black.withAlpha(150),
         borderRadius: BorderRadius.circular(4),
       ),
       child: Row(
@@ -642,7 +642,7 @@ class TelemetryPainter extends CustomPainter {
           bumperOffset,
           scale,
           canvas,
-          Colors.grey[600]!.withOpacity(0.75),
+          Colors.grey[600]!.withAlpha(200),
           colorScheme.surfaceContainer,
           robotFeatures);
     }
diff --git a/lib/util/path_painter_util.dart b/lib/util/path_painter_util.dart
index c44955d4..1a2586f6 100644
--- a/lib/util/path_painter_util.dart
+++ b/lib/util/path_painter_util.dart
@@ -133,7 +133,7 @@ class PathPainterUtil {
       );
       canvas.drawRRect(
         RRect.fromRectAndRadius(bgRect, const Radius.circular(3)),
-        Paint()..color = Colors.black.withOpacity(0.6),
+        Paint()..color = Colors.black.withAlpha(150),
       );
 
       TextPainter outlinePainter = TextPainter(
diff --git a/lib/widgets/editor/path_painter.dart b/lib/widgets/editor/path_painter.dart
index d9942324..ade9550b 100644
--- a/lib/widgets/editor/path_painter.dart
+++ b/lib/widgets/editor/path_painter.dart
@@ -329,7 +329,7 @@ class PathPainter extends CustomPainter {
         robotConfig.bumperOffset,
         scale,
         canvas,
-        color.withOpacity(0.5),
+        color.withAlpha(125),
         colorScheme.surfaceContainer,
         robotFeatures);
   }
@@ -619,7 +619,7 @@ class PathPainter extends CustomPainter {
         robotConfig.bumperOffset,
         scale,
         canvas,
-        Colors.green.withOpacity(0.5),
+        Colors.green.withAlpha(125),
         colorScheme.surfaceContainer,
         robotFeatures);
 
@@ -631,7 +631,7 @@ class PathPainter extends CustomPainter {
         robotConfig.bumperOffset,
         scale,
         canvas,
-        Colors.red.withOpacity(0.5),
+        Colors.red.withAlpha(125),
         colorScheme.surfaceContainer,
         robotFeatures);
   }
@@ -832,7 +832,7 @@ class PathPainter extends CustomPainter {
     if (!showGrid) return;
 
     final paint = Paint()
-      ..color = colorScheme.secondary.withOpacity(0.2) // More transparent
+      ..color = colorScheme.secondary.withAlpha(50) // More transparent
       ..strokeWidth = 1;
 
     double gridSpacing = PathPainterUtil.metersToPixels(0.5, scale, fieldImage);
diff --git a/lib/widgets/editor/tree_widgets/path_optimization_tree.dart b/lib/widgets/editor/tree_widgets/path_optimization_tree.dart
index 4b89794a..64731c83 100644
--- a/lib/widgets/editor/tree_widgets/path_optimization_tree.dart
+++ b/lib/widgets/editor/tree_widgets/path_optimization_tree.dart
@@ -88,7 +88,10 @@ class _PathOptimizationTreeState extends State<PathOptimizationTree> {
             const SizedBox(width: 8),
             Expanded(
               child: ElevatedButton.icon(
-                icon: const Icon(Icons.close),
+                icon: Icon(
+                  Icons.close,
+                  color: colorScheme.onErrorContainer,
+                ),
                 label: const Text('Discard'),
                 style: ElevatedButton.styleFrom(
                   backgroundColor: colorScheme.errorContainer,
@@ -106,7 +109,10 @@ class _PathOptimizationTreeState extends State<PathOptimizationTree> {
             const SizedBox(width: 8),
             Expanded(
               child: ElevatedButton.icon(
-                icon: const Icon(Icons.check),
+                icon: Icon(
+                  Icons.check,
+                  color: colorScheme.onSecondaryContainer,
+                ),
                 label: const Text('Accept'),
                 style: ElevatedButton.styleFrom(
                   backgroundColor: Colors.green[700],
diff --git a/lib/widgets/error_popup.dart b/lib/widgets/error_popup.dart
index f79a965a..1a824021 100644
--- a/lib/widgets/error_popup.dart
+++ b/lib/widgets/error_popup.dart
@@ -1,4 +1,3 @@
-import 'package:flex_seed_scheme/flex_seed_scheme.dart';
 import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 import 'package:pathplanner/util/prefs.dart';
@@ -26,17 +25,12 @@ class ErrorPopup extends StatelessWidget {
 
   @override
   Widget build(BuildContext context) {
-    ColorScheme colorScheme = SeedColorScheme.fromSeeds(
-      primaryKey: _teamColor,
-      brightness: Brightness.dark,
-      tones: FlexTones.material3Legacy(Brightness.dark),
-    );
-
     return MaterialApp(
       title: 'Error',
       theme: ThemeData(
         useMaterial3: true,
-        colorScheme: colorScheme,
+        brightness: Brightness.dark,
+        colorSchemeSeed: _teamColor,
       ),
       home: Scaffold(
         body: Center(
@@ -59,33 +53,39 @@ class ErrorPopup extends StatelessWidget {
                 ),
               ),
               const SizedBox(height: 24),
-              ElevatedButton.icon(
-                icon: const Icon(Icons.copy),
-                label: const Text('Copy Stack Trace'),
-                style: ElevatedButton.styleFrom(
-                  backgroundColor: colorScheme.surface,
-                  surfaceTintColor: colorScheme.surfaceTint,
-                  foregroundColor: colorScheme.primary,
-                ),
-                onPressed: () => Clipboard.setData(
-                    ClipboardData(text: stackTrace.toString())),
-              ),
+              Builder(builder: (context) {
+                ColorScheme colorScheme = Theme.of(context).colorScheme;
+                return ElevatedButton.icon(
+                  icon: const Icon(Icons.copy),
+                  label: const Text('Copy Stack Trace'),
+                  style: ElevatedButton.styleFrom(
+                    backgroundColor: colorScheme.surface,
+                    surfaceTintColor: colorScheme.surfaceTint,
+                    foregroundColor: colorScheme.primary,
+                  ),
+                  onPressed: () => Clipboard.setData(
+                      ClipboardData(text: stackTrace.toString())),
+                );
+              }),
               const SizedBox(height: 8),
-              ElevatedButton.icon(
-                icon: const Icon(Icons.report),
-                label: const Text('Report Issue'),
-                style: ElevatedButton.styleFrom(
-                  backgroundColor: colorScheme.surface,
-                  surfaceTintColor: colorScheme.surfaceTint,
-                  foregroundColor: colorScheme.error,
-                ),
-                onPressed: () async {
-                  Uri url = Uri.parse(_reportURL);
-                  if (await canLaunchUrl(url)) {
-                    launchUrl(url);
-                  }
-                },
-              ),
+              Builder(builder: (context) {
+                ColorScheme colorScheme = Theme.of(context).colorScheme;
+                return ElevatedButton.icon(
+                  icon: const Icon(Icons.report),
+                  label: const Text('Report Issue'),
+                  style: ElevatedButton.styleFrom(
+                    backgroundColor: colorScheme.surface,
+                    surfaceTintColor: colorScheme.surfaceTint,
+                    foregroundColor: colorScheme.error,
+                  ),
+                  onPressed: () async {
+                    Uri url = Uri.parse(_reportURL);
+                    if (await canLaunchUrl(url)) {
+                      launchUrl(url);
+                    }
+                  },
+                );
+              }),
             ],
           ),
         ),
diff --git a/lib/widgets/field_image.dart b/lib/widgets/field_image.dart
index ba6ff8f0..3c6e1887 100644
--- a/lib/widgets/field_image.dart
+++ b/lib/widgets/field_image.dart
@@ -55,7 +55,6 @@ class FieldImage {
         name = 'Charged Up';
         break;
       case OfficialField.crescendo:
-      default:
         image = Image.asset(
           'images/field24.png',
           fit: BoxFit.contain,
diff --git a/lib/widgets/keyboard_shortcuts.dart b/lib/widgets/keyboard_shortcuts.dart
index d696bc49..8cbe8ed3 100644
--- a/lib/widgets/keyboard_shortcuts.dart
+++ b/lib/widgets/keyboard_shortcuts.dart
@@ -139,7 +139,5 @@ Set<LogicalKeyboardKey> shortCut(BasicShortCuts basicShortCuts) {
       return {LogicalKeyboardKey.controlLeft, LogicalKeyboardKey.arrowRight};
     case BasicShortCuts.save:
       return {LogicalKeyboardKey.controlLeft, LogicalKeyboardKey.keyS};
-    default:
-      return {};
   }
 }
diff --git a/macos/Runner/AppDelegate.swift b/macos/Runner/AppDelegate.swift
index 8e02df28..b3c17614 100644
--- a/macos/Runner/AppDelegate.swift
+++ b/macos/Runner/AppDelegate.swift
@@ -6,4 +6,8 @@ class AppDelegate: FlutterAppDelegate {
   override func applicationShouldTerminateAfterLastWindowClosed(_ sender: NSApplication) -> Bool {
     return true
   }
+
+  override func applicationSupportsSecureRestorableState(_ app: NSApplication) -> Bool {
+    return true
+  }
 }
diff --git a/pubspec.lock b/pubspec.lock
index 6ffe1867..0a6ffcbd 100644
--- a/pubspec.lock
+++ b/pubspec.lock
@@ -5,31 +5,31 @@ packages:
     dependency: transitive
     description:
       name: _fe_analyzer_shared
-      sha256: f256b0c0ba6c7577c15e2e4e114755640a875e885099367bf6e012b19314c834
+      sha256: "16e298750b6d0af7ce8a3ba7c18c69c3785d11b15ec83f6dcd0ad2a0009b3cab"
       url: "https://pub.dev"
     source: hosted
-    version: "72.0.0"
+    version: "76.0.0"
   _macros:
     dependency: transitive
     description: dart
     source: sdk
-    version: "0.3.2"
+    version: "0.3.3"
   analyzer:
     dependency: transitive
     description:
       name: analyzer
-      sha256: b652861553cd3990d8ed361f7979dc6d7053a9ac8843fa73820ab68ce5410139
+      sha256: "1f14db053a8c23e260789e9b0980fa27f2680dd640932cae5e1137cce0e46e1e"
       url: "https://pub.dev"
     source: hosted
-    version: "6.7.0"
+    version: "6.11.0"
   archive:
     dependency: transitive
     description:
       name: archive
-      sha256: cb6a278ef2dbb298455e1a713bda08524a175630ec643a242c399c932a0a1f7d
+      sha256: "6199c74e3db4fbfbd04f66d739e72fe11c8a8957d5f219f1f4482dbde6420b5a"
       url: "https://pub.dev"
     source: hosted
-    version: "3.6.1"
+    version: "4.0.2"
   args:
     dependency: transitive
     description:
@@ -58,50 +58,50 @@ packages:
     dependency: transitive
     description:
       name: build
-      sha256: "80184af8b6cb3e5c1c4ec6d8544d27711700bc3e6d2efad04238c7b5290889f0"
+      sha256: cef23f1eda9b57566c81e2133d196f8e3df48f244b317368d65c5943d91148f0
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.1"
+    version: "2.4.2"
   build_config:
     dependency: transitive
     description:
       name: build_config
-      sha256: bf80fcfb46a29945b423bd9aad884590fb1dc69b330a4d4700cac476af1708d1
+      sha256: "4ae2de3e1e67ea270081eaee972e1bd8f027d459f249e0f1186730784c2e7e33"
       url: "https://pub.dev"
     source: hosted
-    version: "1.1.1"
+    version: "1.1.2"
   build_daemon:
     dependency: transitive
     description:
       name: build_daemon
-      sha256: "79b2aef6ac2ed00046867ed354c88778c9c0f029df8a20fe10b5436826721ef9"
+      sha256: "294a2edaf4814a378725bfe6358210196f5ea37af89ecd81bfa32960113d4948"
       url: "https://pub.dev"
     source: hosted
-    version: "4.0.2"
+    version: "4.0.3"
   build_resolvers:
     dependency: transitive
     description:
       name: build_resolvers
-      sha256: "339086358431fa15d7eca8b6a36e5d783728cf025e559b834f4609a1fcfb7b0a"
+      sha256: "99d3980049739a985cf9b21f30881f46db3ebc62c5b8d5e60e27440876b1ba1e"
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.2"
+    version: "2.4.3"
   build_runner:
     dependency: "direct dev"
     description:
       name: build_runner
-      sha256: "028819cfb90051c6b5440c7e574d1896f8037e3c96cf17aaeb054c9311cfbf4d"
+      sha256: "74691599a5bc750dc96a6b4bfd48f7d9d66453eab04c7f4063134800d6a5c573"
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.13"
+    version: "2.4.14"
   build_runner_core:
     dependency: transitive
     description:
       name: build_runner_core
-      sha256: f8126682b87a7282a339b871298cc12009cb67109cfa1614d6436fb0289193e0
+      sha256: "22e3aa1c80e0ada3722fe5b63fd43d9c8990759d0a2cf489c8c5d7b2bdebc021"
       url: "https://pub.dev"
     source: hosted
-    version: "7.3.2"
+    version: "8.0.0"
   built_collection:
     dependency: transitive
     description:
@@ -114,18 +114,18 @@ packages:
     dependency: transitive
     description:
       name: built_value
-      sha256: c7913a9737ee4007efedaffc968c049fd0f3d0e49109e778edc10de9426005cb
+      sha256: "28a712df2576b63c6c005c465989a348604960c0958d28be5303ba9baa841ac2"
       url: "https://pub.dev"
     source: hosted
-    version: "8.9.2"
+    version: "8.9.3"
   change:
     dependency: transitive
     description:
       name: change
-      sha256: "65db7f966dc7e786687f49900a94c5f08b0eb9ca8c4a3e7eed3a55e980b455e2"
+      sha256: "3bda1ce98526b21927cdea05688563c7065fd7e66d1abbe176c354fef3b2057b"
       url: "https://pub.dev"
     source: hosted
-    version: "0.7.4"
+    version: "0.7.5"
   characters:
     dependency: transitive
     description:
@@ -178,10 +178,10 @@ packages:
     dependency: "direct main"
     description:
       name: collection
-      sha256: ee67cb0715911d28db6bf4af1026078bd6f0128b07a5f66fb2ed94ec6783c09a
+      sha256: a1ace0a119f20aabc852d165077c036cd864315bd99b7eaa10a60100341941bf
       url: "https://pub.dev"
     source: hosted
-    version: "1.18.0"
+    version: "1.19.0"
   console:
     dependency: transitive
     description:
@@ -226,10 +226,10 @@ packages:
     dependency: transitive
     description:
       name: dart_style
-      sha256: "7856d364b589d1f08986e140938578ed36ed948581fbc3bc9aef1805039ac5ab"
+      sha256: "27eb0ae77836989a3bc541ce55595e8ceee0992807f14511552a898ddd0d88ac"
       url: "https://pub.dev"
     source: hosted
-    version: "2.3.7"
+    version: "3.0.1"
   dio:
     dependency: transitive
     description:
@@ -258,10 +258,10 @@ packages:
     dependency: transitive
     description:
       name: equatable
-      sha256: c2b87cb7756efdf69892005af546c56c0b5037f54d2a88269b4f347a505e3ca2
+      sha256: "567c64b3cb4cf82397aac55f4f0cbd3ca20d77c6c03bedbc4ceaddc08904aef7"
       url: "https://pub.dev"
     source: hosted
-    version: "2.0.5"
+    version: "2.0.7"
   fake_async:
     dependency: transitive
     description:
@@ -298,10 +298,10 @@ packages:
     dependency: transitive
     description:
       name: file_selector_android
-      sha256: ec439df07c4999faad319ce8ad9e971795c2f1d7132ad5a793b9370a863c6128
+      sha256: "98ac58e878b05ea2fdb204e7f4fc4978d90406c9881874f901428e01d3b18fbc"
       url: "https://pub.dev"
     source: hosted
-    version: "0.5.1+10"
+    version: "0.5.1+12"
   file_selector_ios:
     dependency: transitive
     description:
@@ -314,10 +314,10 @@ packages:
     dependency: transitive
     description:
       name: file_selector_linux
-      sha256: "712ce7fab537ba532c8febdb1a8f167b32441e74acd68c3ccb2e36dcb52c4ab2"
+      sha256: "54cbbd957e1156d29548c7d9b9ec0c0ebb6de0a90452198683a7d23aed617a33"
       url: "https://pub.dev"
     source: hosted
-    version: "0.9.3"
+    version: "0.9.3+2"
   file_selector_macos:
     dependency: transitive
     description:
@@ -362,18 +362,10 @@ packages:
     dependency: "direct main"
     description:
       name: fl_chart
-      sha256: "94307bef3a324a0d329d3ab77b2f0c6e5ed739185ffc029ed28c0f9b019ea7ef"
-      url: "https://pub.dev"
-    source: hosted
-    version: "0.69.0"
-  flex_seed_scheme:
-    dependency: "direct main"
-    description:
-      name: flex_seed_scheme
-      sha256: "7639d2c86268eff84a909026eb169f008064af0fb3696a651b24b0fa24a40334"
+      sha256: "74959b99b92b9eebeed1a4049426fd67c4abc3c5a0f4d12e2877097d6a11ae08"
       url: "https://pub.dev"
     source: hosted
-    version: "3.4.1"
+    version: "0.69.2"
   flutter:
     dependency: "direct main"
     description: flutter
@@ -383,10 +375,10 @@ packages:
     dependency: "direct main"
     description:
       name: flutter_animate
-      sha256: "7c8a6594a9252dad30cc2ef16e33270b6248c4dedc3b3d06c86c4f3f4dc05ae5"
+      sha256: "7befe2d3252728afb77aecaaea1dec88a89d35b9b1d2eea6d04479e8af9117b5"
       url: "https://pub.dev"
     source: hosted
-    version: "4.5.0"
+    version: "4.5.2"
   flutter_colorpicker:
     dependency: "direct main"
     description:
@@ -497,26 +489,26 @@ packages:
     dependency: transitive
     description:
       name: http_multi_server
-      sha256: "97486f20f9c2f7be8f514851703d0119c3596d14ea63227af6f7a481ef2b2f8b"
+      sha256: aa6199f908078bb1c5efb8d8638d4ae191aac11b311132c3ef48ce352fb52ef8
       url: "https://pub.dev"
     source: hosted
-    version: "3.2.1"
+    version: "3.2.2"
   http_parser:
     dependency: transitive
     description:
       name: http_parser
-      sha256: "2aa08ce0341cc9b354a498388e30986515406668dbcc4f7c950c3e715496693b"
+      sha256: "76d306a1c3afb33fe82e2bbacad62a61f409b5634c915fceb0d799de1a913360"
       url: "https://pub.dev"
     source: hosted
-    version: "4.0.2"
+    version: "4.1.1"
   image:
     dependency: "direct main"
     description:
       name: image
-      sha256: f31d52537dc417fdcde36088fdf11d191026fd5e4fae742491ebd40e5a8bea7d
+      sha256: "8346ad4b5173924b5ddddab782fc7d8a6300178c8b1dc427775405a01701c4a6"
       url: "https://pub.dev"
     source: hosted
-    version: "4.3.0"
+    version: "4.5.2"
   image_size_getter:
     dependency: "direct main"
     description:
@@ -529,26 +521,26 @@ packages:
     dependency: transitive
     description:
       name: intl
-      sha256: d6f56758b7d3014a48af9701c085700aac781a92a87a62b1333b46d8879661cf
+      sha256: "99f282cb0e02edcbbf8c6b3bbc7c90b65635156c412e58f3975a7e55284ce685"
       url: "https://pub.dev"
     source: hosted
-    version: "0.19.0"
+    version: "0.20.0"
   io:
     dependency: transitive
     description:
       name: io
-      sha256: "2ec25704aba361659e10e3e5f5d672068d332fc8ac516421d483a11e5cbd061e"
+      sha256: dfd5a80599cf0165756e3181807ed3e77daf6dd4137caaad72d0b7931597650b
       url: "https://pub.dev"
     source: hosted
-    version: "1.0.4"
+    version: "1.0.5"
   isolate_manager:
     dependency: "direct main"
     description:
       name: isolate_manager
-      sha256: b68052d4b2b8f3ce859c5fdc233ad05aabcad9737621aba4c9723082d53f4fd0
+      sha256: "67ff98e20164660edc624438ed0c9f99f81f6350c9616d793615f7452370e19d"
       url: "https://pub.dev"
     source: hosted
-    version: "5.6.1"
+    version: "5.7.1"
   js:
     dependency: transitive
     description:
@@ -569,18 +561,18 @@ packages:
     dependency: transitive
     description:
       name: leak_tracker
-      sha256: "3f87a60e8c63aecc975dda1ceedbc8f24de75f09e4856ea27daf8958f2f0ce05"
+      sha256: "7bb2830ebd849694d1ec25bf1f44582d6ac531a57a365a803a6034ff751d2d06"
       url: "https://pub.dev"
     source: hosted
-    version: "10.0.5"
+    version: "10.0.7"
   leak_tracker_flutter_testing:
     dependency: transitive
     description:
       name: leak_tracker_flutter_testing
-      sha256: "932549fb305594d82d7183ecd9fa93463e9914e1b67cacc34bc40906594a1806"
+      sha256: "9491a714cca3667b60b5c420da8217e6de0d1ba7a5ec322fab01758f6998f379"
       url: "https://pub.dev"
     source: hosted
-    version: "3.0.5"
+    version: "3.0.8"
   leak_tracker_testing:
     dependency: transitive
     description:
@@ -593,18 +585,18 @@ packages:
     dependency: transitive
     description:
       name: lints
-      sha256: "3315600f3fb3b135be672bf4a178c55f274bebe368325ae18462c89ac1e3b413"
+      sha256: c35bb79562d980e9a453fc715854e1ed39e24e7d0297a880ef54e17f9874a9d7
       url: "https://pub.dev"
     source: hosted
-    version: "5.0.0"
+    version: "5.1.1"
   logger:
     dependency: "direct main"
     description:
       name: logger
-      sha256: "697d067c60c20999686a0add96cf6aba723b3aa1f83ecf806a8097231529ec32"
+      sha256: be4b23575aac7ebf01f225a241eb7f6b5641eeaf43c6a8613510fc2f8cf187d1
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.0"
+    version: "2.5.0"
   logging:
     dependency: transitive
     description:
@@ -633,10 +625,10 @@ packages:
     dependency: transitive
     description:
       name: macros
-      sha256: "0acaed5d6b7eab89f63350bccd82119e6c602df0f391260d0e32b5e23db79536"
+      sha256: "1d9e801cd66f7ea3663c45fc708450db1fa57f988142c64289142c9b7ee80656"
       url: "https://pub.dev"
     source: hosted
-    version: "0.1.2-main.4"
+    version: "0.1.3-main.0"
   markdown:
     dependency: transitive
     description:
@@ -705,10 +697,10 @@ packages:
     dependency: "direct dev"
     description:
       name: mockito
-      sha256: "6841eed20a7befac0ce07df8116c8b8233ed1f4486a7647c7fc5a02ae6163917"
+      sha256: f99d8d072e249f719a5531735d146d8cf04c580d93920b04de75bef6dfb2daf6
       url: "https://pub.dev"
     source: hosted
-    version: "5.4.4"
+    version: "5.4.5"
   msgpack_dart:
     dependency: transitive
     description:
@@ -745,26 +737,26 @@ packages:
     dependency: transitive
     description:
       name: package_config
-      sha256: "1c5b77ccc91e4823a5af61ee74e6b972db1ef98c2ff5a18d3161c982a55448bd"
+      sha256: "92d4488434b520a62570293fbd33bb556c7d49230791c1b4bbd973baf6d2dc67"
       url: "https://pub.dev"
     source: hosted
-    version: "2.1.0"
+    version: "2.1.1"
   package_info_plus:
     dependency: "direct main"
     description:
       name: package_info_plus
-      sha256: da8d9ac8c4b1df253d1a328b7bf01ae77ef132833479ab40763334db13b91cce
+      sha256: "70c421fe9d9cc1a9a7f3b05ae56befd469fe4f8daa3b484823141a55442d858d"
       url: "https://pub.dev"
     source: hosted
-    version: "8.1.1"
+    version: "8.1.2"
   package_info_plus_platform_interface:
     dependency: transitive
     description:
       name: package_info_plus_platform_interface
-      sha256: ac1f4a4847f1ade8e6a87d1f39f5d7c67490738642e2542f559ec38c37489a66
+      sha256: a5ef9986efc7bf772f2696183a3992615baa76c1ffb1189318dd8803778fb05b
       url: "https://pub.dev"
     source: hosted
-    version: "3.0.1"
+    version: "3.0.2"
   path:
     dependency: "direct main"
     description:
@@ -785,18 +777,18 @@ packages:
     dependency: transitive
     description:
       name: path_provider_android
-      sha256: c464428172cb986b758c6d1724c603097febb8fb855aa265aeecc9280c294d4a
+      sha256: "4adf4fd5423ec60a29506c76581bc05854c55e3a0b72d35bb28d661c9686edf2"
       url: "https://pub.dev"
     source: hosted
-    version: "2.2.12"
+    version: "2.2.15"
   path_provider_foundation:
     dependency: transitive
     description:
       name: path_provider_foundation
-      sha256: f234384a3fdd67f989b4d54a5d73ca2a6c422fa55ae694381ae0f4375cd1ea16
+      sha256: "4843174df4d288f5e29185bd6e72a6fbdf5a4a4602717eed565497429f179942"
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.0"
+    version: "2.4.1"
   path_provider_linux:
     dependency: transitive
     description:
@@ -853,22 +845,30 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.5.1"
+  posix:
+    dependency: transitive
+    description:
+      name: posix
+      sha256: a0117dc2167805aa9125b82eee515cc891819bac2f538c83646d355b16f58b9a
+      url: "https://pub.dev"
+    source: hosted
+    version: "6.0.1"
   pub_semver:
     dependency: transitive
     description:
       name: pub_semver
-      sha256: "40d3ab1bbd474c4c2328c91e3a7df8c6dd629b79ece4c4bd04bee496a224fb0c"
+      sha256: "7b3cfbf654f3edd0c6298ecd5be782ce997ddf0e00531b9464b55245185bbbbd"
       url: "https://pub.dev"
     source: hosted
-    version: "2.1.4"
+    version: "2.1.5"
   pubspec_parse:
     dependency: transitive
     description:
       name: pubspec_parse
-      sha256: c799b721d79eb6ee6fa56f00c04b472dcd44a30d258fac2174a6ec57302678f8
+      sha256: "81876843eb50dc2e1e5b151792c9a985c5ed2536914115ed04e9c8528f6647b0"
       url: "https://pub.dev"
     source: hosted
-    version: "1.3.0"
+    version: "1.4.0"
   rfc_6901:
     dependency: transitive
     description:
@@ -929,26 +929,26 @@ packages:
     dependency: "direct main"
     description:
       name: shared_preferences
-      sha256: "746e5369a43170c25816cc472ee016d3a66bc13fcf430c0bc41ad7b4b2922051"
+      sha256: "3c7e73920c694a436afaf65ab60ce3453d91f84208d761fbd83fc21182134d93"
       url: "https://pub.dev"
     source: hosted
-    version: "2.3.2"
+    version: "2.3.4"
   shared_preferences_android:
     dependency: transitive
     description:
       name: shared_preferences_android
-      sha256: "3b9febd815c9ca29c9e3520d50ec32f49157711e143b7a4ca039eb87e8ade5ab"
+      sha256: "02a7d8a9ef346c9af715811b01fbd8e27845ad2c41148eefd31321471b41863d"
       url: "https://pub.dev"
     source: hosted
-    version: "2.3.3"
+    version: "2.4.0"
   shared_preferences_foundation:
     dependency: transitive
     description:
       name: shared_preferences_foundation
-      sha256: "07e050c7cd39bad516f8d64c455f04508d09df104be326d8c02551590a0d513d"
+      sha256: "6a52cfcdaeac77cad8c97b539ff688ccfc458c007b4db12be584fbe5c0e49e03"
       url: "https://pub.dev"
     source: hosted
-    version: "2.5.3"
+    version: "2.5.4"
   shared_preferences_linux:
     dependency: transitive
     description:
@@ -985,31 +985,31 @@ packages:
     dependency: transitive
     description:
       name: shelf
-      sha256: ad29c505aee705f41a4d8963641f91ac4cee3c8fad5947e033390a7bd8180fa4
+      sha256: e7dd780a7ffb623c57850b33f43309312fc863fb6aa3d276a754bb299839ef12
       url: "https://pub.dev"
     source: hosted
-    version: "1.4.1"
+    version: "1.4.2"
   shelf_web_socket:
     dependency: transitive
     description:
       name: shelf_web_socket
-      sha256: "073c147238594ecd0d193f3456a5fe91c4b0abbcc68bf5cd95b36c4e194ac611"
+      sha256: cc36c297b52866d203dbf9332263c94becc2fe0ceaa9681d07b6ef9807023b67
       url: "https://pub.dev"
     source: hosted
-    version: "2.0.0"
+    version: "2.0.1"
   sky_engine:
     dependency: transitive
     description: flutter
     source: sdk
-    version: "0.0.99"
+    version: "0.0.0"
   source_gen:
     dependency: transitive
     description:
       name: source_gen
-      sha256: "14658ba5f669685cd3d63701d01b31ea748310f7ab854e471962670abcf57832"
+      sha256: "35c8150ece9e8c8d263337a265153c3329667640850b9304861faea59fc98f6b"
       url: "https://pub.dev"
     source: hosted
-    version: "1.5.0"
+    version: "2.0.0"
   source_span:
     dependency: transitive
     description:
@@ -1022,10 +1022,10 @@ packages:
     dependency: transitive
     description:
       name: stack_trace
-      sha256: "73713990125a6d93122541237550ee3352a2d84baad52d375a4cad2eb9b7ce0b"
+      sha256: "9f47fd3630d76be3ab26f0ee06d213679aa425996925ff3feffdec504931c377"
       url: "https://pub.dev"
     source: hosted
-    version: "1.11.1"
+    version: "1.12.0"
   stream_channel:
     dependency: transitive
     description:
@@ -1038,18 +1038,18 @@ packages:
     dependency: transitive
     description:
       name: stream_transform
-      sha256: "14a00e794c7c11aa145a170587321aedce29769c08d7f58b1d141da75e3b1c6f"
+      sha256: ad47125e588cfd37a9a7f86c7d6356dde8dfe89d071d293f80ca9e9273a33871
       url: "https://pub.dev"
     source: hosted
-    version: "2.1.0"
+    version: "2.1.1"
   string_scanner:
     dependency: transitive
     description:
       name: string_scanner
-      sha256: "556692adab6cfa87322a115640c11f13cb77b3f076ddcc5d6ae3c20242bedcde"
+      sha256: "688af5ed3402a4bde5b3a6c15fd768dbf2621a614950b17f04626c431ab3c4c3"
       url: "https://pub.dev"
     source: hosted
-    version: "1.2.0"
+    version: "1.3.0"
   term_glyph:
     dependency: transitive
     description:
@@ -1062,18 +1062,18 @@ packages:
     dependency: transitive
     description:
       name: test_api
-      sha256: "5b8a98dafc4d5c4c9c72d8b31ab2b23fc13422348d2997120294d3bac86b4ddb"
+      sha256: "664d3a9a64782fcdeb83ce9c6b39e78fd2971d4e37827b9b06c3aa1edc5e760c"
       url: "https://pub.dev"
     source: hosted
-    version: "0.7.2"
+    version: "0.7.3"
   timing:
     dependency: transitive
     description:
       name: timing
-      sha256: "70a3b636575d4163c477e6de42f247a23b315ae20e86442bebe32d3cabf61c32"
+      sha256: "62ee18aca144e4a9f29d212f5a4c6a053be252b895ab14b5821996cff4ed90fe"
       url: "https://pub.dev"
     source: hosted
-    version: "1.0.1"
+    version: "1.0.2"
   typed_data:
     dependency: transitive
     description:
@@ -1110,26 +1110,26 @@ packages:
     dependency: transitive
     description:
       name: url_launcher_ios
-      sha256: e43b677296fadce447e987a2f519dcf5f6d1e527dc35d01ffab4fff5b8a7063e
+      sha256: "16a513b6c12bb419304e72ea0ae2ab4fed569920d1c7cb850263fe3acc824626"
       url: "https://pub.dev"
     source: hosted
-    version: "6.3.1"
+    version: "6.3.2"
   url_launcher_linux:
     dependency: transitive
     description:
       name: url_launcher_linux
-      sha256: e2b9622b4007f97f504cd64c0128309dfb978ae66adbe944125ed9e1750f06af
+      sha256: "4e9ba368772369e3e08f231d2301b4ef72b9ff87c31192ef471b380ef29a4935"
       url: "https://pub.dev"
     source: hosted
-    version: "3.2.0"
+    version: "3.2.1"
   url_launcher_macos:
     dependency: transitive
     description:
       name: url_launcher_macos
-      sha256: "769549c999acdb42b8bcfa7c43d72bf79a382ca7441ab18a808e101149daf672"
+      sha256: "17ba2000b847f334f16626a574c702b196723af2a289e7a93ffcb79acff855c2"
       url: "https://pub.dev"
     source: hosted
-    version: "3.2.1"
+    version: "3.2.2"
   url_launcher_platform_interface:
     dependency: transitive
     description:
@@ -1190,34 +1190,34 @@ packages:
     dependency: transitive
     description:
       name: vm_service
-      sha256: "5c5f338a667b4c644744b661f309fb8080bb94b18a7e91ef1dbd343bed00ed6d"
+      sha256: f6be3ed8bd01289b34d679c2b62226f63c0e69f9fd2e50a6b3c1c729a961041b
       url: "https://pub.dev"
     source: hosted
-    version: "14.2.5"
+    version: "14.3.0"
   watcher:
     dependency: "direct main"
     description:
       name: watcher
-      sha256: "3d2ad6751b3c16cf07c7fca317a1413b3f26530319181b37e3b9039b84fc01d8"
+      sha256: "69da27e49efa56a15f8afe8f4438c4ec02eff0a117df1b22ea4aad194fe1c104"
       url: "https://pub.dev"
     source: hosted
-    version: "1.1.0"
+    version: "1.1.1"
   web:
     dependency: transitive
     description:
       name: web
-      sha256: cd3543bd5798f6ad290ea73d210f423502e71900302dde696f8bff84bf89a1cb
+      sha256: "97da13628db363c635202ad97068d47c5b8aa555808e7a9411963c533b449b27"
       url: "https://pub.dev"
     source: hosted
-    version: "1.1.0"
+    version: "0.5.1"
   web_socket_channel:
     dependency: transitive
     description:
       name: web_socket_channel
-      sha256: d88238e5eac9a42bb43ca4e721edba3c08c6354d4a53063afaa568516217621b
+      sha256: "58c6666b342a38816b2e7e50ed0f1e261959630becd4c879c4f26bfa14aa5a42"
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.0"
+    version: "2.4.5"
   widgets_to_image:
     dependency: "direct main"
     description:
@@ -1230,10 +1230,10 @@ packages:
     dependency: transitive
     description:
       name: win32
-      sha256: "84ba388638ed7a8cb3445a320c8273136ab2631cd5f2c57888335504ddab1bc2"
+      sha256: "8b338d4486ab3fbc0ba0db9f9b4f5239b6697fcee427939a40e720cbb9ee0a69"
       url: "https://pub.dev"
     source: hosted
-    version: "5.8.0"
+    version: "5.9.0"
   window_manager:
     dependency: "direct main"
     description:
@@ -1262,10 +1262,10 @@ packages:
     dependency: transitive
     description:
       name: yaml
-      sha256: "75769501ea3489fca56601ff33454fe45507ea3bfb014161abc3b43ae25989d5"
+      sha256: b9da305ac7c39faa3f030eccd175340f968459dae4af175130b3fc47e40d76ce
       url: "https://pub.dev"
     source: hosted
-    version: "3.1.2"
+    version: "3.1.3"
 sdks:
-  dart: ">=3.5.0 <4.0.0"
+  dart: ">=3.6.0 <4.0.0"
   flutter: ">=3.24.0"
diff --git a/pubspec.yaml b/pubspec.yaml
index d14b178a..ae5a3d96 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -55,7 +55,6 @@ dependencies:
   matrices: ^1.2.7
   scidart: ^0.0.2-dev.12
   dropdown_button2: ^2.3.9
-  flex_seed_scheme: ^3.4.1
   isolate_manager: ^5.4.0
   widgets_to_image: ^1.0.0
   image: ^4.3.0
diff --git a/test/widgets/app_settings_test.dart b/test/widgets/app_settings_test.dart
index bb7498e8..759db125 100644
--- a/test/widgets/app_settings_test.dart
+++ b/test/widgets/app_settings_test.dart
@@ -1,4 +1,5 @@
 import 'package:flutter/material.dart';
+import 'package:flutter_colorpicker/flutter_colorpicker.dart';
 import 'package:flutter_test/flutter_test.dart';
 import 'package:pathplanner/util/prefs.dart';
 import 'package:pathplanner/widgets/app_settings.dart';
@@ -18,7 +19,8 @@ void main() {
     SharedPreferences.setMockInitialValues({
       PrefsKeys.holonomicMode: true,
       PrefsKeys.hotReloadEnabled: true,
-      PrefsKeys.teamColor: Colors.black.value,
+      PrefsKeys.teamColor: int.parse(Colors.black.toHexString(),
+          radix: 16), // deprecating 'value' is so dumb
       PrefsKeys.ntServerAddress: '10.30.15.2',
       PrefsKeys.defaultMaxVel: 1.0,
       PrefsKeys.defaultMaxAccel: 2.0,
@@ -256,7 +258,8 @@ void main() {
     await widgetTester.tap(resetButton);
     await widgetTester.pumpAndSettle();
 
-    expect(teamColor.value, Defaults.teamColor);
+    expect(int.parse(teamColor.toHexString(), radix: 16),
+        Defaults.teamColor); // deprecating 'value' is so dumb
   });
 
   testWidgets('telemetry host text field', (widgetTester) async {

From a57174e0f822ac663969761c9ce17126fe0b8d10 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Mon, 30 Dec 2024 12:34:38 -0500
Subject: [PATCH 16/52] Re-add null constraints check to precalcValues (#955)

---
 pathplannerlib-python/pathplannerlib/path.py                 | 4 ++++
 .../main/java/com/pathplanner/lib/path/PathPlannerPath.java  | 5 +++++
 2 files changed, 9 insertions(+)

diff --git a/pathplannerlib-python/pathplannerlib/path.py b/pathplannerlib-python/pathplannerlib/path.py
index 8e748d3c..cf4db595 100644
--- a/pathplannerlib-python/pathplannerlib/path.py
+++ b/pathplannerlib-python/pathplannerlib/path.py
@@ -1143,6 +1143,10 @@ def _precalcValues(self) -> None:
         if self.numPoints() > 0:
             for i in range(self.numPoints()):
                 point = self.getPoint(i)
+
+                if point.constraints is None:
+                    point.constraints = self._globalConstraints
+
                 curveRadius = self._getCurveRadiusAtPoint(i)
 
                 if math.isfinite(curveRadius):
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
index bb8d978e..b4ec9d32 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
@@ -969,6 +969,11 @@ private void precalcValues() {
     if (numPoints() > 0) {
       for (int i = 0; i < allPoints.size(); i++) {
         PathPoint point = allPoints.get(i);
+
+        if (point.constraints == null) {
+          point.constraints = globalConstraints;
+        }
+
         double curveRadius = getCurveRadiusAtPoint(i, allPoints);
 
         if (Double.isFinite(curveRadius)) {

From 4066ffe2c7f30bd4b8c41fcbd349122bc5fdcb4b Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Mon, 30 Dec 2024 16:51:19 -0500
Subject: [PATCH 17/52] Generate joining path for PathfindThenFollowPath
 commands (#956)

---
 lib/trajectory/trajectory.dart                | 38 ++++++-----
 .../pathplannerlib/commands.py                | 53 +++++++++++++--
 .../pathplannerlib/trajectory.py              | 26 ++++----
 .../lib/commands/PathfindThenFollowPath.java  | 64 ++++++++++++++++++
 .../lib/trajectory/PathPlannerTrajectory.java | 36 +++++-----
 .../lib/trajectory/PathPlannerTrajectory.cpp  | 40 +++++++-----
 .../lib/commands/PathfindThenFollowPath.h     | 65 +++++++++++++++++++
 7 files changed, 255 insertions(+), 67 deletions(-)

diff --git a/lib/trajectory/trajectory.dart b/lib/trajectory/trajectory.dart
index 3d675277..cc2f0ddd 100644
--- a/lib/trajectory/trajectory.dart
+++ b/lib/trajectory/trajectory.dart
@@ -264,15 +264,17 @@ class PathPlannerTrajectory {
         maxDT = realMaxDT;
       }
 
-      // Recalculate all module velocities with the allowed DT
-      for (int m = 0; m < numModules; m++) {
-        Rotation2d prevRotDelta = states[i].moduleStates[m].angle -
-            states[i - 1].moduleStates[m].angle;
-        if (prevRotDelta.degrees.abs() >= 60) {
-          continue;
+      if (maxDT > 0) {
+        // Recalculate all module velocities with the allowed DT
+        for (int m = 0; m < numModules; m++) {
+          Rotation2d prevRotDelta = states[i].moduleStates[m].angle -
+              states[i - 1].moduleStates[m].angle;
+          if (prevRotDelta.degrees.abs() >= 60) {
+            continue;
+          }
+          states[i].moduleStates[m].speedMetersPerSecond =
+              states[i + 1].moduleStates[m].deltaPos / maxDT;
         }
-        states[i].moduleStates[m].speedMetersPerSecond =
-            states[i + 1].moduleStates[m].deltaPos / maxDT;
       }
 
       // Use the calculated module velocities to calculate the robot speeds
@@ -401,16 +403,18 @@ class PathPlannerTrajectory {
         maxDT = realMaxDT;
       }
 
-      // Recalculate all module velocities with the allowed DT
-      for (int m = 0; m < numModules; m++) {
-        Rotation2d prevRotDelta = states[i].moduleStates[m].angle -
-            states[i - 1].moduleStates[m].angle;
-        if (prevRotDelta.degrees.abs() >= 60) {
-          continue;
+      if (maxDT > 0) {
+        // Recalculate all module velocities with the allowed DT
+        for (int m = 0; m < numModules; m++) {
+          Rotation2d prevRotDelta = states[i].moduleStates[m].angle -
+              states[i - 1].moduleStates[m].angle;
+          if (prevRotDelta.degrees.abs() >= 60) {
+            continue;
+          }
+
+          states[i].moduleStates[m].speedMetersPerSecond =
+              states[i + 1].moduleStates[m].deltaPos / maxDT;
         }
-
-        states[i].moduleStates[m].speedMetersPerSecond =
-            states[i + 1].moduleStates[m].deltaPos / maxDT;
       }
 
       // Use the calculated module velocities to calculate the robot speeds
diff --git a/pathplannerlib-python/pathplannerlib/commands.py b/pathplannerlib-python/pathplannerlib/commands.py
index 63cbc7cb..8d6fc2ed 100644
--- a/pathplannerlib-python/pathplannerlib/commands.py
+++ b/pathplannerlib-python/pathplannerlib/commands.py
@@ -1,14 +1,17 @@
+from math import hypot
+
 from .controller import *
-from .path import PathPlannerPath, GoalEndState, PathConstraints
+from .path import PathPlannerPath, GoalEndState, PathConstraints, IdealStartingState
 from .trajectory import PathPlannerTrajectory
 from .telemetry import PPLibTelemetry
 from .logging import PathPlannerLogging
 from .util import floatLerp, FlippingUtil, DriveFeedforwards
-from wpimath.geometry import Pose2d
+from wpimath.geometry import Pose2d, Rotation2d
 from wpimath.kinematics import ChassisSpeeds
 from wpilib import Timer
-from commands2 import Command, Subsystem, SequentialCommandGroup
-from typing import Callable, List
+from commands2 import Command, Subsystem, SequentialCommandGroup, DeferredCommand
+import commands2.cmd as cmd
+from typing import Callable
 from .config import RobotConfig
 from .pathfinding import Pathfinding
 from .events import EventScheduler
@@ -408,6 +411,47 @@ def __init__(self, goal_path: PathPlannerPath, pathfinding_constraints: PathCons
         """
         super().__init__()
 
+        def buildJoinCommand() -> Command:
+            if goal_path.numPoints() < 2:
+                return cmd.none()
+
+            startPose = pose_supplier()
+            startSpeeds = speeds_supplier()
+            startFieldSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(startSpeeds, startPose.rotation())
+
+            startHeading = Rotation2d(startFieldSpeeds.vx, startFieldSpeeds.vy)
+
+            endWaypoint = Pose2d(goal_path.getPoint(0).position, goal_path.getInitialHeading())
+            shouldFlip = should_flip_path() and not goal_path.preventFlipping
+            if shouldFlip:
+                endWaypoint = FlippingUtil.flipFieldPose(endWaypoint)
+
+            endState = GoalEndState(pathfinding_constraints.maxVelocityMps, startPose.rotation())
+            if goal_path.getIdealStartingState() is not None:
+                endRot = goal_path.getIdealStartingState().rotation
+                if shouldFlip:
+                    endRot = FlippingUtil.flipFieldRotation(endRot)
+                endState = GoalEndState(goal_path.getIdealStartingState().velocity, endRot)
+
+            joinPath = PathPlannerPath(
+                PathPlannerPath.waypointsFromPoses([Pose2d(startPose.translation(), startHeading), endWaypoint]),
+                pathfinding_constraints,
+                IdealStartingState(hypot(startSpeeds.vx, startSpeeds.vy), startPose.rotation()),
+                endState
+            )
+            joinPath.preventFlipping = True
+
+            return FollowPathCommand(
+                joinPath,
+                pose_supplier,
+                speeds_supplier,
+                output,
+                controller,
+                robot_config,
+                should_flip_path,
+                *requirements
+            )
+
         self.addCommands(
             PathfindingCommand(
                 pathfinding_constraints,
@@ -420,6 +464,7 @@ def __init__(self, goal_path: PathPlannerPath, pathfinding_constraints: PathCons
                 *requirements,
                 target_path=goal_path
             ),
+            DeferredCommand(buildJoinCommand, requirements),
             FollowPathCommand(
                 goal_path,
                 pose_supplier,
diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index 4c1622eb..71642598 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -588,13 +588,14 @@ def _forwardAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
         if maxDT == 0.0:
             maxDT = realMaxDT
 
-        # Recalculate all module velocities with the allowed DT
-        for m in range(config.numModules):
-            prevRotDelta = state.moduleStates[m].angle - prevState.moduleStates[m].angle
-            if abs(prevRotDelta.degrees()) >= 60:
-                continue
+        if maxDT > 0:
+            # Recalculate all module velocities with the allowed DT
+            for m in range(config.numModules):
+                prevRotDelta = state.moduleStates[m].angle - prevState.moduleStates[m].angle
+                if abs(prevRotDelta.degrees()) >= 60:
+                    continue
 
-            state.moduleStates[m].speed = nextState.moduleStates[m].deltaPos / maxDT
+                state.moduleStates[m].speed = nextState.moduleStates[m].deltaPos / maxDT
 
         # Use the calculated module velocities to calculate the robot speeds
         desiredSpeeds = config.toChassisSpeeds(state.moduleStates)
@@ -684,13 +685,14 @@ def _reverseAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
         if maxDT == 0.0:
             maxDT = realMaxDT
 
-        # Recalculate all module velocities with the allowed DT
-        for m in range(config.numModules):
-            prevRotDelta = state.moduleStates[m].angle - states[i - 1].moduleStates[m].angle
-            if abs(prevRotDelta.degrees()) >= 60:
-                continue
+        if maxDT > 0:
+            # Recalculate all module velocities with the allowed DT
+            for m in range(config.numModules):
+                prevRotDelta = state.moduleStates[m].angle - states[i - 1].moduleStates[m].angle
+                if abs(prevRotDelta.degrees()) >= 60:
+                    continue
 
-            state.moduleStates[m].speed = nextState.moduleStates[m].deltaPos / maxDT
+                state.moduleStates[m].speed = nextState.moduleStates[m].deltaPos / maxDT
 
         # Use the calculated module velocities to calculate the robot speeds
         desiredSpeeds = config.toChassisSpeeds(state.moduleStates)
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindThenFollowPath.java b/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindThenFollowPath.java
index 33b9f880..f8d4394a 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindThenFollowPath.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindThenFollowPath.java
@@ -2,13 +2,19 @@
 
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PathFollowingController;
+import com.pathplanner.lib.path.GoalEndState;
+import com.pathplanner.lib.path.IdealStartingState;
 import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.DriveFeedforwards;
+import com.pathplanner.lib.util.FlippingUtil;
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.Subsystem;
+import java.util.Set;
 import java.util.function.BiConsumer;
 import java.util.function.BooleanSupplier;
 import java.util.function.Supplier;
@@ -54,6 +60,64 @@ public PathfindThenFollowPath(
             robotConfig,
             shouldFlipPath,
             requirements),
+        // Use a deferred command to generate an on-the-fly path to join
+        // the end of the pathfinding command to the start of the path
+        Commands.defer(
+            () -> {
+              if (goalPath.numPoints() < 2) {
+                return Commands.none();
+              }
+
+              Pose2d startPose = poseSupplier.get();
+              ChassisSpeeds startSpeeds = currentRobotRelativeSpeeds.get();
+              ChassisSpeeds startFieldSpeeds =
+                  ChassisSpeeds.fromRobotRelativeSpeeds(startSpeeds, startPose.getRotation());
+              Rotation2d startHeading =
+                  new Rotation2d(
+                      startFieldSpeeds.vxMetersPerSecond, startFieldSpeeds.vyMetersPerSecond);
+
+              Pose2d endWaypoint =
+                  new Pose2d(goalPath.getPoint(0).position, goalPath.getInitialHeading());
+              boolean shouldFlip = shouldFlipPath.getAsBoolean() && !goalPath.preventFlipping;
+              if (shouldFlip) {
+                endWaypoint = FlippingUtil.flipFieldPose(endWaypoint);
+              }
+
+              GoalEndState endState;
+              if (goalPath.getIdealStartingState() != null) {
+                Rotation2d endRot = goalPath.getIdealStartingState().rotation();
+                if (shouldFlip) {
+                  endRot = FlippingUtil.flipFieldRotation(endRot);
+                }
+                endState = new GoalEndState(goalPath.getIdealStartingState().velocityMPS(), endRot);
+              } else {
+                endState =
+                    new GoalEndState(
+                        pathfindingConstraints.maxVelocityMPS(), startPose.getRotation());
+              }
+
+              PathPlannerPath joinPath =
+                  new PathPlannerPath(
+                      PathPlannerPath.waypointsFromPoses(
+                          new Pose2d(startPose.getTranslation(), startHeading), endWaypoint),
+                      pathfindingConstraints,
+                      new IdealStartingState(
+                          Math.hypot(startSpeeds.vxMetersPerSecond, startSpeeds.vyMetersPerSecond),
+                          startPose.getRotation()),
+                      endState);
+              joinPath.preventFlipping = true;
+
+              return new FollowPathCommand(
+                  joinPath,
+                  poseSupplier,
+                  currentRobotRelativeSpeeds,
+                  output,
+                  controller,
+                  robotConfig,
+                  shouldFlipPath,
+                  requirements);
+            },
+            Set.of(requirements)),
         new FollowPathCommand(
             goalPath,
             poseSupplier,
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
index 8f8565e3..472bd683 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
@@ -422,15 +422,17 @@ private static void forwardAccelPass(
         maxDT = realMaxDT;
       }
 
-      // Recalculate all module velocities with the allowed DT
-      for (int m = 0; m < config.numModules; m++) {
-        Rotation2d prevRotDelta =
-            state.moduleStates[m].angle.minus(prevState.moduleStates[m].angle);
-        if (Math.abs(prevRotDelta.getDegrees()) >= 60) {
-          continue;
-        }
+      if (maxDT > 0) {
+        // Recalculate all module velocities with the allowed DT
+        for (int m = 0; m < config.numModules; m++) {
+          Rotation2d prevRotDelta =
+              state.moduleStates[m].angle.minus(prevState.moduleStates[m].angle);
+          if (Math.abs(prevRotDelta.getDegrees()) >= 60) {
+            continue;
+          }
 
-        state.moduleStates[m].speedMetersPerSecond = nextState.moduleStates[m].deltaPos / maxDT;
+          state.moduleStates[m].speedMetersPerSecond = nextState.moduleStates[m].deltaPos / maxDT;
+        }
       }
 
       // Use the calculated module velocities to calculate the robot speeds
@@ -551,15 +553,17 @@ private static void reverseAccelPass(
         maxDT = realMaxDT;
       }
 
-      // Recalculate all module velocities with the allowed DT
-      for (int m = 0; m < config.numModules; m++) {
-        Rotation2d prevRotDelta =
-            state.moduleStates[m].angle.minus(states.get(i - 1).moduleStates[m].angle);
-        if (Math.abs(prevRotDelta.getDegrees()) >= 60) {
-          continue;
-        }
+      if (maxDT > 0) {
+        // Recalculate all module velocities with the allowed DT
+        for (int m = 0; m < config.numModules; m++) {
+          Rotation2d prevRotDelta =
+              state.moduleStates[m].angle.minus(states.get(i - 1).moduleStates[m].angle);
+          if (Math.abs(prevRotDelta.getDegrees()) >= 60) {
+            continue;
+          }
 
-        state.moduleStates[m].speedMetersPerSecond = nextState.moduleStates[m].deltaPos / maxDT;
+          state.moduleStates[m].speedMetersPerSecond = nextState.moduleStates[m].deltaPos / maxDT;
+        }
       }
 
       // Use the calculated module velocities to calculate the robot speeds
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
index 147099f8..2d371527 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
@@ -459,16 +459,18 @@ void PathPlannerTrajectory::forwardAccelPass(
 			maxDT = realMaxDT;
 		}
 
-		// Recalculate all module velocities with the allowed DT
-		for (size_t m = 0; m < config.numModules; m++) {
-			frc::Rotation2d prevRotDelta = state.moduleStates[m].angle
-					- prevState.moduleStates[m].angle;
-			if (units::math::abs(prevRotDelta.Degrees()) >= 60_deg) {
-				continue;
-			}
+		if (maxDT > 0_s) {
+			// Recalculate all module velocities with the allowed DT
+			for (size_t m = 0; m < config.numModules; m++) {
+				frc::Rotation2d prevRotDelta = state.moduleStates[m].angle
+						- prevState.moduleStates[m].angle;
+				if (units::math::abs(prevRotDelta.Degrees()) >= 60_deg) {
+					continue;
+				}
 
-			state.moduleStates[m].speed = nextState.moduleStates[m].deltaPos
-					/ maxDT;
+				state.moduleStates[m].speed = nextState.moduleStates[m].deltaPos
+						/ maxDT;
+			}
 		}
 
 		// Use the calculated module velocities to calculate the robot speeds
@@ -604,16 +606,18 @@ void PathPlannerTrajectory::reverseAccelPass(
 			maxDT = realMaxDT;
 		}
 
-		// Recalculate all module velocities with the allowed DT
-		for (size_t m = 0; m < config.numModules; m++) {
-			frc::Rotation2d prevRotDelta = state.moduleStates[m].angle
-					- states[i - 1].moduleStates[m].angle;
-			if (units::math::abs(prevRotDelta.Degrees()) >= 60_deg) {
-				continue;
-			}
+		if (maxDT > 0_s) {
+			// Recalculate all module velocities with the allowed DT
+			for (size_t m = 0; m < config.numModules; m++) {
+				frc::Rotation2d prevRotDelta = state.moduleStates[m].angle
+						- states[i - 1].moduleStates[m].angle;
+				if (units::math::abs(prevRotDelta.Degrees()) >= 60_deg) {
+					continue;
+				}
 
-			state.moduleStates[m].speed = nextState.moduleStates[m].deltaPos
-					/ maxDT;
+				state.moduleStates[m].speed = nextState.moduleStates[m].deltaPos
+						/ maxDT;
+			}
 		}
 
 		// Use the calculated module velocities to calculate the robot speeds
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPath.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPath.h
index b457fb65..9bc2ab9a 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPath.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPath.h
@@ -1,8 +1,11 @@
 #pragma once
 
 #include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/DeferredCommand.h>
 #include "pathplanner/lib/commands/FollowPathCommand.h"
 #include "pathplanner/lib/commands/PathfindingCommand.h"
+#include "pathplanner/lib/util/FlippingUtil.h"
 
 namespace pathplanner {
 class PathfindThenFollowPath: public frc2::SequentialCommandGroup {
@@ -38,6 +41,68 @@ class PathfindThenFollowPath: public frc2::SequentialCommandGroup {
 				PathfindingCommand(goalPath, pathfindingConstraints,
 						poseSupplier, currentRobotRelativeSpeeds, output,
 						controller, robotConfig, shouldFlipPath, requirements),
+				frc2::DeferredCommand(
+						[goalPath, pathfindingConstraints, poseSupplier,
+								currentRobotRelativeSpeeds, output, controller,
+								robotConfig, shouldFlipPath, requirements]() {
+							if (goalPath->numPoints() < 2) {
+								return frc2::cmd::None();
+							}
+
+							frc::Pose2d startPose = poseSupplier();
+							frc::ChassisSpeeds startSpeeds =
+									currentRobotRelativeSpeeds();
+							frc::ChassisSpeeds startFieldSpeeds =
+									frc::ChassisSpeeds::FromRobotRelativeSpeeds(
+											startSpeeds, startPose.Rotation());
+							frc::Rotation2d startHeading = frc::Rotation2d(
+									startFieldSpeeds.vx(),
+									startFieldSpeeds.vy());
+
+							frc::Pose2d endWaypoint = frc::Pose2d(
+									goalPath->getPoint(0).position,
+									goalPath->getInitialHeading());
+							bool shouldFlip = shouldFlipPath()
+									&& !goalPath->preventFlipping;
+							if (shouldFlip) {
+								endWaypoint = FlippingUtil::flipFieldPose(
+										endWaypoint);
+							}
+
+							GoalEndState endState(
+									pathfindingConstraints.getMaxVelocity(),
+									startPose.Rotation());
+							if (goalPath->getIdealStartingState().has_value()) {
+								frc::Rotation2d endRot =
+										goalPath->getIdealStartingState().value().getRotation();
+								if (shouldFlip) {
+									endRot = FlippingUtil::flipFieldRotation(
+											endRot);
+								}
+								endState =
+										GoalEndState(
+												goalPath->getIdealStartingState().value().getVelocity(),
+												endRot);
+							}
+
+							std::shared_ptr < PathPlannerPath > joinPath =
+									std::make_shared < PathPlannerPath
+											> (PathPlannerPath::waypointsFromPoses(
+													{
+															frc::Pose2d(
+																	startPose.Translation(),
+																	startHeading),
+															endWaypoint }), pathfindingConstraints, IdealStartingState(
+													units::math::hypot(
+															startSpeeds.vx,
+															startSpeeds.vy),
+													startPose.Rotation()), endState);
+
+							return FollowPathCommand(joinPath, poseSupplier,
+									currentRobotRelativeSpeeds, output,
+									controller, robotConfig, shouldFlipPath,
+									requirements).ToPtr();
+						}, requirements),
 				FollowPathCommand(goalPath, poseSupplier,
 						currentRobotRelativeSpeeds, output, controller,
 						robotConfig, shouldFlipPath, requirements));

From 01bb501c6b0f95f8766a1b9536e6d382e702a494 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E3=83=8F=E3=82=A4=E3=83=89=E3=83=A9=E3=83=B3=E3=83=88?=
 <thecomputer314@gmail.com>
Date: Mon, 30 Dec 2024 21:25:31 -0600
Subject: [PATCH 18/52] [Swerve Setpoint Generator] Raise kEpsilon from 1e-8 to
 1e-6 (#957)

---
 pathplannerlib-python/pathplannerlib/util/swerve.py             | 2 +-
 .../pathplanner/lib/util/swerve/SwerveSetpointGenerator.java    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
index 9a77fe05..da3962c6 100644
--- a/pathplannerlib-python/pathplannerlib/util/swerve.py
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -24,7 +24,7 @@ class SwerveSetpointGenerator:
     kinematic constraints on module rotation and wheel velocity/torque, as well as preventing any 
     forces acting on a module's wheel from exceeding the force of friction.
     """
-    _k_epsilon = 1e-8
+    _k_epsilon = 1e-6
 
     def __init__(self, config: RobotConfig, max_steer_velocity_rads_per_sec: float) -> None:
         """
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
index 107cc266..857693e3 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -25,7 +25,7 @@
  * forces acting on a module's wheel from exceeding the force of friction.
  */
 public class SwerveSetpointGenerator {
-  private static final double kEpsilon = 1E-8;
+  private static final double kEpsilon = 1E-6;
 
   private final RobotConfig config;
   private final double maxSteerVelocityRadsPerSec;

From 52b46b116791673923a8ea0fc704c368b7c7ee72 Mon Sep 17 00:00:00 2001
From: Luis Leyva <luisoleyvan@gmail.com>
Date: Tue, 31 Dec 2024 11:07:56 -0600
Subject: [PATCH 19/52] Add Swerve Setpoint Generator to PPLib C++ (#926)

---
 .../topics/pplib-Swerve-Setpoint-Generator.md |  58 ++-
 .../pathplanner/lib/config/RobotConfig.cpp    |  29 ++
 .../util/swerve/SwerveSetpointGenerator.cpp   | 467 ++++++++++++++++++
 .../pathplanner/lib/config/ModuleConfig.h     |   3 +
 .../pathplanner/lib/config/RobotConfig.h      |  23 +
 .../lib/util/swerve/SwerveSetpoint.h          |  24 +
 .../lib/util/swerve/SwerveSetpointGenerator.h | 133 +++++
 7 files changed, 730 insertions(+), 7 deletions(-)
 create mode 100644 pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
 create mode 100644 pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpoint.h
 create mode 100644 pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h

diff --git a/Writerside/topics/pplib-Swerve-Setpoint-Generator.md b/Writerside/topics/pplib-Swerve-Setpoint-Generator.md
index 880de6e0..666d0528 100644
--- a/Writerside/topics/pplib-Swerve-Setpoint-Generator.md
+++ b/Writerside/topics/pplib-Swerve-Setpoint-Generator.md
@@ -15,13 +15,6 @@ This improves on the original version in a few ways:
 * Friction within the module itself is taken into account, which decreases maximum acceleration but increases maximum
   deceleration
 
-> **Note**
->
-> This feature is only available in PathPlannerLib Java and Python. If you would like to see this feature in PPLib C++,
-> feel free to open a pull request to translate it.
->
-{style="note"}
-
 <tabs group="pplib-language">
 <tab title="Java" group-key="java">
 
@@ -75,6 +68,57 @@ public class SwerveSubsystem extends Subsystem {
 ```
 
 </tab>
+
+<tab title="C++" group-key="cpp">
+
+```C++
+#include <pathplanner/lib/config/RobotConfig.h>
+#include <pathplanner/lib/util/swerve/SwerveSetpointGenerator.h>
+#include <pathplanner/lib/util/swerve/SwerveSetpoint.h>
+#include <frc/geometry/Pose2d.h>
+#include <frc/kinematics/ChassisSpeeds.h>
+
+using namespace pathplanner;
+
+SwerveSubsystem::SwerveSubsystem(){
+    // All other subsystem initialization
+    // ...
+
+    // Load the RobotConfig from the GUI settings. You should probably
+    // store this in your Constants file
+    RobotConfig config = RobotConfig::fromGUISettings();
+
+    setpointGenerator = SwerveSetpointGenerator(
+		config,
+		10_rad_per_s
+	);
+
+	// Initialize the previous setpoint to the robot's current speeds & module states
+	frc::ChassisSpeeds currentSpeeds = getCurrentSpeeds(); // Method to get current robot-relative chassis speeds
+	std::vector<frc::SwerveModuleState> currentStates = getCurrentModuleStates(); // Method to get the current swerve module states
+	previousSetpoint = SwerveSetpoint(currentSpeeds, currentStates, DriveFeedforwards::zeros(config.numModules));
+}
+
+/**
+ * This method will take in desired robot-relative chassis speeds,
+ * generate a swerve setpoint, then set the target state for each module
+ *
+ * @param speeds The desired robot-relative speeds
+ */
+void SwerveSubsystem::driveRobotRelative(frc::ChassisSpeeds speeds) {
+	// Note: it is important to not discretize speeds before or after
+	// using the setpoint generator, as it will discretize them for you
+	previousSetpoint = setpointGenerator.generateSetpoint(
+		previousSetpoint, // The previous setpoint
+		speeds, // The desired target speeds
+		0.02_s // The loop time of the robot code, in seconds
+	);
+	setModuleStates(previousSetpoint.moduleStates()); // Method that will drive the robot given target module states
+}
+```
+
+</tab>
+
 <tab title="Python" group-key="python">
 
 ```Python
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/config/RobotConfig.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/config/RobotConfig.cpp
index 5a3d389e..fbfba46a 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/config/RobotConfig.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/config/RobotConfig.cpp
@@ -6,6 +6,11 @@
 
 using namespace pathplanner;
 
+RobotConfig::RobotConfig() : swerveKinematics(frc::Translation2d(0_m, 0_m),
+		frc::Translation2d(0_m, 0_m), frc::Translation2d(0_m, 0_m),
+		frc::Translation2d(0_m, 0_m)), diffKinematics(0.7_m) {
+}
+
 RobotConfig::RobotConfig(units::kilogram_t mass,
 		units::kilogram_square_meter_t MOI, ModuleConfig moduleConfig,
 		std::vector<frc::Translation2d> moduleOffsets) : mass(mass), MOI(MOI), moduleConfig(
@@ -155,6 +160,30 @@ frc::ChassisSpeeds RobotConfig::toChassisSpeeds(
 	}
 }
 
+frc::ChassisSpeeds RobotConfig::toChassisSpeeds(
+		std::vector<frc::SwerveModuleState> states) const {
+	if (isHolonomic) {
+		wpi::array < frc::SwerveModuleState, 4 > wpiStates { states.at(0),
+				states.at(1), states.at(2), states.at(3) };
+		return swerveKinematics.ToChassisSpeeds(wpiStates);
+	} else {
+		frc::DifferentialDriveWheelSpeeds wheelSpeeds { states.at(0).speed,
+				states.at(1).speed };
+		return diffKinematics.ToChassisSpeeds(wheelSpeeds);
+	}
+}
+
+std::vector<frc::SwerveModuleState> RobotConfig::desaturateWheelSpeeds(
+		std::vector<frc::SwerveModuleState> moduleStates,
+		units::meters_per_second_t maxSpeed) const {
+	wpi::array < frc::SwerveModuleState, 4 > wpiStates { moduleStates.at(0),
+			moduleStates.at(1), moduleStates.at(2), moduleStates.at(3) };
+	swerveKinematics.DesaturateWheelSpeeds(&wpiStates, maxSpeed);
+
+	return std::vector < frc::SwerveModuleState
+			> (wpiStates.begin(), wpiStates.end());
+}
+
 std::vector<frc::Translation2d> RobotConfig::chassisForcesToWheelForceVectors(
 		frc::ChassisSpeeds chassisForces) const {
 	Eigen::Vector3d chassisForceVector { chassisForces.vx.value(),
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
new file mode 100644
index 00000000..4c9ba6df
--- /dev/null
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
@@ -0,0 +1,467 @@
+#include "pathplanner/lib/util/swerve/SwerveSetpointGenerator.h"
+
+SwerveSetpointGenerator::SwerveSetpointGenerator() : maxSteerVelocity(
+		0_rad_per_s) {
+}
+
+SwerveSetpointGenerator::SwerveSetpointGenerator(const RobotConfig &config,
+		units::turns_per_second_t maxSteerVelocity) : m_robotConfig(config), maxSteerVelocity(
+		maxSteerVelocity) {
+	brownoutVoltage = frc::RobotController::GetBrownoutVoltage();
+}
+
+SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
+		SwerveSetpoint prevSetpoint,
+		frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt,
+		units::volt_t inputVoltage) {
+
+	if (std::isnan(inputVoltage.value())) {
+		inputVoltage = 12_V;
+	} else {
+		inputVoltage = units::math::max(inputVoltage, brownoutVoltage);
+	}
+
+	std::vector < frc::SwerveModuleState > desiredModuleStates =
+			m_robotConfig.toSwerveModuleStates(desiredStateRobotRelative);
+	// Make sure desiredState respects velocity limits.
+	desiredModuleStates = m_robotConfig.desaturateWheelSpeeds(
+			desiredModuleStates,
+			m_robotConfig.moduleConfig.maxDriveVelocityMPS);
+	desiredStateRobotRelative = m_robotConfig.toChassisSpeeds(
+			desiredModuleStates);
+
+	// Special case: desiredState is a complete stop. In this case, module angle is arbitrary, so
+	// just use the previous angle.
+	bool need_to_steer = true;
+	if (epsilonEquals(desiredStateRobotRelative, frc::ChassisSpeeds())) {
+		need_to_steer = false;
+		for (size_t m = 0; m < m_robotConfig.numModules; m++) {
+			desiredModuleStates[m].angle = prevSetpoint.moduleStates[m].angle;
+			desiredModuleStates[m].speed = 0_mps;
+		}
+	}
+
+	// For each module, compute local Vx and Vy vectors.
+	units::meters_per_second_t prev_vx[4];
+	units::meters_per_second_t prev_vy[4];
+	frc::Rotation2d prev_heading[4];
+	units::meters_per_second_t desired_vx[4];
+	units::meters_per_second_t desired_vy[4];
+	frc::Rotation2d desired_heading[4];
+	bool all_modules_should_flip = true;
+	for (size_t m = 0; m < m_robotConfig.numModules; m++) {
+		prev_vx[m] = prevSetpoint.moduleStates[m].angle.Cos()
+				* prevSetpoint.moduleStates[m].speed;
+		prev_vy[m] = prevSetpoint.moduleStates[m].angle.Sin()
+				* prevSetpoint.moduleStates[m].speed;
+		prev_heading[m] = prevSetpoint.moduleStates[m].angle;
+		if (prevSetpoint.moduleStates[m].speed < 0.0_mps) {
+			prev_heading[m] = prev_heading[m].RotateBy(
+					frc::Rotation2d(180_deg));
+		}
+		desired_vx[m] = desiredModuleStates[m].angle.Cos()
+				* desiredModuleStates[m].speed;
+		desired_vy[m] = desiredModuleStates[m].angle.Sin()
+				* desiredModuleStates[m].speed;
+		desired_heading[m] = desiredModuleStates[m].angle;
+		if (desiredModuleStates[m].speed < 0.0_mps) {
+			desired_heading[m] = desired_heading[m].RotateBy(
+					frc::Rotation2d(180_deg));
+		}
+		if (all_modules_should_flip) {
+			units::radian_t required_rotation_rad =
+					units::math::abs(
+							((-prev_heading[m]).RotateBy(desired_heading[m])).Radians());
+			if (required_rotation_rad < 90_deg) {
+				all_modules_should_flip = false;
+			}
+		}
+	}
+
+	if (all_modules_should_flip
+			&& !epsilonEquals(prevSetpoint.robotRelativeSpeeds,
+					frc::ChassisSpeeds())
+			&& !epsilonEquals(desiredStateRobotRelative,
+					frc::ChassisSpeeds())) {
+		// It will (likely) be faster to stop the robot, rotate the modules in place to the complement
+		// of the desired angle, and accelerate again.
+		return generateSetpoint(prevSetpoint, frc::ChassisSpeeds(), dt,
+				inputVoltage);
+	}
+
+	// Compute the deltas between start and goal. We can then interpolate from the start state to
+	// the goal state; then find the amount we can move from start towards goal in this cycle such
+	// that no kinematic limit is exceeded.
+	units::meters_per_second_t dx = desiredStateRobotRelative.vx
+			- prevSetpoint.robotRelativeSpeeds.vx;
+	units::meters_per_second_t dy = desiredStateRobotRelative.vy
+			- prevSetpoint.robotRelativeSpeeds.vy;
+	units::radians_per_second_t dtheta = desiredStateRobotRelative.omega
+			- prevSetpoint.robotRelativeSpeeds.omega;
+
+	// 's' interpolates between start and goal. At 0, we are at prevState and at 1, we are at
+	// desiredState.
+	double min_s = 1.0;
+
+	// In cases where an individual module is stopped, we want to remember the right steering angle
+	// to command (since inverse kinematics doesn't care about angle, we can be opportunistically
+	// lazy).
+	std::vector < std::optional < frc::Rotation2d >> overrideSteering;
+	// Enforce steering velocity limits. We do this by taking the derivative of steering angle at
+	// the current angle, and then backing out the maximum interpolant between start and goal
+	// states. We remember the minimum across all modules, since that is the active constraint.
+	for (size_t m = 0; m < m_robotConfig.numModules; m++) {
+		if (!need_to_steer) {
+			overrideSteering.push_back(prevSetpoint.moduleStates[m].angle);
+			continue;
+		}
+		overrideSteering.push_back(std::nullopt);
+
+		units::radian_t max_theta_step = dt * maxSteerVelocity;
+
+		if (epsilonEquals(prevSetpoint.moduleStates[m].speed.value(), 0.0)) {
+			// If module is stopped, we know that we will need to move straight to the final steering
+			// angle, so limit based purely on rotation in place.
+			if (epsilonEquals(desiredModuleStates[m].speed.value(), 0.0)) {
+				// Goal angle doesn't matter. Just leave module at its current angle.
+				overrideSteering[m] = prevSetpoint.moduleStates[m].angle;
+				continue;
+			}
+
+			frc::Rotation2d neccesarryRotation =
+					(-prevSetpoint.moduleStates[m].angle).RotateBy(
+							desiredModuleStates[m].angle);
+			if (flipHeading(neccesarryRotation)) {
+				neccesarryRotation = neccesarryRotation.RotateBy(
+						frc::Rotation2d(180_deg));
+			}
+
+			// Radians() bounds to +/- Pi.
+			double numStepsNeeded = units::math::abs(
+					neccesarryRotation.Radians()) / max_theta_step;
+
+			if (numStepsNeeded <= 1.0) {
+				overrideSteering[m] = desiredModuleStates[m].angle;
+			} else {
+				overrideSteering[m] =
+						prevSetpoint.moduleStates[m].angle.RotateBy(
+								frc::Rotation2d(
+										max_theta_step
+												* (neccesarryRotation.Radians()
+														> 0_rad ? 1 : -1)));
+				min_s = 0.0;
+			}
+			continue;
+		}
+		if (min_s == 0.0) {
+			// s can't get any lower. Save some CPU.
+			continue;
+		}
+
+		// Enforce centripetal force limits to prevent sliding.
+		// We do this by changing max_theta_step to the maximum change in heading over dt
+		// that would create a large enough radius to keep the centripetal force under the
+		// friction force.
+		units::radian_t maxHeadingChange {
+				(dt.value() * m_robotConfig.wheelFrictionForce.value())
+						/ ((m_robotConfig.mass.value()
+								/ m_robotConfig.numModules)
+								* units::math::abs(
+										prevSetpoint.moduleStates[m].speed).value()) };
+		max_theta_step = units::math::min(max_theta_step, maxHeadingChange);
+
+		double s = findSteeringMaxS(prev_vx[m], prev_vy[m],
+				prev_heading[m].Radians(), desired_vx[m], desired_vy[m],
+				desired_heading[m].Radians(), max_theta_step);
+		min_s = std::min(min_s, s);
+	}
+
+	// Enforce drive wheel torque limits
+	frc::Translation2d chassisForceVec;
+	units::newton_meter_t chassisTorque { 0.0 };
+	for (size_t m = 0; m < m_robotConfig.numModules; m++) {
+		units::radians_per_second_t lastVelRadPerSec {
+				(prevSetpoint.moduleStates[m].speed
+						/ m_robotConfig.moduleConfig.wheelRadius).value() };
+		// Use the current battery voltage since we won't be able to supply 12v if the
+		// battery is sagging down to 11v, which will affect the max torque output
+		units::ampere_t currentDraw =
+				m_robotConfig.moduleConfig.driveMotor.Current(
+						units::math::abs(lastVelRadPerSec), inputVoltage);
+		units::ampere_t reverseCurrentDraw = units::math::abs(
+				m_robotConfig.moduleConfig.driveMotor.Current(
+						units::math::abs(lastVelRadPerSec), -inputVoltage));
+		currentDraw = std::min(currentDraw,
+				m_robotConfig.moduleConfig.driveCurrentLimit);
+		reverseCurrentDraw = units::math::min(reverseCurrentDraw,
+				m_robotConfig.moduleConfig.driveCurrentLimit);
+		units::newton_meter_t forwardModuleTorque =
+				m_robotConfig.moduleConfig.driveMotor.Torque(currentDraw);
+		units::newton_meter_t reverseModuleTorque =
+				m_robotConfig.moduleConfig.driveMotor.Torque(
+						reverseCurrentDraw);
+
+		units::meters_per_second_t prevSpeed =
+				prevSetpoint.moduleStates[m].speed;
+		desiredModuleStates[m].Optimize(prevSetpoint.moduleStates[m].angle);
+		units::meters_per_second_t desiredSpeed = desiredModuleStates[m].speed;
+
+		int forceSign;
+		frc::Rotation2d forceAngle = prevSetpoint.moduleStates[m].angle;
+		units::newton_meter_t moduleTorque;
+		if (epsilonEquals(prevSpeed.value(), 0)
+				|| (prevSpeed > 0_mps && desiredSpeed >= prevSpeed)
+				|| (prevSpeed < 0_mps && desiredSpeed <= prevSpeed)) {
+			moduleTorque = forwardModuleTorque;
+			// Torque loss will be fighting motor
+			moduleTorque -= m_robotConfig.moduleConfig.torqueLoss;
+			forceSign = 1; // Force will be applied in direction of module
+			if (prevSpeed < 0_mps) {
+				forceAngle = forceAngle + frc::Rotation2d(180_deg);
+			}
+		} else {
+			moduleTorque = reverseModuleTorque;
+			// Torque loss will be helping the motor
+			moduleTorque += m_robotConfig.moduleConfig.torqueLoss;
+			forceSign = -1; // Force will be applied in opposite direction of module
+			if (prevSpeed > 0_mps) {
+				forceAngle = forceAngle + frc::Rotation2d(180_deg);
+			}
+		}
+
+		// Limit torque to prevent wheel slip
+		moduleTorque = std::min(moduleTorque, m_robotConfig.maxTorqueFriction);
+
+		units::newton_t forceAtCarpet = moduleTorque
+				/ m_robotConfig.moduleConfig.wheelRadius;
+		frc::Translation2d moduleForceVec = { ((forceAtCarpet * forceSign)
+				/ 1_kg) * 1_s * 1_s, forceAngle };
+
+		// Add the module force vector to the chassis force vector
+		chassisForceVec = chassisForceVec + moduleForceVec;
+
+		// Calculate the torque this module will apply to the chassis
+		if (!epsilonEquals(0, moduleForceVec.Norm().value())) {
+			frc::Rotation2d angleToModule =
+					m_robotConfig.moduleLocations[m].Angle();
+			frc::Rotation2d theta = moduleForceVec.Angle() - angleToModule;
+			chassisTorque += forceAtCarpet
+					* m_robotConfig.modulePivotDistance[m] * theta.Sin();
+		}
+	}
+
+	frc::Translation2d chassisAccelVec = chassisForceVec
+			/ m_robotConfig.mass.value();
+	units::radians_per_second_squared_t chassisAngularAccel {
+			chassisTorque.value() / m_robotConfig.MOI.value() };
+
+	// Use kinematics to convert chassis accelerations to module accelerations
+	frc::ChassisSpeeds chassisAccel { chassisAccelVec.X() / 1_s,
+			chassisAccelVec.Y() / 1_s, chassisAngularAccel * 1_s };
+	std::vector < frc::SwerveModuleState > accelStates =
+			m_robotConfig.toSwerveModuleStates(chassisAccel);
+
+	for (size_t m = 0; m < m_robotConfig.numModules; m++) {
+		if (min_s == 0.0) {
+			// No need to carry on.
+			break;
+		}
+
+		units::meters_per_second_t maxVelStep = units::math::abs(
+				accelStates[m].speed * dt.value());
+
+		units::meters_per_second_t vx_min_s =
+				min_s == 1.0 ?
+						desired_vx[m] :
+						(desired_vx[m] - prev_vx[m]) * min_s + prev_vx[m];
+		units::meters_per_second_t vy_min_s =
+				min_s == 1.0 ?
+						desired_vy[m] :
+						(desired_vy[m] - prev_vy[m]) * min_s + prev_vy[m];
+		// Find the max s for this drive wheel. Search on the interval between 0 and min_s, because we
+		// already know we can't go faster than that.
+		double s = findDriveMaxS(prev_vx[m], prev_vy[m], vx_min_s, vy_min_s,
+				maxVelStep);
+		min_s = std::min(min_s, s);
+	}
+
+	frc::ChassisSpeeds retSpeeds = { prevSetpoint.robotRelativeSpeeds.vx
+			+ min_s * dx, prevSetpoint.robotRelativeSpeeds.vy + min_s * dy,
+			prevSetpoint.robotRelativeSpeeds.omega + min_s * dtheta };
+	retSpeeds = frc::ChassisSpeeds::Discretize(retSpeeds, dt);
+
+	units::meters_per_second_t prevVelX = prevSetpoint.robotRelativeSpeeds.vx;
+	units::meters_per_second_t prevVelY = prevSetpoint.robotRelativeSpeeds.vy;
+	units::meters_per_second_squared_t chassisAccelX = (retSpeeds.vx - prevVelX)
+			/ dt;
+	units::meters_per_second_squared_t chassisAccelY = (retSpeeds.vy - prevVelY)
+			/ dt;
+	units::newton_t chassisForceX = chassisAccelX * m_robotConfig.mass;
+	units::newton_t chassisForceY = chassisAccelY * m_robotConfig.mass;
+
+	units::radians_per_second_squared_t angularAccel = (retSpeeds.omega
+			- prevSetpoint.robotRelativeSpeeds.omega) / dt;
+	units::newton_meter_t angTorque { angularAccel.value()
+			* m_robotConfig.MOI.value() };
+	frc::ChassisSpeeds chassisForces { chassisForceX * 1_s / 1_kg, chassisForceY
+			* 1_s / 1_kg, units::radians_per_second_t { angTorque.value() } };
+
+	std::vector < frc::Translation2d > wheelForces =
+			m_robotConfig.chassisForcesToWheelForceVectors(chassisForces);
+
+	std::vector < frc::SwerveModuleState > retStates =
+			m_robotConfig.toSwerveModuleStates(chassisForces);
+	std::vector < units::meters_per_second_squared_t
+			> accelFF(m_robotConfig.numModules);
+	std::vector < units::newton_t > linearForceFF(m_robotConfig.numModules);
+	std::vector < units::ampere_t > torqueCurrentFF(m_robotConfig.numModules);
+	std::vector < units::newton_t > forceXFF(m_robotConfig.numModules);
+	std::vector < units::newton_t > forceYFF(m_robotConfig.numModules);
+	for (size_t m = 0; m < m_robotConfig.numModules; m++) {
+		units::meter_t wheelForceDist = wheelForces[m].Norm();
+		units::newton_t appliedForce =
+				wheelForceDist > 1e-6_m ?
+						units::newton_t {
+								wheelForceDist.value()
+										* (wheelForces[m].Angle()
+												- retStates[m].angle).Cos() } :
+						0_N;
+		units::newton_meter_t wheelTorque = appliedForce
+				* m_robotConfig.moduleConfig.wheelRadius;
+		units::ampere_t torqueCurrent =
+				m_robotConfig.moduleConfig.driveMotor.Current(wheelTorque);
+
+		std::optional < frc::Rotation2d > maybeOverride = overrideSteering[m];
+		if (maybeOverride.has_value()) {
+			frc::Rotation2d override = maybeOverride.value();
+			if (flipHeading((-retStates[m].angle).RotateBy(override))) {
+				retStates[m].speed = -retStates[m].speed;
+				appliedForce = -appliedForce;
+				torqueCurrent = -torqueCurrent;
+			}
+			retStates[m].angle = override;
+		}
+		frc::Rotation2d deltaRotation =
+				(-prevSetpoint.moduleStates[m].angle).RotateBy(
+						retStates[m].angle);
+		if (flipHeading(deltaRotation)) {
+			retStates[m].angle = retStates[m].angle.RotateBy(
+					frc::Rotation2d(180_deg));
+			retStates[m].speed = -retStates[m].speed;
+			appliedForce = -appliedForce;
+			torqueCurrent = -torqueCurrent;
+		}
+
+		accelFF[m] = (retStates[m].speed - prevSetpoint.moduleStates[m].speed)
+				/ dt;
+		linearForceFF[m] = appliedForce;
+		torqueCurrentFF[m] = torqueCurrent;
+		forceXFF[m] = wheelForces[m].X().value() * 1_N;
+		forceYFF[m] = wheelForces[m].Y().value() * 1_N;
+	}
+
+	return SwerveSetpoint { retSpeeds, retStates, DriveFeedforwards { accelFF,
+			linearForceFF, torqueCurrentFF, forceXFF, forceYFF } };
+}
+
+SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
+		SwerveSetpoint prevSetpoint,
+		frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt) {
+	return generateSetpoint(prevSetpoint, desiredStateRobotRelative, dt,
+			units::volt_t { frc::RobotController::GetInputVoltage() });
+}
+
+double SwerveSetpointGenerator::findSteeringMaxS(units::meters_per_second_t x_0,
+		units::meters_per_second_t y_0, units::radian_t theta_0,
+		units::meters_per_second_t x_1, units::meters_per_second_t y_1,
+		units::radian_t theta_1, units::radian_t max_deviation) {
+	theta_1 = unwrapAngle(theta_0.value(), theta_1.value());
+	units::radian_t diff = theta_1 - theta_0;
+	if (units::math::abs(diff) < max_deviation) {
+		// Can go all the way to s=1.
+		return 1.0;
+	}
+
+	units::radian_t target = theta_0
+			+ units::math::copysign(max_deviation, diff);
+
+	// Rotate the velocity vectors such that the target angle becomes the +X
+	// axis. We only need find the Y components, h_0 and h_1, since they are
+	// proportional to the distances from the two points to the solution
+	// point (x_0 + (x_1 - x_0)s, y_0 + (y_1 - y_0)s).
+	double sin = units::math::sin(-target);
+	double cos = units::math::cos(-target);
+	double h_0 = sin * x_0.value() + cos * y_0.value();
+	double h_1 = sin * x_1.value() + cos * y_1.value();
+	// Undo linear interpolation from h_0 to h_1:
+	// 0 = h_0 + (h_1 - h_0) * s
+	// -h_0 = (h_1 - h_0) * s
+	// -h_0 / (h_1 - h_0) = s
+	// h_0 / (h_0 - h_1) = s
+	// Guaranteed to not divide by zero, since if h_0 was equal to h_1, theta_0
+	// would be equal to theta_1, which is caught by the difference check.
+	return h_0 / (h_0 - h_1);
+}
+
+double SwerveSetpointGenerator::findDriveMaxS(units::meters_per_second_t x_0,
+		units::meters_per_second_t y_0, units::meters_per_second_t x_1,
+		units::meters_per_second_t y_1,
+		units::meters_per_second_t max_vel_step) {
+	// Derivation:
+	// Want to find point P(s) between (x_0, y_0) and (x_1, y_1) where the
+	// length of P(s) is the target T. P(s) is linearly interpolated between the
+	// points, so P(s) = (x_0 + (x_1 - x_0) * s, y_0 + (y_1 - y_0) * s).
+	// Then,
+	//     T = sqrt(P(s).x^2 + P(s).y^2)
+	//   T^2 = (x_0 + (x_1 - x_0) * s)^2 + (y_0 + (y_1 - y_0) * s)^2
+	//   T^2 = x_0^2 + 2x_0(x_1-x_0)s + (x_1-x_0)^2*s^2
+	//       + y_0^2 + 2y_0(y_1-y_0)s + (y_1-y_0)^2*s^2
+	//   T^2 = x_0^2 + 2x_0x_1s - 2x_0^2*s + x_1^2*s^2 - 2x_0x_1s^2 + x_0^2*s^2
+	//       + y_0^2 + 2y_0y_1s - 2y_0^2*s + y_1^2*s^2 - 2y_0y_1s^2 + y_0^2*s^2
+	//     0 = (x_0^2 + y_0^2 + x_1^2 + y_1^2 - 2x_0x_1 - 2y_0y_1)s^2
+	//       + (2x_0x_1 + 2y_0y_1 - 2x_0^2 - 2y_0^2)s
+	//       + (x_0^2 + y_0^2 - T^2).
+	//
+	// To simplify, we can factor out some common parts:
+	// Let l_0 = x_0^2 + y_0^2, l_1 = x_1^2 + y_1^2, and
+	// p = x_0 * x_1 + y_0 * y_1.
+	// Then we have
+	//   0 = (l_0 + l_1 - 2p)s^2 + 2(p - l_0)s + (l_0 - T^2),
+	// with which we can solve for s using the quadratic formula.
+	double l_0 = (x_0 * x_0 + y_0 * y_0).value();
+	double l_1 = (x_1 * x_1 + y_1 * y_1).value();
+	double sqrt_l_0 = std::sqrt(l_0);
+	double diff = std::sqrt(l_1) - sqrt_l_0;
+	if (std::abs(diff) < max_vel_step.value()) {
+		// Can go all the way to s=1.
+		return 1.0;
+	}
+
+	double target = sqrt_l_0
+			+ units::math::copysign(max_vel_step, diff).value();
+	double p = (x_0 * x_1 + y_0 * y_1).value();
+
+	// Quadratic of s
+	double a = l_0 + l_1 - 2 * p;
+	double b = 2 * (p - l_0);
+	double c = l_0 - target * target;
+	double root = std::sqrt(b * b - 4 * a * c);
+
+	// Check if either of the solutions are valid
+	// Won't divide by zero because it is only possible for a to be zero if the
+	// target velocity is exactly the same or the reverse of the current
+	// velocity, which would be caught by the difference check.
+	double s_1 = (-b + root) / (2 * a);
+	if (isValidS(s_1)) {
+		return s_1;
+	}
+
+	double s_2 = (-b - root) / (2 * a);
+	if (isValidS(s_2)) {
+		return s_2;
+	}
+
+	// Since we passed the initial max_vel_step check, a solution should exist,
+	// but if no solution was found anyway, just don't limit movement
+	return 1.0;
+}
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/config/ModuleConfig.h b/pathplannerlib/src/main/native/include/pathplanner/lib/config/ModuleConfig.h
index eba0eb05..3e657022 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/config/ModuleConfig.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/config/ModuleConfig.h
@@ -24,6 +24,9 @@ class ModuleConfig {
 
 	units::newton_meter_t torqueLoss;
 
+	ModuleConfig() : driveMotor(frc::DCMotor::CIM()) {
+	}
+
 	/**
 	 * Configuration of a robot drive module. This can either be a swerve module, or one side of a
 	 * differential drive train.
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/config/RobotConfig.h b/pathplannerlib/src/main/native/include/pathplanner/lib/config/RobotConfig.h
index 888c680a..5791ba48 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/config/RobotConfig.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/config/RobotConfig.h
@@ -28,6 +28,8 @@ class RobotConfig {
 	units::newton_t wheelFrictionForce;
 	units::newton_meter_t maxTorqueFriction;
 
+	RobotConfig();
+
 	RobotConfig(units::kilogram_t mass, units::kilogram_square_meter_t MOI,
 			ModuleConfig moduleConfig,
 			std::vector<frc::Translation2d> moduleOffsets);
@@ -57,6 +59,27 @@ class RobotConfig {
 	frc::ChassisSpeeds toChassisSpeeds(
 			std::vector<SwerveModuleTrajectoryState> states) const;
 
+	/**
+	 * Convert a vector of swerve module states to robot-relative chassis speeds. This will use
+	 * differential kinematics for diff drive robots.
+	 * 
+	 * @param states Vector of swerve module states
+	 * @return Robot-relative chassis speeds
+	 */
+	frc::ChassisSpeeds toChassisSpeeds(
+			std::vector<frc::SwerveModuleState> states) const;
+
+	/**
+	 * Desaturate wheel speeds to respect velocity limits.
+	 * 
+	 * @param moduleStates The module states to desaturate
+	 * @param maxSpeed The maximum speed that the robot can reach while actually driving the robot at full output
+	 * @return The desaturated module states
+	 */
+	std::vector<frc::SwerveModuleState> desaturateWheelSpeeds(
+			std::vector<frc::SwerveModuleState> moduleStates,
+			units::meters_per_second_t maxSpeed) const;
+
 	std::vector<frc::Translation2d> chassisForcesToWheelForceVectors(
 			frc::ChassisSpeeds chassisForces) const;
 
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpoint.h b/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpoint.h
new file mode 100644
index 00000000..72ab5f4d
--- /dev/null
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpoint.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "pathplanner/lib/util/DriveFeedforwards.h"
+#include <frc/kinematics/ChassisSpeeds.h>
+#include <frc/kinematics/SwerveModuleState.h>
+
+namespace pathplanner {
+/**
+ * A setpoint for a swerve drivetrain, containing robot-relative chassis speeds and individual
+ * module states
+ *
+ * @param robotRelativeSpeeds Robot-relative chassis speeds
+ * @param moduleStates Array of individual swerve module states. These will be in FL, FR, BL, BR
+ *     order.
+ * @param feedforwards Feedforwards for each module's drive motor. The arrays in this record will be
+ *     in FL, FR, BL, BR order.
+ */
+struct SwerveSetpoint {
+public:
+	frc::ChassisSpeeds robotRelativeSpeeds;
+	std::vector<frc::SwerveModuleState> moduleStates;
+	pathplanner::DriveFeedforwards feedforwards;
+};
+}
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h b/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h
new file mode 100644
index 00000000..d3db1d7d
--- /dev/null
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h
@@ -0,0 +1,133 @@
+#include "pathplanner/lib/config/RobotConfig.h"
+#include "pathplanner/lib/util/DriveFeedforwards.h"
+#include "pathplanner/lib/util/swerve/SwerveSetpoint.h"
+
+#include <frc/kinematics/SwerveModuleState.h>
+#include <frc/kinematics/SwerveDriveKinematics.h>
+#include <frc/RobotController.h>
+
+using namespace pathplanner;
+
+namespace pathplanner {
+/**
+ * Swerve setpoint generator based on a version created by FRC team 254.
+ *
+ * <p>Takes a prior setpoint, a desired setpoint, and outputs a new setpoint that respects all the
+ * kinematic constraints on module rotation and wheel velocity/torque, as well as preventing any
+ * forces acting on a module's wheel from exceeding the force of friction.
+ */
+class SwerveSetpointGenerator {
+public:
+
+	/**
+	 * Create a new swerve setpoint generator
+	 */
+	SwerveSetpointGenerator();
+
+	/**
+	 * Create a new swerve setpoint generator
+	 *
+	 * @param config The robot configuration
+	 * @param maxSteerVelocity The maximum rotation velocity of a swerve module, in turns per second
+	 */
+	SwerveSetpointGenerator(const RobotConfig &config,
+			units::turns_per_second_t maxSteerVelocity);
+
+	/**
+	 * Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds
+	 * passed into or returned from this method. This method will discretize the speeds for you.
+	 *
+	 * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+	 *     iteration setpoint instead of the actual measured/estimated kinematic state.
+	 * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+	 *     a path following algorithm.
+	 * @param dt The loop time.
+	 * @param inputVoltage The input voltage of the drive motor controllers, in volts. This can also
+	 *     be a static nominal voltage if you do not want the setpoint generator to react to changes
+	 *     in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input
+	 *     voltage will be clamped to a minimum of the robot controller's brownout voltage.
+	 * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+	 *     desiredState quickly.
+	 */
+	SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint,
+			frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt,
+			units::volt_t inputVoltage);
+
+	/**
+	 * Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
+	 * this method. This method will discretize the speeds for you.
+	 *
+	 * <p>Note: This method will automatically use the current robot controller input voltage.
+	 *
+	 * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+	 *     iteration setpoint instead of the actual measured/estimated kinematic state.
+	 * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+	 *     a path following algorithm.
+	 * @param dt The loop time.
+	 * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+	 *     desiredState quickly.
+	 */
+	SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint,
+			frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt);
+
+	/**
+	 * Check if it would be faster to go to the opposite of the goal heading (and reverse drive
+	 * direction).
+	 *
+	 * @param prevToGoal The rotation from the previous state to the goal state (i.e.
+	 *     prev.inverse().rotateBy(goal)).
+	 * @return True if the shortest path to achieve this rotation involves flipping the drive
+	 *     direction.
+	 */
+	inline static bool flipHeading(frc::Rotation2d prevToGoal) {
+		return units::math::abs(prevToGoal.Radians()).value() > PI / 2.0;
+	}
+
+	inline static units::radian_t unwrapAngle(double ref, double angle) {
+		double diff = angle - ref;
+		if (diff > PI) {
+			return units::radian_t(angle - 2.0 * PI);
+		} else if (diff < -PI) {
+			return units::radian_t(angle + 2.0 * PI);
+		} else {
+			return units::radian_t(angle);
+		}
+	}
+
+private:
+	double kEpsilon = 1e-6;
+
+	RobotConfig m_robotConfig;
+	units::turns_per_second_t maxSteerVelocity;
+	units::volt_t brownoutVoltage;
+
+	double findSteeringMaxS(units::meters_per_second_t x_0,
+			units::meters_per_second_t y_0, units::radian_t f_0,
+			units::meters_per_second_t x_1, units::meters_per_second_t y_1,
+			units::radian_t f_1, units::radian_t max_deviation);
+
+	inline bool isValidS(double s) {
+		return s >= 0.0 && s <= 1.0 && std::isfinite(s);
+	}
+
+	double findDriveMaxS(units::meters_per_second_t x_0,
+			units::meters_per_second_t y_0, units::meters_per_second_t x_1,
+			units::meters_per_second_t y_1,
+			units::meters_per_second_t max_vel_step);
+
+	inline bool epsilonEquals(double a, double b, double epsilon) {
+		return (a - epsilon <= b) && (a + epsilon >= b);
+	}
+
+	inline bool epsilonEquals(double a, double b) {
+		return epsilonEquals(a, b, kEpsilon);
+	}
+
+	inline bool epsilonEquals(frc::ChassisSpeeds s1, frc::ChassisSpeeds s2) {
+		return epsilonEquals(s1.vx.to<double>(), s2.vx.to<double>())
+				&& epsilonEquals(s1.vy.to<double>(), s2.vy.to<double>())
+				&& epsilonEquals(s1.omega.to<double>(), s2.omega.to<double>());
+	}
+
+};
+}

From bb073a558040975b6555833f89dcf845abedbfa3 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 2 Jan 2025 12:21:00 -0500
Subject: [PATCH 20/52] Fix C++ Choreo trajectory parsing (#960)

---
 .../main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
index c7a68284..4050762b 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
@@ -228,7 +228,7 @@ void PathPlannerPath::loadChoreoTrajectoryIntoCache(
 			std::string name = markerJson.at("name").get<std::string>();
 
 			auto fromJson = markerJson.at("from");
-			auto fromOffsetJson = markerJson.at("offset");
+			auto fromOffsetJson = fromJson.at("offset");
 
 			units::second_t fromTargetTimestamp {
 					fromJson.at("targetTimestamp").get<double>() };

From 86e9d15c5f961d7814212ef2b5fdedb476751261 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 2 Jan 2025 13:35:29 -0500
Subject: [PATCH 21/52] Update example projects (#962)

---
 examples/cpp/.wpilib/wpilib_preferences.json      |  2 +-
 examples/cpp/build.gradle                         |  2 +-
 .../deploy/pathplanner/autos/Example Auto.auto    |  2 +-
 .../src/main/deploy/pathplanner/paths/Pickup.path | 10 ++++++----
 .../src/main/deploy/pathplanner/paths/Score.path  |  6 ++++--
 .../cpp/src/main/deploy/pathplanner/settings.json | 15 +++++++++++++--
 ...thplannerLib-beta.json => PathplannerLib.json} | 12 ++++++------
 examples/cpp/vendordeps/WPILibNewCommands.json    |  2 +-
 examples/java/.wpilib/wpilib_preferences.json     |  2 +-
 examples/java/build.gradle                        |  2 +-
 .../deploy/pathplanner/autos/Example Auto.auto    |  2 +-
 .../src/main/deploy/pathplanner/paths/Pickup.path | 10 ++++++----
 .../src/main/deploy/pathplanner/paths/Score.path  |  6 ++++--
 .../src/main/deploy/pathplanner/settings.json     | 15 +++++++++++++--
 ...thplannerLib-beta.json => PathplannerLib.json} | 12 ++++++------
 examples/java/vendordeps/WPILibNewCommands.json   |  2 +-
 16 files changed, 66 insertions(+), 36 deletions(-)
 rename examples/cpp/vendordeps/{PathplannerLib-beta.json => PathplannerLib.json} (80%)
 rename examples/java/vendordeps/{PathplannerLib-beta.json => PathplannerLib.json} (80%)

diff --git a/examples/cpp/.wpilib/wpilib_preferences.json b/examples/cpp/.wpilib/wpilib_preferences.json
index 2ca83e9f..47ae7259 100644
--- a/examples/cpp/.wpilib/wpilib_preferences.json
+++ b/examples/cpp/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2024",
+    "projectYear": "2025",
     "teamNumber": 3015
 }
\ No newline at end of file
diff --git a/examples/cpp/build.gradle b/examples/cpp/build.gradle
index 4a6fd6a8..d353519e 100644
--- a/examples/cpp/build.gradle
+++ b/examples/cpp/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/examples/cpp/src/main/deploy/pathplanner/autos/Example Auto.auto b/examples/cpp/src/main/deploy/pathplanner/autos/Example Auto.auto
index 9c5a58f1..f60ba792 100644
--- a/examples/cpp/src/main/deploy/pathplanner/autos/Example Auto.auto	
+++ b/examples/cpp/src/main/deploy/pathplanner/autos/Example Auto.auto	
@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "command": {
     "type": "sequential",
     "data": {
diff --git a/examples/cpp/src/main/deploy/pathplanner/paths/Pickup.path b/examples/cpp/src/main/deploy/pathplanner/paths/Pickup.path
index 9d3fbc83..043d65f5 100644
--- a/examples/cpp/src/main/deploy/pathplanner/paths/Pickup.path
+++ b/examples/cpp/src/main/deploy/pathplanner/paths/Pickup.path
@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "waypoints": [
     {
       "anchor": {
@@ -9,7 +9,7 @@
       "prevControl": null,
       "nextControl": {
         "x": 3.820494796624656,
-        "y": 1.2776543621065768
+        "y": 1.2776543621065766
       },
       "isLocked": false,
       "linkedName": null
@@ -21,7 +21,7 @@
       },
       "prevControl": {
         "x": 5.891321406971974,
-        "y": 0.8077125277685265
+        "y": 0.8077125277685268
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,7 +55,9 @@
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/examples/cpp/src/main/deploy/pathplanner/paths/Score.path b/examples/cpp/src/main/deploy/pathplanner/paths/Score.path
index ec67cdd6..5d356bcf 100644
--- a/examples/cpp/src/main/deploy/pathplanner/paths/Score.path
+++ b/examples/cpp/src/main/deploy/pathplanner/paths/Score.path
@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "waypoints": [
     {
       "anchor": {
@@ -82,7 +82,9 @@
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/examples/cpp/src/main/deploy/pathplanner/settings.json b/examples/cpp/src/main/deploy/pathplanner/settings.json
index d48345ac..5bf438c7 100644
--- a/examples/cpp/src/main/deploy/pathplanner/settings.json
+++ b/examples/cpp/src/main/deploy/pathplanner/settings.json
@@ -8,14 +8,25 @@
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
   "robotMass": 74.088,
   "robotMOI": 6.883,
-  "robotWheelbase": 0.546,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.048,
   "driveGearing": 5.143,
   "maxDriveSpeed": 5.45,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 60.0,
-  "wheelCOF": 1.2
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
 }
\ No newline at end of file
diff --git a/examples/cpp/vendordeps/PathplannerLib-beta.json b/examples/cpp/vendordeps/PathplannerLib.json
similarity index 80%
rename from examples/cpp/vendordeps/PathplannerLib-beta.json
rename to examples/cpp/vendordeps/PathplannerLib.json
index 35d6d304..1a46add4 100644
--- a/examples/cpp/vendordeps/PathplannerLib-beta.json
+++ b/examples/cpp/vendordeps/PathplannerLib.json
@@ -1,18 +1,18 @@
 {
-    "fileName": "PathplannerLib-beta.json",
+    "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2025.0.0-beta-1.1",
+    "version": "2025.1.1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2024",
+    "frcYear": "2025",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
-    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib-beta.json",
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
     "javaDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.0.0-beta-1.1"
+            "version": "2025.1.1"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.0.0-beta-1.1",
+            "version": "2025.1.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/examples/cpp/vendordeps/WPILibNewCommands.json b/examples/cpp/vendordeps/WPILibNewCommands.json
index 67bf3898..3718e0ac 100644
--- a/examples/cpp/vendordeps/WPILibNewCommands.json
+++ b/examples/cpp/vendordeps/WPILibNewCommands.json
@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/examples/java/.wpilib/wpilib_preferences.json b/examples/java/.wpilib/wpilib_preferences.json
index 6e810264..752aeb8e 100644
--- a/examples/java/.wpilib/wpilib_preferences.json
+++ b/examples/java/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025",
     "teamNumber": 3015
 }
\ No newline at end of file
diff --git a/examples/java/build.gradle b/examples/java/build.gradle
index 90c190c4..5db63235 100644
--- a/examples/java/build.gradle
+++ b/examples/java/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1"
 }
 
 java {
diff --git a/examples/java/src/main/deploy/pathplanner/autos/Example Auto.auto b/examples/java/src/main/deploy/pathplanner/autos/Example Auto.auto
index 9c5a58f1..f60ba792 100644
--- a/examples/java/src/main/deploy/pathplanner/autos/Example Auto.auto	
+++ b/examples/java/src/main/deploy/pathplanner/autos/Example Auto.auto	
@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "command": {
     "type": "sequential",
     "data": {
diff --git a/examples/java/src/main/deploy/pathplanner/paths/Pickup.path b/examples/java/src/main/deploy/pathplanner/paths/Pickup.path
index 9d3fbc83..043d65f5 100644
--- a/examples/java/src/main/deploy/pathplanner/paths/Pickup.path
+++ b/examples/java/src/main/deploy/pathplanner/paths/Pickup.path
@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "waypoints": [
     {
       "anchor": {
@@ -9,7 +9,7 @@
       "prevControl": null,
       "nextControl": {
         "x": 3.820494796624656,
-        "y": 1.2776543621065768
+        "y": 1.2776543621065766
       },
       "isLocked": false,
       "linkedName": null
@@ -21,7 +21,7 @@
       },
       "prevControl": {
         "x": 5.891321406971974,
-        "y": 0.8077125277685265
+        "y": 0.8077125277685268
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,7 +55,9 @@
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/examples/java/src/main/deploy/pathplanner/paths/Score.path b/examples/java/src/main/deploy/pathplanner/paths/Score.path
index ec67cdd6..5d356bcf 100644
--- a/examples/java/src/main/deploy/pathplanner/paths/Score.path
+++ b/examples/java/src/main/deploy/pathplanner/paths/Score.path
@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "waypoints": [
     {
       "anchor": {
@@ -82,7 +82,9 @@
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/examples/java/src/main/deploy/pathplanner/settings.json b/examples/java/src/main/deploy/pathplanner/settings.json
index d48345ac..5bf438c7 100644
--- a/examples/java/src/main/deploy/pathplanner/settings.json
+++ b/examples/java/src/main/deploy/pathplanner/settings.json
@@ -8,14 +8,25 @@
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
   "robotMass": 74.088,
   "robotMOI": 6.883,
-  "robotWheelbase": 0.546,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.048,
   "driveGearing": 5.143,
   "maxDriveSpeed": 5.45,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 60.0,
-  "wheelCOF": 1.2
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
 }
\ No newline at end of file
diff --git a/examples/java/vendordeps/PathplannerLib-beta.json b/examples/java/vendordeps/PathplannerLib.json
similarity index 80%
rename from examples/java/vendordeps/PathplannerLib-beta.json
rename to examples/java/vendordeps/PathplannerLib.json
index 35d6d304..1a46add4 100644
--- a/examples/java/vendordeps/PathplannerLib-beta.json
+++ b/examples/java/vendordeps/PathplannerLib.json
@@ -1,18 +1,18 @@
 {
-    "fileName": "PathplannerLib-beta.json",
+    "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2025.0.0-beta-1.1",
+    "version": "2025.1.1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2024",
+    "frcYear": "2025",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
-    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib-beta.json",
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
     "javaDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.0.0-beta-1.1"
+            "version": "2025.1.1"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.0.0-beta-1.1",
+            "version": "2025.1.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/examples/java/vendordeps/WPILibNewCommands.json b/examples/java/vendordeps/WPILibNewCommands.json
index 67bf3898..3718e0ac 100644
--- a/examples/java/vendordeps/WPILibNewCommands.json
+++ b/examples/java/vendordeps/WPILibNewCommands.json
@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [

From c6e1d534144594bf41d797138b287f02fca9fad4 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 2 Jan 2025 14:00:23 -0500
Subject: [PATCH 22/52] Fix dialog background colors (#963)

---
 lib/pages/home_page.dart                      |   7 +
 lib/pages/nav_grid_page.dart                  |   3 +
 lib/pages/project/project_item_card.dart      |   3 +
 lib/pages/project/project_page.dart           |  31 ++
 lib/widgets/app_settings.dart                 |   9 +
 lib/widgets/dialogs/edit_field_dialog.dart    |   3 +
 lib/widgets/dialogs/import_field_dialog.dart  |   2 +
 lib/widgets/dialogs/management_dialog.dart    | 279 ++++++++++--------
 lib/widgets/dialogs/settings_dialog.dart      |   4 +
 .../dialogs/trajectory_render_dialog.dart     |   2 +
 .../editor/tree_widgets/waypoints_tree.dart   |   3 +
 11 files changed, 215 insertions(+), 131 deletions(-)

diff --git a/lib/pages/home_page.dart b/lib/pages/home_page.dart
index b6c550c7..edcfffeb 100644
--- a/lib/pages/home_page.dart
+++ b/lib/pages/home_page.dart
@@ -135,7 +135,11 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
           context: this.context,
           barrierDismissible: false,
           builder: (context) {
+            ColorScheme colorScheme = Theme.of(context).colorScheme;
+
             return AlertDialog(
+              backgroundColor: colorScheme.surface,
+              surfaceTintColor: colorScheme.surfaceTint,
               title: const Text('New Field Image Available'),
               content: const SizedBox(
                 width: 400,
@@ -187,7 +191,10 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
             context: this.context,
             barrierDismissible: false,
             builder: (context) {
+              ColorScheme colorScheme = Theme.of(context).colorScheme;
               return AlertDialog(
+                backgroundColor: colorScheme.surface,
+                surfaceTintColor: colorScheme.surfaceTint,
                 title: const Text('Non-standard Field Mirroring'),
                 content: const SizedBox(
                   width: 300,
diff --git a/lib/pages/nav_grid_page.dart b/lib/pages/nav_grid_page.dart
index 5fd716c1..9421bae9 100644
--- a/lib/pages/nav_grid_page.dart
+++ b/lib/pages/nav_grid_page.dart
@@ -156,7 +156,10 @@ class _NavGridPageState extends State<NavGridPage> {
     showDialog(
       context: this.context,
       builder: (context) {
+        ColorScheme colorScheme = Theme.of(context).colorScheme;
         return AlertDialog(
+          backgroundColor: colorScheme.surface,
+          surfaceTintColor: colorScheme.surfaceTint,
           title: const Text('Edit Grid'),
           content: SizedBox(
             width: 350,
diff --git a/lib/pages/project/project_item_card.dart b/lib/pages/project/project_item_card.dart
index 78712166..5628d650 100644
--- a/lib/pages/project/project_item_card.dart
+++ b/lib/pages/project/project_item_card.dart
@@ -251,7 +251,10 @@ class _ProjectItemCardState extends State<ProjectItemCard> {
     showDialog(
       context: context,
       builder: (context) {
+        ColorScheme colorScheme = Theme.of(context).colorScheme;
         return AlertDialog(
+          backgroundColor: colorScheme.surface,
+          surfaceTintColor: colorScheme.surfaceTint,
           title: const Text('Delete File'),
           content: Text(
               'Are you sure you want to delete the file: ${widget.name}? This cannot be undone.\n\nIf this is a path, any autos using it will have their reference to it removed.'),
diff --git a/lib/pages/project/project_page.dart b/lib/pages/project/project_page.dart
index d49b1bf5..60c7160f 100644
--- a/lib/pages/project/project_page.dart
+++ b/lib/pages/project/project_page.dart
@@ -811,7 +811,18 @@ class _ProjectPageState extends State<ProjectPage> {
                                                           context: context,
                                                           builder: (BuildContext
                                                               context) {
+                                                            ColorScheme
+                                                                colorScheme =
+                                                                Theme.of(
+                                                                        context)
+                                                                    .colorScheme;
                                                             return AlertDialog(
+                                                              backgroundColor:
+                                                                  colorScheme
+                                                                      .surface,
+                                                              surfaceTintColor:
+                                                                  colorScheme
+                                                                      .surfaceTint,
                                                               title: const Text(
                                                                   'Unable to Rename'),
                                                               content: Text(
@@ -1052,7 +1063,10 @@ class _ProjectPageState extends State<ProjectPage> {
       showDialog(
           context: context,
           builder: (BuildContext context) {
+            ColorScheme colorScheme = Theme.of(context).colorScheme;
             return AlertDialog(
+              backgroundColor: colorScheme.surface,
+              surfaceTintColor: colorScheme.surfaceTint,
               title: const Text('Unable to Rename'),
               content: Text('The file "$newName.path" already exists'),
               actions: [
@@ -1300,7 +1314,18 @@ class _ProjectPageState extends State<ProjectPage> {
                                                           context: context,
                                                           builder: (BuildContext
                                                               context) {
+                                                            ColorScheme
+                                                                colorScheme =
+                                                                Theme.of(
+                                                                        context)
+                                                                    .colorScheme;
                                                             return AlertDialog(
+                                                              backgroundColor:
+                                                                  colorScheme
+                                                                      .surface,
+                                                              surfaceTintColor:
+                                                                  colorScheme
+                                                                      .surfaceTint,
                                                               title: const Text(
                                                                   'Unable to Rename'),
                                                               content: Text(
@@ -1524,7 +1549,10 @@ class _ProjectPageState extends State<ProjectPage> {
                 showDialog(
                   context: this.context,
                   builder: (context) {
+                    ColorScheme colorScheme = Theme.of(context).colorScheme;
                     return AlertDialog(
+                      backgroundColor: colorScheme.surface,
+                      surfaceTintColor: colorScheme.surfaceTint,
                       title: const Text('Delete Folder'),
                       content: SizedBox(
                         width: 400,
@@ -1787,7 +1815,10 @@ class _ProjectPageState extends State<ProjectPage> {
       showDialog(
           context: context,
           builder: (BuildContext context) {
+            ColorScheme colorScheme = Theme.of(context).colorScheme;
             return AlertDialog(
+              backgroundColor: colorScheme.surface,
+              surfaceTintColor: colorScheme.surfaceTint,
               title: const Text('Unable to Rename'),
               content: Text('The file "$newName.auto" already exists'),
               actions: [
diff --git a/lib/widgets/app_settings.dart b/lib/widgets/app_settings.dart
index 0e7c55cb..7296e928 100644
--- a/lib/widgets/app_settings.dart
+++ b/lib/widgets/app_settings.dart
@@ -410,7 +410,10 @@ class _AppSettingsState extends State<AppSettings> {
                   showDialog(
                       context: context,
                       builder: (context) {
+                        ColorScheme colorScheme = Theme.of(context).colorScheme;
                         return AlertDialog(
+                          backgroundColor: colorScheme.surface,
+                          surfaceTintColor: colorScheme.surfaceTint,
                           title: const Text('Delete Custom Field Image'),
                           content: Text(
                               'Are you sure you want to delete the custom field "${_selectedField.name}"? This cannot be undone.'),
@@ -472,7 +475,10 @@ class _AppSettingsState extends State<AppSettings> {
                   context: context,
                   barrierColor: Colors.transparent,
                   builder: (BuildContext context) {
+                    ColorScheme colorScheme = Theme.of(context).colorScheme;
                     return AlertDialog(
+                      backgroundColor: colorScheme.surface,
+                      surfaceTintColor: colorScheme.surfaceTint,
                       title: const Text('Pick Theme Color'),
                       content: Padding(
                         padding: const EdgeInsets.symmetric(vertical: 4.0),
@@ -534,10 +540,13 @@ class _AppSettingsState extends State<AppSettings> {
               showDialog(
                 context: context,
                 builder: (BuildContext context) {
+                  ColorScheme colorScheme = Theme.of(context).colorScheme;
                   return KeyBoardShortcuts(
                     keysToPress: {LogicalKeyboardKey.enter},
                     onKeysPressed: () => Navigator.of(context).pop(),
                     child: AlertDialog(
+                      backgroundColor: colorScheme.surface,
+                      surfaceTintColor: colorScheme.surfaceTint,
                       title: const Text('Failed to Import Field'),
                       content:
                           Text('Field with the name "$name" already exists.'),
diff --git a/lib/widgets/dialogs/edit_field_dialog.dart b/lib/widgets/dialogs/edit_field_dialog.dart
index 3d1762ef..c9510937 100644
--- a/lib/widgets/dialogs/edit_field_dialog.dart
+++ b/lib/widgets/dialogs/edit_field_dialog.dart
@@ -36,10 +36,13 @@ class _EditFieldDialogState extends State<EditFieldDialog> {
 
   @override
   Widget build(BuildContext context) {
+    ColorScheme colorScheme = Theme.of(context).colorScheme;
     return KeyBoardShortcuts(
       keysToPress: {LogicalKeyboardKey.enter},
       onKeysPressed: () => confirm(context),
       child: AlertDialog(
+        backgroundColor: colorScheme.surface,
+        surfaceTintColor: colorScheme.surfaceTint,
         title: const Text('Edit Custom Field'),
         content: Column(
           mainAxisSize: MainAxisSize.min,
diff --git a/lib/widgets/dialogs/import_field_dialog.dart b/lib/widgets/dialogs/import_field_dialog.dart
index 25362c2d..63518134 100644
--- a/lib/widgets/dialogs/import_field_dialog.dart
+++ b/lib/widgets/dialogs/import_field_dialog.dart
@@ -40,6 +40,8 @@ class _ImportFieldDialogState extends State<ImportFieldDialog> {
       keysToPress: {LogicalKeyboardKey.enter},
       onKeysPressed: () => confirm(context),
       child: AlertDialog(
+        backgroundColor: colorScheme.surface,
+        surfaceTintColor: colorScheme.surfaceTint,
         title: const Text('Import Custom Field'),
         content: Column(
           mainAxisSize: MainAxisSize.min,
diff --git a/lib/widgets/dialogs/management_dialog.dart b/lib/widgets/dialogs/management_dialog.dart
index b278bc29..fc81ad47 100644
--- a/lib/widgets/dialogs/management_dialog.dart
+++ b/lib/widgets/dialogs/management_dialog.dart
@@ -132,29 +132,34 @@ class _ManagementDialogState extends State<ManagementDialog> {
                         onPressed: () {
                           showDialog(
                               context: context,
-                              builder: (BuildContext context) => AlertDialog(
-                                    title: const Text('Remove Event'),
-                                    content: Text(
-                                        'Are you sure you want to remove the event "$eventName"? This cannot be undone.'),
-                                    actions: [
-                                      TextButton(
-                                        onPressed: Navigator.of(context).pop,
-                                        child: const Text('Cancel'),
-                                      ),
-                                      TextButton(
-                                        onPressed: () {
-                                          setState(() {
-                                            widget.onEventDeleted(eventName);
-                                            ProjectPage.events
-                                                .remove(eventName);
-                                          });
+                              builder: (BuildContext context) {
+                                ColorScheme colorScheme =
+                                    Theme.of(context).colorScheme;
+                                return AlertDialog(
+                                  backgroundColor: colorScheme.surface,
+                                  surfaceTintColor: colorScheme.surfaceTint,
+                                  title: const Text('Remove Event'),
+                                  content: Text(
+                                      'Are you sure you want to remove the event "$eventName"? This cannot be undone.'),
+                                  actions: [
+                                    TextButton(
+                                      onPressed: Navigator.of(context).pop,
+                                      child: const Text('Cancel'),
+                                    ),
+                                    TextButton(
+                                      onPressed: () {
+                                        setState(() {
+                                          widget.onEventDeleted(eventName);
+                                          ProjectPage.events.remove(eventName);
+                                        });
 
-                                          Navigator.of(context).pop();
-                                        },
-                                        child: const Text('Confirm'),
-                                      ),
-                                    ],
-                                  ));
+                                        Navigator.of(context).pop();
+                                      },
+                                      child: const Text('Confirm'),
+                                    ),
+                                  ],
+                                );
+                              });
                         },
                         icon: Icon(
                           Icons.delete_forever_rounded,
@@ -203,27 +208,33 @@ class _ManagementDialogState extends State<ManagementDialog> {
                       onPressed: () {
                         showDialog(
                             context: context,
-                            builder: (BuildContext context) => AlertDialog(
-                                  title: const Text('Remove Linked Waypoint'),
-                                  content: Text(
-                                      'Are you sure you want to remove the linked waypoint "$waypointName"? This cannot be undone.'),
-                                  actions: [
-                                    TextButton(
-                                      onPressed: Navigator.of(context).pop,
-                                      child: const Text('Cancel'),
-                                    ),
-                                    TextButton(
-                                      onPressed: () {
-                                        setState(() {
-                                          widget.onLinkedDeleted(waypointName);
-                                        });
+                            builder: (BuildContext context) {
+                              ColorScheme colorScheme =
+                                  Theme.of(context).colorScheme;
+                              return AlertDialog(
+                                backgroundColor: colorScheme.surface,
+                                surfaceTintColor: colorScheme.surfaceTint,
+                                title: const Text('Remove Linked Waypoint'),
+                                content: Text(
+                                    'Are you sure you want to remove the linked waypoint "$waypointName"? This cannot be undone.'),
+                                actions: [
+                                  TextButton(
+                                    onPressed: Navigator.of(context).pop,
+                                    child: const Text('Cancel'),
+                                  ),
+                                  TextButton(
+                                    onPressed: () {
+                                      setState(() {
+                                        widget.onLinkedDeleted(waypointName);
+                                      });
 
-                                        Navigator.of(context).pop();
-                                      },
-                                      child: const Text('Confirm'),
-                                    ),
-                                  ],
-                                ));
+                                      Navigator.of(context).pop();
+                                    },
+                                    child: const Text('Confirm'),
+                                  ),
+                                ],
+                              );
+                            });
                       },
                       icon: Icon(
                         Icons.delete_forever_rounded,
@@ -243,55 +254,58 @@ class _ManagementDialogState extends State<ManagementDialog> {
     TextEditingController controller =
         TextEditingController(text: originalName);
 
-    ColorScheme colorScheme = Theme.of(context).colorScheme;
-
     showDialog(
       context: context,
-      builder: (BuildContext context) => AlertDialog(
-        title: const Text('Rename Event'),
-        content: SizedBox(
-          height: 42,
-          width: 400,
-          child: TextField(
-            controller: controller,
-            style: TextStyle(fontSize: 14, color: colorScheme.onSurface),
-            decoration: InputDecoration(
-              contentPadding: const EdgeInsets.fromLTRB(8, 4, 8, 4),
-              labelText: 'Event Name',
-              border:
-                  OutlineInputBorder(borderRadius: BorderRadius.circular(8)),
+      builder: (BuildContext context) {
+        ColorScheme colorScheme = Theme.of(context).colorScheme;
+        return AlertDialog(
+          backgroundColor: colorScheme.surface,
+          surfaceTintColor: colorScheme.surfaceTint,
+          title: const Text('Rename Event'),
+          content: SizedBox(
+            height: 42,
+            width: 400,
+            child: TextField(
+              controller: controller,
+              style: TextStyle(fontSize: 14, color: colorScheme.onSurface),
+              decoration: InputDecoration(
+                contentPadding: const EdgeInsets.fromLTRB(8, 4, 8, 4),
+                labelText: 'Event Name',
+                border:
+                    OutlineInputBorder(borderRadius: BorderRadius.circular(8)),
+              ),
             ),
           ),
-        ),
-        actions: [
-          TextButton(
-            onPressed: Navigator.of(context).pop,
-            child: const Text('Cancel'),
-          ),
-          TextButton(
-            onPressed: () {
-              if (controller.text == originalName) {
-                Navigator.of(context).pop();
-              } else if (ProjectPage.events.contains(controller.text)) {
-                Navigator.of(context).pop();
-                ScaffoldMessenger.of(context).showSnackBar(
-                  const SnackBar(
-                    content: Text('An event with that name already exists'),
-                  ),
-                );
-              } else {
-                Navigator.of(context).pop();
-                setState(() {
-                  widget.onEventRenamed(originalName, controller.text);
-                  ProjectPage.events.remove(originalName);
-                  ProjectPage.events.add(controller.text);
-                });
-              }
-            },
-            child: const Text('Confirm'),
-          ),
-        ],
-      ),
+          actions: [
+            TextButton(
+              onPressed: Navigator.of(context).pop,
+              child: const Text('Cancel'),
+            ),
+            TextButton(
+              onPressed: () {
+                if (controller.text == originalName) {
+                  Navigator.of(context).pop();
+                } else if (ProjectPage.events.contains(controller.text)) {
+                  Navigator.of(context).pop();
+                  ScaffoldMessenger.of(context).showSnackBar(
+                    const SnackBar(
+                      content: Text('An event with that name already exists'),
+                    ),
+                  );
+                } else {
+                  Navigator.of(context).pop();
+                  setState(() {
+                    widget.onEventRenamed(originalName, controller.text);
+                    ProjectPage.events.remove(originalName);
+                    ProjectPage.events.add(controller.text);
+                  });
+                }
+              },
+              child: const Text('Confirm'),
+            ),
+          ],
+        );
+      },
     );
   }
 
@@ -299,54 +313,57 @@ class _ManagementDialogState extends State<ManagementDialog> {
     TextEditingController controller =
         TextEditingController(text: originalName);
 
-    ColorScheme colorScheme = Theme.of(context).colorScheme;
-
     showDialog(
       context: context,
-      builder: (BuildContext context) => AlertDialog(
-        title: const Text('Rename Linked Waypoint'),
-        content: SizedBox(
-          height: 42,
-          width: 400,
-          child: TextField(
-            controller: controller,
-            style: TextStyle(fontSize: 14, color: colorScheme.onSurface),
-            decoration: InputDecoration(
-              contentPadding: const EdgeInsets.fromLTRB(8, 4, 8, 4),
-              labelText: 'Waypoint Name',
-              border:
-                  OutlineInputBorder(borderRadius: BorderRadius.circular(8)),
+      builder: (BuildContext context) {
+        ColorScheme colorScheme = Theme.of(context).colorScheme;
+        return AlertDialog(
+          backgroundColor: colorScheme.surface,
+          surfaceTintColor: colorScheme.surfaceTint,
+          title: const Text('Rename Linked Waypoint'),
+          content: SizedBox(
+            height: 42,
+            width: 400,
+            child: TextField(
+              controller: controller,
+              style: TextStyle(fontSize: 14, color: colorScheme.onSurface),
+              decoration: InputDecoration(
+                contentPadding: const EdgeInsets.fromLTRB(8, 4, 8, 4),
+                labelText: 'Waypoint Name',
+                border:
+                    OutlineInputBorder(borderRadius: BorderRadius.circular(8)),
+              ),
             ),
           ),
-        ),
-        actions: [
-          TextButton(
-            onPressed: Navigator.of(context).pop,
-            child: const Text('Cancel'),
-          ),
-          TextButton(
-            onPressed: () {
-              if (controller.text == originalName) {
-                Navigator.of(context).pop();
-              } else if (Waypoint.linked.containsKey(controller.text)) {
-                Navigator.of(context).pop();
-                ScaffoldMessenger.of(context).showSnackBar(
-                  const SnackBar(
-                    content:
-                        Text('A linked waypoint with that name already exists'),
-                  ),
-                );
-              } else {
-                Navigator.of(context).pop();
-                setState(() {
-                  widget.onLinkedRenamed(originalName, controller.text);
-                });
-              }
-            },
-            child: const Text('Confirm'),
-          ),
-        ],
-      ),
+          actions: [
+            TextButton(
+              onPressed: Navigator.of(context).pop,
+              child: const Text('Cancel'),
+            ),
+            TextButton(
+              onPressed: () {
+                if (controller.text == originalName) {
+                  Navigator.of(context).pop();
+                } else if (Waypoint.linked.containsKey(controller.text)) {
+                  Navigator.of(context).pop();
+                  ScaffoldMessenger.of(context).showSnackBar(
+                    const SnackBar(
+                      content: Text(
+                          'A linked waypoint with that name already exists'),
+                    ),
+                  );
+                } else {
+                  Navigator.of(context).pop();
+                  setState(() {
+                    widget.onLinkedRenamed(originalName, controller.text);
+                  });
+                }
+              },
+              child: const Text('Confirm'),
+            ),
+          ],
+        );
+      },
     );
   }
 }
diff --git a/lib/widgets/dialogs/settings_dialog.dart b/lib/widgets/dialogs/settings_dialog.dart
index e60c4e74..1caf0198 100644
--- a/lib/widgets/dialogs/settings_dialog.dart
+++ b/lib/widgets/dialogs/settings_dialog.dart
@@ -24,9 +24,13 @@ class SettingsDialog extends StatelessWidget {
 
   @override
   Widget build(BuildContext context) {
+    ColorScheme colorScheme = Theme.of(context).colorScheme;
+
     return DefaultTabController(
       length: 2,
       child: AlertDialog(
+        backgroundColor: colorScheme.surface,
+        surfaceTintColor: colorScheme.surfaceTint,
         title: const TabBar(
           tabs: [
             Tab(
diff --git a/lib/widgets/dialogs/trajectory_render_dialog.dart b/lib/widgets/dialogs/trajectory_render_dialog.dart
index d3dd4727..571bdf2b 100644
--- a/lib/widgets/dialogs/trajectory_render_dialog.dart
+++ b/lib/widgets/dialogs/trajectory_render_dialog.dart
@@ -64,6 +64,8 @@ class _TrajectoryRenderDialogState extends State<TrajectoryRenderDialog> {
     ColorScheme colorScheme = Theme.of(context).colorScheme;
 
     return AlertDialog(
+      backgroundColor: colorScheme.surface,
+      surfaceTintColor: colorScheme.surfaceTint,
       content: Column(
         mainAxisSize: MainAxisSize.min,
         children: [
diff --git a/lib/widgets/editor/tree_widgets/waypoints_tree.dart b/lib/widgets/editor/tree_widgets/waypoints_tree.dart
index 5188569d..734a458b 100644
--- a/lib/widgets/editor/tree_widgets/waypoints_tree.dart
+++ b/lib/widgets/editor/tree_widgets/waypoints_tree.dart
@@ -414,7 +414,10 @@ class _WaypointsTreeState extends State<WaypointsTree> {
     showDialog(
         context: context,
         builder: (context) {
+          ColorScheme colorScheme = Theme.of(context).colorScheme;
           return AlertDialog(
+            backgroundColor: colorScheme.surface,
+            surfaceTintColor: colorScheme.surfaceTint,
             title: const Text('Link Waypoint'),
             content: SizedBox(
               width: 400,

From b6d6207ebde3b7306dec2d8a3171ad2a8e519019 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Sat, 4 Jan 2025 20:34:27 -0500
Subject: [PATCH 23/52] Add 2025 field image, navgrid, and field dimensions
 (#969)

---
 Writerside/topics/pplib-Getting-Started.md    |   8 ---
 images/field25.png                            | Bin 0 -> 117411 bytes
 lib/pages/home_page.dart                      |  50 ++----------------
 lib/util/prefs.dart                           |   3 +-
 lib/widgets/editor/split_auto_editor.dart     |   1 +
 lib/widgets/editor/split_path_editor.dart     |   1 +
 lib/widgets/field_image.dart                  |  12 +++++
 .../pathplannerlib/util/__init__.py           |   6 +--
 .../pathplanner/lib/util/FlippingUtil.java    |   7 +--
 .../cpp/pathplanner/lib/util/FlippingUtil.cpp |   6 +--
 pubspec.lock                                  |  50 +++++++++---------
 pubspec.yaml                                  |   1 +
 resources/default_navgrid.json                |   2 +-
 source_assets/field25.afphoto                 | Bin 0 -> 612838 bytes
 .../editor/split_auto_editor_test.dart        |   8 +--
 .../editor/split_choreo_path_editor_test.dart |   6 +--
 .../editor/split_path_editor_test.dart        |  22 ++++----
 17 files changed, 75 insertions(+), 108 deletions(-)
 create mode 100644 images/field25.png
 create mode 100644 source_assets/field25.afphoto

diff --git a/Writerside/topics/pplib-Getting-Started.md b/Writerside/topics/pplib-Getting-Started.md
index 6d19347e..982a46de 100644
--- a/Writerside/topics/pplib-Getting-Started.md
+++ b/Writerside/topics/pplib-Getting-Started.md
@@ -22,14 +22,6 @@ using the following JSON file URL:
 https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json
 ```
 
-**Beta Version**
-
-To install the beta version of PathPlannerLib, use the following vendor json file
-
-```text
-https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib-beta.json
-```
-
 **Legacy Versions**
 
 The following legacy PathPlannerLib json files can be used to install the last release from previous years for
diff --git a/images/field25.png b/images/field25.png
new file mode 100644
index 0000000000000000000000000000000000000000..dee6c5e6add860473238cf5b0ad1a533702898e7
GIT binary patch
literal 117411
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literal 0
HcmV?d00001

diff --git a/lib/pages/home_page.dart b/lib/pages/home_page.dart
index edcfffeb..665cea4b 100644
--- a/lib/pages/home_page.dart
+++ b/lib/pages/home_page.dart
@@ -128,8 +128,8 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
 
       _animController.forward();
 
-      if (!(widget.prefs.getBool(PrefsKeys.seen2024ResetPopup) ?? false) &&
-          _fieldImage?.name != 'Crescendo' &&
+      if (!(widget.prefs.getBool(PrefsKeys.seen2025ResetPopup) ?? false) &&
+          _fieldImage?.name != 'Reefscape' &&
           mounted) {
         showDialog(
           context: this.context,
@@ -147,7 +147,7 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
                   mainAxisSize: MainAxisSize.min,
                   children: [
                     Text(
-                        'The 2024 field image is now available. Would you like to set your field image to the 2024 field and reset the default navgrid for the 2024 field?'),
+                        'The 2025 field image is now available. Would you like to set your field image to the 2025 field and reset the navgrid to the new default?'),
                   ],
                 ),
               ),
@@ -155,14 +155,14 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
                 TextButton(
                   onPressed: () {
                     Navigator.of(context).pop();
-                    widget.prefs.setBool(PrefsKeys.seen2024ResetPopup, true);
+                    widget.prefs.setBool(PrefsKeys.seen2025ResetPopup, true);
                   },
                   child: const Text('No'),
                 ),
                 TextButton(
                   onPressed: () async {
                     Navigator.of(context).pop();
-                    widget.prefs.setBool(PrefsKeys.seen2024ResetPopup, true);
+                    widget.prefs.setBool(PrefsKeys.seen2025ResetPopup, true);
                     setState(() {
                       _fieldImage = FieldImage.defaultField;
                       widget.prefs
@@ -184,46 +184,6 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
           },
         );
       }
-
-      if (!(widget.prefs.getBool(PrefsKeys.seen2024Warning) ?? false) &&
-          mounted) {
-        showDialog(
-            context: this.context,
-            barrierDismissible: false,
-            builder: (context) {
-              ColorScheme colorScheme = Theme.of(context).colorScheme;
-              return AlertDialog(
-                backgroundColor: colorScheme.surface,
-                surfaceTintColor: colorScheme.surfaceTint,
-                title: const Text('Non-standard Field Mirroring'),
-                content: const SizedBox(
-                  width: 300,
-                  child: Column(
-                    mainAxisSize: MainAxisSize.min,
-                    children: [
-                      Text(
-                          'The 2024 FRC game has non-standard field mirroring that would prevent using the same auto path for both alliances without transformation.'),
-                      SizedBox(height: 16),
-                      Text(
-                          'PathPlannerLib has functionality to automatically transform paths to work for the correct alliance depending on the current alliance color.'),
-                      SizedBox(height: 16),
-                      Text(
-                          'In order for this to work correctly, you MUST create all of your paths on the blue (left) side of the field.'),
-                    ],
-                  ),
-                ),
-                actions: [
-                  TextButton(
-                    onPressed: () {
-                      Navigator.of(context).pop();
-                      widget.prefs.setBool(PrefsKeys.seen2024Warning, true);
-                    },
-                    child: const Text('OK'),
-                  ),
-                ],
-              );
-            });
-      }
     });
   }
 
diff --git a/lib/util/prefs.dart b/lib/util/prefs.dart
index c5ee6852..42513598 100644
--- a/lib/util/prefs.dart
+++ b/lib/util/prefs.dart
@@ -8,7 +8,7 @@ class PrefsKeys {
   static const String currentProjectDir = 'currentProjectDir';
   static const String macOSBookmark = 'macOSBookmark';
   static const String fieldImage = 'fieldImage';
-  static const String seen2024ResetPopup = 'seen2024ResetPopup';
+  static const String seen2025ResetPopup = 'seen2025ResetPopup';
   static const String holonomicMode = 'holonomicMode';
   static const String ntServerAddress = 'pplibClientHost';
   static const String pathSortOption = 'pathSortOption';
@@ -25,7 +25,6 @@ class PrefsKeys {
   static const String defaultMaxAngVel = 'defaultMaxAngVel';
   static const String defaultMaxAngAccel = 'defaultMaxAngAccel';
   static const String defaultNominalVoltage = 'defaultNominalVoltage';
-  static const String seen2024Warning = 'seen2024Warning';
   static const String robotMass = 'robotMass';
   static const String robotMOI = 'robotMOI';
   static const String robotTrackwidth = 'robotTrackwidth';
diff --git a/lib/widgets/editor/split_auto_editor.dart b/lib/widgets/editor/split_auto_editor.dart
index d2e12e50..7c5721ec 100644
--- a/lib/widgets/editor/split_auto_editor.dart
+++ b/lib/widgets/editor/split_auto_editor.dart
@@ -93,6 +93,7 @@ class _SplitAutoEditorState extends State<SplitAutoEditor>
       children: [
         Center(
           child: InteractiveViewer(
+            maxScale: 10.0,
             child: Padding(
               padding: const EdgeInsets.all(48),
               child: Stack(
diff --git a/lib/widgets/editor/split_path_editor.dart b/lib/widgets/editor/split_path_editor.dart
index 07b3ada4..a7341142 100644
--- a/lib/widgets/editor/split_path_editor.dart
+++ b/lib/widgets/editor/split_path_editor.dart
@@ -141,6 +141,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
       children: [
         Center(
           child: InteractiveViewer(
+            maxScale: 10.0,
             child: GestureDetector(
               onTapDown: (details) {
                 FocusScopeNode currentScope = FocusScope.of(context);
diff --git a/lib/widgets/field_image.dart b/lib/widgets/field_image.dart
index 3c6e1887..b13142d3 100644
--- a/lib/widgets/field_image.dart
+++ b/lib/widgets/field_image.dart
@@ -9,6 +9,7 @@ enum OfficialField {
   rapidReact,
   chargedUp,
   crescendo,
+  reefscape,
 }
 
 class FieldImage {
@@ -28,6 +29,7 @@ class FieldImage {
       FieldImage.official(OfficialField.rapidReact),
       FieldImage.official(OfficialField.chargedUp),
       FieldImage.official(OfficialField.crescendo),
+      FieldImage.official(OfficialField.reefscape),
     ];
     return _officialFields!;
   }
@@ -64,6 +66,16 @@ class FieldImage {
         pixelsPerMeter = 196.85;
         name = 'Crescendo';
         break;
+      case OfficialField.reefscape:
+        image = Image.asset(
+          'images/field25.png',
+          fit: BoxFit.contain,
+          filterQuality: FilterQuality.medium,
+        );
+        defaultSize = const ui.Size(3510, 1610);
+        pixelsPerMeter = 200.0;
+        name = 'Reefscape';
+        break;
     }
     isCustom = false;
     extension = 'png';
diff --git a/pathplannerlib-python/pathplannerlib/util/__init__.py b/pathplannerlib-python/pathplannerlib/util/__init__.py
index 89d8a9a2..4ec0719e 100644
--- a/pathplannerlib-python/pathplannerlib/util/__init__.py
+++ b/pathplannerlib-python/pathplannerlib/util/__init__.py
@@ -86,9 +86,9 @@ def _interpolateList(a: List[float], b: List[float], t: float) -> List[float]:
 
 
 class FlippingUtil:
-    symmetryType: FieldSymmetry = FieldSymmetry.kMirrored
-    fieldSizeX: float = 16.54175
-    fieldSizeY: float = 8.211
+    symmetryType: FieldSymmetry = FieldSymmetry.kRotational
+    fieldSizeX: float = 57.573 * 0.3048 # Feet to meters
+    fieldSizeY: float = 26.417 * 0.3048 # Feet to meters
 
     @staticmethod
     def flipFieldPosition(pos: Translation2d) -> Translation2d:
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
index f43f9344..8e8d9226 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
@@ -4,15 +4,16 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.util.Units;
 
 /** Utility class for flipping positions/rotations to the other side of the field */
 public class FlippingUtil {
   /** The type of symmetry for the current field */
-  public static FieldSymmetry symmetryType = FieldSymmetry.kMirrored;
+  public static FieldSymmetry symmetryType = FieldSymmetry.kRotational;
   /** The X size or length of the current field in meters */
-  public static double fieldSizeX = 16.54175;
+  public static double fieldSizeX = Units.feetToMeters(57.573);
   /** The Y size or width of the current field in meters */
-  public static double fieldSizeY = 8.211;
+  public static double fieldSizeY = Units.feetToMeters(26.417);
 
   /** Enum representing the different types of field symmetry */
   public enum FieldSymmetry {
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/FlippingUtil.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/FlippingUtil.cpp
index fb5f005b..91d4b4d7 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/FlippingUtil.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/FlippingUtil.cpp
@@ -3,6 +3,6 @@
 using namespace pathplanner;
 
 FlippingUtil::FieldSymmetry FlippingUtil::symmetryType =
-		FlippingUtil::FieldSymmetry::kMirrored;
-units::meter_t FlippingUtil::fieldSizeX = 16.54175_m;
-units::meter_t FlippingUtil::fieldSizeY = 8.211_m;
+		FlippingUtil::FieldSymmetry::kRotational;
+units::meter_t FlippingUtil::fieldSizeX = 57.573_ft;
+units::meter_t FlippingUtil::fieldSizeY = 26.417_ft;
diff --git a/pubspec.lock b/pubspec.lock
index 0a6ffcbd..9f6f8c9f 100644
--- a/pubspec.lock
+++ b/pubspec.lock
@@ -58,50 +58,50 @@ packages:
     dependency: transitive
     description:
       name: build
-      sha256: cef23f1eda9b57566c81e2133d196f8e3df48f244b317368d65c5943d91148f0
+      sha256: "80184af8b6cb3e5c1c4ec6d8544d27711700bc3e6d2efad04238c7b5290889f0"
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.2"
+    version: "2.4.1"
   build_config:
     dependency: transitive
     description:
       name: build_config
-      sha256: "4ae2de3e1e67ea270081eaee972e1bd8f027d459f249e0f1186730784c2e7e33"
+      sha256: bf80fcfb46a29945b423bd9aad884590fb1dc69b330a4d4700cac476af1708d1
       url: "https://pub.dev"
     source: hosted
-    version: "1.1.2"
+    version: "1.1.1"
   build_daemon:
     dependency: transitive
     description:
       name: build_daemon
-      sha256: "294a2edaf4814a378725bfe6358210196f5ea37af89ecd81bfa32960113d4948"
+      sha256: "79b2aef6ac2ed00046867ed354c88778c9c0f029df8a20fe10b5436826721ef9"
       url: "https://pub.dev"
     source: hosted
-    version: "4.0.3"
+    version: "4.0.2"
   build_resolvers:
     dependency: transitive
     description:
       name: build_resolvers
-      sha256: "99d3980049739a985cf9b21f30881f46db3ebc62c5b8d5e60e27440876b1ba1e"
+      sha256: "339086358431fa15d7eca8b6a36e5d783728cf025e559b834f4609a1fcfb7b0a"
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.3"
+    version: "2.4.2"
   build_runner:
     dependency: "direct dev"
     description:
       name: build_runner
-      sha256: "74691599a5bc750dc96a6b4bfd48f7d9d66453eab04c7f4063134800d6a5c573"
+      sha256: "028819cfb90051c6b5440c7e574d1896f8037e3c96cf17aaeb054c9311cfbf4d"
       url: "https://pub.dev"
     source: hosted
-    version: "2.4.14"
+    version: "2.4.13"
   build_runner_core:
     dependency: transitive
     description:
       name: build_runner_core
-      sha256: "22e3aa1c80e0ada3722fe5b63fd43d9c8990759d0a2cf489c8c5d7b2bdebc021"
+      sha256: f8126682b87a7282a339b871298cc12009cb67109cfa1614d6436fb0289193e0
       url: "https://pub.dev"
     source: hosted
-    version: "8.0.0"
+    version: "7.3.2"
   built_collection:
     dependency: transitive
     description:
@@ -226,10 +226,10 @@ packages:
     dependency: transitive
     description:
       name: dart_style
-      sha256: "27eb0ae77836989a3bc541ce55595e8ceee0992807f14511552a898ddd0d88ac"
+      sha256: "7856d364b589d1f08986e140938578ed36ed948581fbc3bc9aef1805039ac5ab"
       url: "https://pub.dev"
     source: hosted
-    version: "3.0.1"
+    version: "2.3.7"
   dio:
     dependency: transitive
     description:
@@ -497,10 +497,10 @@ packages:
     dependency: transitive
     description:
       name: http_parser
-      sha256: "76d306a1c3afb33fe82e2bbacad62a61f409b5634c915fceb0d799de1a913360"
+      sha256: "2aa08ce0341cc9b354a498388e30986515406668dbcc4f7c950c3e715496693b"
       url: "https://pub.dev"
     source: hosted
-    version: "4.1.1"
+    version: "4.0.2"
   image:
     dependency: "direct main"
     description:
@@ -585,10 +585,10 @@ packages:
     dependency: transitive
     description:
       name: lints
-      sha256: c35bb79562d980e9a453fc715854e1ed39e24e7d0297a880ef54e17f9874a9d7
+      sha256: "3315600f3fb3b135be672bf4a178c55f274bebe368325ae18462c89ac1e3b413"
       url: "https://pub.dev"
     source: hosted
-    version: "5.1.1"
+    version: "5.0.0"
   logger:
     dependency: "direct main"
     description:
@@ -697,10 +697,10 @@ packages:
     dependency: "direct dev"
     description:
       name: mockito
-      sha256: f99d8d072e249f719a5531735d146d8cf04c580d93920b04de75bef6dfb2daf6
+      sha256: "6841eed20a7befac0ce07df8116c8b8233ed1f4486a7647c7fc5a02ae6163917"
       url: "https://pub.dev"
     source: hosted
-    version: "5.4.5"
+    version: "5.4.4"
   msgpack_dart:
     dependency: transitive
     description:
@@ -985,10 +985,10 @@ packages:
     dependency: transitive
     description:
       name: shelf
-      sha256: e7dd780a7ffb623c57850b33f43309312fc863fb6aa3d276a754bb299839ef12
+      sha256: ad29c505aee705f41a4d8963641f91ac4cee3c8fad5947e033390a7bd8180fa4
       url: "https://pub.dev"
     source: hosted
-    version: "1.4.2"
+    version: "1.4.1"
   shelf_web_socket:
     dependency: transitive
     description:
@@ -1006,10 +1006,10 @@ packages:
     dependency: transitive
     description:
       name: source_gen
-      sha256: "35c8150ece9e8c8d263337a265153c3329667640850b9304861faea59fc98f6b"
+      sha256: "14658ba5f669685cd3d63701d01b31ea748310f7ab854e471962670abcf57832"
       url: "https://pub.dev"
     source: hosted
-    version: "2.0.0"
+    version: "1.5.0"
   source_span:
     dependency: transitive
     description:
@@ -1267,5 +1267,5 @@ packages:
     source: hosted
     version: "3.1.3"
 sdks:
-  dart: ">=3.6.0 <4.0.0"
+  dart: ">=3.5.0 <4.0.0"
   flutter: ">=3.24.0"
diff --git a/pubspec.yaml b/pubspec.yaml
index ae5a3d96..3e7652e6 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -85,6 +85,7 @@ flutter:
     - images/field22.png
     - images/field23.png
     - images/field24.png
+    - images/field25.png
     - images/icon.png
     - images/icon.ico
     - images/choreo.png
diff --git a/resources/default_navgrid.json b/resources/default_navgrid.json
index bab0da93..23e0db94 100644
--- a/resources/default_navgrid.json
+++ b/resources/default_navgrid.json
@@ -1 +1 @@
-{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false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literal 0
HcmV?d00001

diff --git a/test/widgets/editor/split_auto_editor_test.dart b/test/widgets/editor/split_auto_editor_test.dart
index dde0e5ac..efe9a601 100644
--- a/test/widgets/editor/split_auto_editor_test.dart
+++ b/test/widgets/editor/split_auto_editor_test.dart
@@ -93,7 +93,7 @@ void main() {
             ),
           ],
           allPathNames: const ['testPath', 'otherPath'],
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
           onAutoChanged: () {},
         ),
@@ -122,7 +122,7 @@ void main() {
           autoPaths: [testPath],
           autoChoreoPaths: const [],
           allPathNames: const ['testPath', 'otherPath'],
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
           onAutoChanged: () {},
         ),
@@ -155,7 +155,7 @@ void main() {
           autoPaths: [testPath],
           autoChoreoPaths: const [],
           allPathNames: const ['testPath', 'otherPath'],
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
           onAutoChanged: () {},
         ),
@@ -188,7 +188,7 @@ void main() {
           autoPaths: [testPath],
           autoChoreoPaths: const [],
           allPathNames: const ['testPath', 'otherPath'],
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
           onAutoChanged: () {},
         ),
diff --git a/test/widgets/editor/split_choreo_path_editor_test.dart b/test/widgets/editor/split_choreo_path_editor_test.dart
index 1286605b..dff1f338 100644
--- a/test/widgets/editor/split_choreo_path_editor_test.dart
+++ b/test/widgets/editor/split_choreo_path_editor_test.dart
@@ -51,7 +51,7 @@ void main() {
         body: SplitChoreoPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -76,7 +76,7 @@ void main() {
         body: SplitChoreoPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -105,7 +105,7 @@ void main() {
         body: SplitChoreoPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
diff --git a/test/widgets/editor/split_path_editor_test.dart b/test/widgets/editor/split_path_editor_test.dart
index 8cd9945e..9400ff8f 100644
--- a/test/widgets/editor/split_path_editor_test.dart
+++ b/test/widgets/editor/split_path_editor_test.dart
@@ -86,7 +86,7 @@ void main() {
           child: SplitPathEditor(
             prefs: prefs,
             path: path,
-            fieldImage: FieldImage.defaultField,
+            fieldImage: FieldImage.official(OfficialField.crescendo),
             undoStack: undoStack,
             simulate: true,
           ),
@@ -113,7 +113,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -142,7 +142,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -180,7 +180,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -189,7 +189,7 @@ void main() {
     var tapLocation = PathPainterUtil.pointToPixelOffset(
             path.waypoints.first.anchor,
             PathPainter.scale,
-            FieldImage.defaultField) +
+            FieldImage.official(OfficialField.crescendo)) +
         const Offset(48, 48) + // Add 48 for padding
         const Offset(-2.0, 23.0); // Some weird buffer going on
 
@@ -447,7 +447,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -482,7 +482,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -509,7 +509,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -546,7 +546,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -583,7 +583,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),
@@ -649,7 +649,7 @@ void main() {
         body: SplitPathEditor(
           prefs: prefs,
           path: path,
-          fieldImage: FieldImage.defaultField,
+          fieldImage: FieldImage.official(OfficialField.crescendo),
           undoStack: undoStack,
         ),
       ),

From 529988901ce72135933b937be5c74b416981e2a4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E3=83=8F=E3=82=A4=E3=83=89=E3=83=A9=E3=83=B3=E3=83=88?=
 <thecomputer314@gmail.com>
Date: Sat, 4 Jan 2025 19:44:34 -0600
Subject: [PATCH 24/52] [Swerve Setpoint Generator] Limit max speed when
 voltage sags (#931)

Co-authored-by: Michael Jansen <mjansen4857@gmail.com>
---
 pathplannerlib-python/pathplannerlib/util/swerve.py   |  7 +++++--
 .../lib/util/swerve/SwerveSetpointGenerator.java      |  6 ++++--
 .../lib/util/swerve/SwerveSetpointGenerator.cpp       | 11 ++++++++---
 3 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
index da3962c6..b3b6dc48 100644
--- a/pathplannerlib-python/pathplannerlib/util/swerve.py
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -74,10 +74,11 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
         else:
             input_voltage = max(input_voltage, self._brownoutVoltage)
 
+        maxSpeed = self._config.moduleConfig.maxDriveVelocityMPS * min(1, input_voltage / 12)
+
         desired_module_states = self._config.toSwerveModuleStates(desired_state_robot_relative)
         # Make sure desired_state respects velocity limits.
-        SwerveDrive4Kinematics.desaturateWheelSpeeds(desired_module_states,
-                                                     self._config.moduleConfig.maxDriveVelocityMPS)
+        SwerveDrive4Kinematics.desaturateWheelSpeeds(desired_module_states, maxSpeed)
         desired_state_robot_relative = self._config.toChassisSpeeds(desired_module_states)
 
         # Special case: desired_state is a complete stop. In this case, module angle is arbitrary, so
@@ -223,7 +224,9 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
             reverse_current_draw = abs(
                 self._config.moduleConfig.driveMotor.getCurrent(abs(last_vel_rad_per_sec), -input_voltage))
             current_draw = min(current_draw, self._config.moduleConfig.driveCurrentLimit)
+            current_draw = max(current_draw, 0.0)
             reverse_current_draw = min(reverse_current_draw, self._config.moduleConfig.driveCurrentLimit)
+            reverse_current_draw = max(reverse_current_draw, 0.0)
             forward_module_torque = self._config.moduleConfig.driveMotor.torque(current_draw)
             reverse_module_torque = self._config.moduleConfig.driveMotor.torque(reverse_current_draw)
 
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
index 857693e3..7df07a4a 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -80,12 +80,12 @@ public SwerveSetpoint generateSetpoint(
     } else {
       inputVoltage = Math.max(inputVoltage, brownoutVoltage);
     }
+    double maxSpeed = config.moduleConfig.maxDriveVelocityMPS * Math.min(1, inputVoltage / 12);
 
     SwerveModuleState[] desiredModuleStates =
         config.toSwerveModuleStates(desiredStateRobotRelative);
     // Make sure desiredState respects velocity limits.
-    SwerveDriveKinematics.desaturateWheelSpeeds(
-        desiredModuleStates, config.moduleConfig.maxDriveVelocityMPS);
+    SwerveDriveKinematics.desaturateWheelSpeeds(desiredModuleStates, maxSpeed);
     desiredStateRobotRelative = config.toChassisSpeeds(desiredModuleStates);
 
     // Special case: desiredState is a complete stop. In this case, module angle is arbitrary, so
@@ -254,7 +254,9 @@ public SwerveSetpoint generateSetpoint(
           Math.abs(
               config.moduleConfig.driveMotor.getCurrent(Math.abs(lastVelRadPerSec), -inputVoltage));
       currentDraw = Math.min(currentDraw, config.moduleConfig.driveCurrentLimit);
+      currentDraw = Math.max(currentDraw, 0);
       reverseCurrentDraw = Math.min(reverseCurrentDraw, config.moduleConfig.driveCurrentLimit);
+      reverseCurrentDraw = Math.max(reverseCurrentDraw, 0);
       double forwardModuleTorque = config.moduleConfig.driveMotor.getTorque(currentDraw);
       double reverseModuleTorque = config.moduleConfig.driveMotor.getTorque(reverseCurrentDraw);
 
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
index 4c9ba6df..bf72e5a0 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
@@ -1,4 +1,5 @@
 #include "pathplanner/lib/util/swerve/SwerveSetpointGenerator.h"
+#include <algorithm>
 
 SwerveSetpointGenerator::SwerveSetpointGenerator() : maxSteerVelocity(
 		0_rad_per_s) {
@@ -20,13 +21,15 @@ SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
 	} else {
 		inputVoltage = units::math::max(inputVoltage, brownoutVoltage);
 	}
+	units::meters_per_second_t maxSpeed =
+			m_robotConfig.moduleConfig.maxDriveVelocityMPS
+					* std::min(1.0, inputVoltage() / 12.0);
 
 	std::vector < frc::SwerveModuleState > desiredModuleStates =
 			m_robotConfig.toSwerveModuleStates(desiredStateRobotRelative);
 	// Make sure desiredState respects velocity limits.
 	desiredModuleStates = m_robotConfig.desaturateWheelSpeeds(
-			desiredModuleStates,
-			m_robotConfig.moduleConfig.maxDriveVelocityMPS);
+			desiredModuleStates, maxSpeed);
 	desiredStateRobotRelative = m_robotConfig.toChassisSpeeds(
 			desiredModuleStates);
 
@@ -191,10 +194,12 @@ SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
 		units::ampere_t reverseCurrentDraw = units::math::abs(
 				m_robotConfig.moduleConfig.driveMotor.Current(
 						units::math::abs(lastVelRadPerSec), -inputVoltage));
-		currentDraw = std::min(currentDraw,
+		currentDraw = units::math::min(currentDraw,
 				m_robotConfig.moduleConfig.driveCurrentLimit);
+		currentDraw = units::math::max(currentDraw, 0_A);
 		reverseCurrentDraw = units::math::min(reverseCurrentDraw,
 				m_robotConfig.moduleConfig.driveCurrentLimit);
+		reverseCurrentDraw = units::math::max(reverseCurrentDraw, 0_A);
 		units::newton_meter_t forwardModuleTorque =
 				m_robotConfig.moduleConfig.driveMotor.Torque(currentDraw);
 		units::newton_meter_t reverseModuleTorque =

From e6ca7e7468275693f86c2b8bb788ca9fb1ca5f17 Mon Sep 17 00:00:00 2001
From: JosephTLockwood <56933815+JosephTLockwood@users.noreply.github.com>
Date: Sat, 4 Jan 2025 20:50:06 -0500
Subject: [PATCH 25/52] Add Alerts to RobotConfig (#964)

---
 .../pathplanner/lib/config/RobotConfig.java   | 169 ++++++++++++++++++
 1 file changed, 169 insertions(+)

diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/config/RobotConfig.java b/pathplannerlib/src/main/java/com/pathplanner/lib/config/RobotConfig.java
index 3e3af78d..c2e590e4 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/config/RobotConfig.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/config/RobotConfig.java
@@ -9,6 +9,8 @@
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.measure.Mass;
 import edu.wpi.first.units.measure.MomentOfInertia;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.Filesystem;
 import java.io.*;
 import org.ejml.simple.SimpleMatrix;
@@ -47,6 +49,23 @@ public class RobotConfig {
   /** The maximum torque a drive module can apply without slipping the wheels */
   public final double maxTorqueFriction;
 
+  // Validation alerts
+  private static final Alert BAD_GUI_CONFIG =
+      new Alert("GUI Config Couldn't be loaded", AlertType.kError);
+  private static final Alert MOI_ALERT = new Alert("MOI Config Mismatch", AlertType.kError);
+  private static final Alert MASS_ALERT = new Alert("Mass Config Mismatch", AlertType.kError);
+  private static final Alert TORQUE_ALERT = new Alert("Torque Friction Mismatch", AlertType.kError);
+  private static final Alert CURRENT_ALERT =
+      new Alert("Drive Current Limit Mismatch", AlertType.kError);
+  private static final Alert MOTOR_ALERT =
+      new Alert("Drive Motor Config Mismatch", AlertType.kError);
+  private static final Alert VELOCITY_ALERT =
+      new Alert("Max Drive Velocity Mismatch", AlertType.kError);
+  private static final Alert COF_ALERT = new Alert("Wheel COF Mismatch", AlertType.kError);
+  private static final Alert RADIUS_ALERT = new Alert("Wheel Radius Mismatch", AlertType.kError);
+  private static final Alert LOCATION_ALERT =
+      new Alert("Module Location Mismatch", AlertType.kError);
+
   /**
    * Create a robot config object for a HOLONOMIC DRIVE robot
    *
@@ -304,4 +323,154 @@ public static RobotConfig fromGUISettings() throws IOException, ParseException {
       return new RobotConfig(massKG, MOI, moduleConfig, trackwidth);
     }
   }
+
+  /**
+   * Checks if this configuration matches the GUI configuration. Loads the GUI config and compares
+   * all properties, setting alerts for any mismatches.
+   *
+   * @return true if all configuration matches GUI config, false if any are invalid or GUI config
+   *     cannot be loaded
+   */
+  public boolean hasValidConfig() {
+    RobotConfig guiConfig;
+    try {
+      guiConfig = RobotConfig.fromGUISettings();
+    } catch (IOException | ParseException e) {
+      BAD_GUI_CONFIG.set(true);
+      return false;
+    }
+
+    return validatePhysicalProperties(guiConfig)
+        & validateDriveSystem(guiConfig)
+        & validateWheelProperties(guiConfig)
+        & validateModuleLocations(guiConfig);
+  }
+
+  /**
+   * Validates physical properties against GUI configuration.
+   *
+   * @param guiConfig Configuration loaded from GUI
+   * @return true if all physical properties match, false if any are invalid
+   */
+  private boolean validatePhysicalProperties(RobotConfig guiConfig) {
+    if (this.MOI != guiConfig.MOI) {
+      MOI_ALERT.setText(String.format("MOI: %.2f vs %.2f", this.MOI, guiConfig.MOI));
+      MOI_ALERT.set(true);
+      return false;
+    }
+
+    if (this.massKG != guiConfig.massKG) {
+      MASS_ALERT.setText(String.format("Mass: %.2f vs %.2f kg", this.massKG, guiConfig.massKG));
+      MASS_ALERT.set(true);
+      return false;
+    }
+
+    if (this.maxTorqueFriction != guiConfig.maxTorqueFriction) {
+      TORQUE_ALERT.setText(
+          String.format(
+              "Torque Friction: %.2f vs %.2f",
+              this.maxTorqueFriction, guiConfig.maxTorqueFriction));
+      TORQUE_ALERT.set(true);
+      return false;
+    }
+
+    return true;
+  }
+
+  /**
+   * Validates drive system configuration against GUI configuration.
+   *
+   * @param guiConfig Configuration loaded from GUI
+   * @return true if all drive system properties match, false if any are invalid
+   */
+  private boolean validateDriveSystem(RobotConfig guiConfig) {
+    if (this.moduleConfig.driveCurrentLimit != guiConfig.moduleConfig.driveCurrentLimit) {
+      CURRENT_ALERT.setText(
+          String.format(
+              "Drive Current Limit: %.2f vs %.2f",
+              this.moduleConfig.driveCurrentLimit, guiConfig.moduleConfig.driveCurrentLimit));
+      CURRENT_ALERT.set(true);
+      return false;
+    }
+
+    if (!this.moduleConfig.driveMotor.equals(guiConfig.moduleConfig.driveMotor)) {
+      MOTOR_ALERT.setText("Drive Motor configurations differ");
+      MOTOR_ALERT.set(true);
+      return false;
+    }
+
+    if (this.moduleConfig.maxDriveVelocityMPS != guiConfig.moduleConfig.maxDriveVelocityMPS) {
+      VELOCITY_ALERT.setText(
+          String.format(
+              "Max Drive Velocity: %.2f vs %.2f m/s",
+              this.moduleConfig.maxDriveVelocityMPS, guiConfig.moduleConfig.maxDriveVelocityMPS));
+      VELOCITY_ALERT.set(true);
+      return false;
+    }
+
+    return true;
+  }
+
+  /**
+   * Validates wheel properties against GUI configuration.
+   *
+   * @param guiConfig Configuration loaded from GUI
+   * @return true if all wheel properties match, false if any are invalid
+   */
+  private boolean validateWheelProperties(RobotConfig guiConfig) {
+    if (this.moduleConfig.wheelCOF != guiConfig.moduleConfig.wheelCOF) {
+      COF_ALERT.setText(
+          String.format(
+              "Wheel COF: %.2f vs %.2f",
+              this.moduleConfig.wheelCOF, guiConfig.moduleConfig.wheelCOF));
+      COF_ALERT.set(true);
+      return false;
+    }
+
+    if (this.moduleConfig.wheelRadiusMeters != guiConfig.moduleConfig.wheelRadiusMeters) {
+      RADIUS_ALERT.setText(
+          String.format(
+              "Wheel Radius: %.3f vs %.3f m",
+              this.moduleConfig.wheelRadiusMeters, guiConfig.moduleConfig.wheelRadiusMeters));
+      RADIUS_ALERT.set(true);
+      return false;
+    }
+
+    return true;
+  }
+
+  /**
+   * Validates module locations against GUI configuration.
+   *
+   * @param guiConfig Configuration loaded from GUI
+   * @return true if all module locations match, false if any are invalid
+   */
+  private boolean validateModuleLocations(RobotConfig guiConfig) {
+    if (this.moduleLocations.length != guiConfig.moduleLocations.length) {
+      LOCATION_ALERT.setText("Number of modules does not match GUI configuration");
+      LOCATION_ALERT.set(true);
+      return false;
+    }
+
+    StringBuilder locationDifferences = new StringBuilder();
+    boolean hasLocationMismatch = false;
+
+    for (int i = 0; i < this.moduleLocations.length; i++) {
+      if (!this.moduleLocations[i].equals(guiConfig.moduleLocations[i])) {
+        locationDifferences.append(
+            String.format(
+                "Module %d: %s vs %s | ",
+                i, this.moduleLocations[i].toString(), guiConfig.moduleLocations[i].toString()));
+        hasLocationMismatch = true;
+      }
+    }
+
+    if (hasLocationMismatch) {
+      LOCATION_ALERT.setText(locationDifferences.toString());
+      LOCATION_ALERT.set(true);
+      return false;
+    }
+
+    return true;
+  }
 }

From 7ea3e9b256dae10b7b66010b42feb442503893a6 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Sat, 4 Jan 2025 20:59:09 -0500
Subject: [PATCH 26/52] Update python reqs (#970)

---
 pathplannerlib-python/pyproject.toml   | 10 +++++-----
 pathplannerlib-python/requirements.txt | 10 +++++-----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/pathplannerlib-python/pyproject.toml b/pathplannerlib-python/pyproject.toml
index 930c8bc9..f96d90d1 100644
--- a/pathplannerlib-python/pyproject.toml
+++ b/pathplannerlib-python/pyproject.toml
@@ -16,11 +16,11 @@ classifiers = [
 ]
 keywords = ["pathplannerlib"]
 dependencies = [
-    "pyntcore >=2025.0.0b3",
-    "robotpy-wpimath >=2025.0.0b3",
-    "robotpy-commands-v2 >=2025.0.0b1",
-    "robotpy-wpiutil >=2025.0.0b3",
-    "robotpy-hal >=2025.0.0b3",
+    "pyntcore >=2025.1.1",
+    "robotpy-wpimath >=2025.1.1",
+    "robotpy-commands-v2 >=2025.1.1",
+    "robotpy-wpiutil >=2025.1.1",
+    "robotpy-hal >=2025.1.1",
     "numpy >=2.1.1",
 ]
 requires-python = ">=3.8"
diff --git a/pathplannerlib-python/requirements.txt b/pathplannerlib-python/requirements.txt
index 0bd0b00d..1449c54c 100644
--- a/pathplannerlib-python/requirements.txt
+++ b/pathplannerlib-python/requirements.txt
@@ -1,7 +1,7 @@
 setuptools~=74.1.2
-pyntcore>=2025.0.0b3
-robotpy-wpimath>=2025.0.0b3
-robotpy-commands-v2>=2025.0.0b1
-robotpy-wpiutil>=2025.0.0b3
-robotpy-hal>=2025.0.0b3
+pyntcore>=2025.1.1
+robotpy-wpimath>=2025.1.1
+robotpy-commands-v2>=2025.1.1
+robotpy-wpiutil>=2025.1.1
+robotpy-hal>=2025.1.1
 numpy>=2.1.1
\ No newline at end of file

From b45dbd1661518954b1456f96c691bf158d665a04 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Sun, 5 Jan 2025 10:35:56 -0500
Subject: [PATCH 27/52] fix barge colors (#972)

---
 images/field25.png            | Bin 117411 -> 117450 bytes
 source_assets/field25.afphoto | Bin 612838 -> 612796 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/images/field25.png b/images/field25.png
index dee6c5e6add860473238cf5b0ad1a533702898e7..4c4abc82489f13a1013b6a1a090e6203a8165135 100644
GIT binary patch
literal 117450
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From 858589748b1d8a289186b8499de65a6618454db3 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Sun, 5 Jan 2025 10:52:59 -0500
Subject: [PATCH 28/52] Update README.md (#973)

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 9f7aaca0..ff3a12da 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,7 @@
 Download from the Microsoft Store to receive auto-updates for stable releases. Manual installs and pre-releases can be found [here](https://github.com/mjansen4857/pathplanner/releases).
 
 ## About
-![PathPlanner](https://github.com/mjansen4857/pathplanner/assets/9343077/a395bdb4-71f9-4d88-9ff7-55241b26f4de)
+![PathPlanner](https://github.com/user-attachments/assets/5b87c1a4-8fdb-4eb9-bf29-71f79a826a82)
 
 
 PathPlanner is a motion profile generator for FRC robots created by team 3015. The main features of PathPlanner include:

From 20c2ebc6680968c3c3f860603d589c275e5f0630 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Sun, 5 Jan 2025 11:15:02 -0500
Subject: [PATCH 29/52] Update docs cover image (#974)

---
 Writerside/images/cover.png              | Bin 52954 -> 105584 bytes
 Writerside/images/project_page.png       | Bin 0 -> 52954 bytes
 Writerside/topics/Home.md                |   2 +-
 Writerside/topics/gui-Project-Browser.md |   2 +-
 4 files changed, 2 insertions(+), 2 deletions(-)
 create mode 100644 Writerside/images/project_page.png

diff --git a/Writerside/images/cover.png b/Writerside/images/cover.png
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literal 0
HcmV?d00001

diff --git a/Writerside/topics/Home.md b/Writerside/topics/Home.md
index 6c1941ca..fc12475a 100644
--- a/Writerside/topics/Home.md
+++ b/Writerside/topics/Home.md
@@ -2,7 +2,7 @@
 
 Download from
 the [Microsoft Store](https://www.microsoft.com/en-us/p/frc-pathplanner/9nqbkb5dw909?cid=storebadge&ocid=badge&rtc=1&activetab=pivot:overviewtab)
-or the [Mac App Store](https://apps.apple.com/us/app/frc-pathplanner/id1593046876) to receive auto-updates. Manual
+to receive auto-updates. Manual
 installs can be found [here](https://github.com/mjansen4857/pathplanner/releases).
 
 ![](cover.png)
diff --git a/Writerside/topics/gui-Project-Browser.md b/Writerside/topics/gui-Project-Browser.md
index d97562f4..03c43e60 100644
--- a/Writerside/topics/gui-Project-Browser.md
+++ b/Writerside/topics/gui-Project-Browser.md
@@ -1,6 +1,6 @@
 # Project Browser
 
-![](cover.png)
+![](project_page.png)
 
 The project browser is the main screen of PathPlanner and allows you to manage your path/auto files as well as open them
 for editing. The project browser is split in two, with paths on the left and autos on the right. The relative sizes of

From 0f8cf05c20873efc728178e1ab6c6c6a304ceca1 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Tue, 7 Jan 2025 15:28:25 -0500
Subject: [PATCH 30/52] Update path start/end rotations for linked start/end
 points (#978)

---
 lib/pages/project/project_page.dart           | 43 +++++++++++++++----
 lib/path/pathplanner_path.dart                | 19 ++++++++
 lib/path/waypoint.dart                        |  9 ++--
 lib/widgets/editor/split_path_editor.dart     |  6 +++
 .../editor/tree_widgets/waypoints_tree.dart   | 26 ++++++++++-
 test/pages/project/project_page_test.dart     |  4 +-
 .../dialogs/management_dialog_test.dart       | 14 +++---
 .../tree_widgets/waypoints_tree_test.dart     |  6 ++-
 8 files changed, 100 insertions(+), 27 deletions(-)

diff --git a/lib/pages/project/project_page.dart b/lib/pages/project/project_page.dart
index 60c7160f..527f6232 100644
--- a/lib/pages/project/project_page.dart
+++ b/lib/pages/project/project_page.dart
@@ -368,10 +368,10 @@ class _ProjectPageState extends State<ProjectPage> {
                   },
                   onLinkedRenamed: (String oldName, String newName) {
                     setState(() {
-                      Translation2d? pos = Waypoint.linked.remove(oldName);
+                      Pose2d? pose = Waypoint.linked.remove(oldName);
 
-                      if (pos != null) {
-                        Waypoint.linked[newName] = pos;
+                      if (pose != null) {
+                        Waypoint.linked[newName] = pose;
 
                         for (PathPlannerPath path in _paths) {
                           bool changed = false;
@@ -1020,16 +1020,43 @@ class _ProjectPageState extends State<ProjectPage> {
           hotReload: widget.hotReload,
           simulatePath: widget.simulatePath,
           onPathChanged: () {
+            // Update the linked rotation for the start/end states
+            if (path.waypoints.first.linkedName != null) {
+              Waypoint.linked[path.waypoints.first.linkedName!] = Pose2d(
+                  path.waypoints.first.anchor,
+                  path.idealStartingState.rotation);
+            }
+            if (path.waypoints.last.linkedName != null) {
+              Waypoint.linked[path.waypoints.last.linkedName!] = Pose2d(
+                  path.waypoints.last.anchor, path.goalEndState.rotation);
+            }
+
             // Make sure all paths with linked waypoints are updated
             for (PathPlannerPath p in _paths) {
               bool changed = false;
 
-              for (Waypoint w in p.waypoints) {
-                if (w.linkedName != null) {
-                  var anchor = Waypoint.linked[w.linkedName];
+              for (int i = 0; i < p.waypoints.length; i++) {
+                Waypoint w = p.waypoints[i];
+                if (w.linkedName != null &&
+                    Waypoint.linked.containsKey(w.linkedName!)) {
+                  Pose2d link = Waypoint.linked[w.linkedName!]!;
 
-                  if (anchor != null && anchor.getDistance(w.anchor) >= 0.01) {
-                    w.move(anchor.x, anchor.y);
+                  if (link.translation.getDistance(w.anchor) >= 0.01) {
+                    w.move(link.translation.x, link.translation.y);
+                    changed = true;
+                  }
+
+                  if (i == 0 &&
+                      (link.rotation - p.idealStartingState.rotation)
+                              .degrees
+                              .abs() >
+                          0.01) {
+                    p.idealStartingState.rotation = link.rotation;
+                    changed = true;
+                  } else if (i == p.waypoints.length - 1 &&
+                      (link.rotation - p.goalEndState.rotation).degrees.abs() >
+                          0.01) {
+                    p.goalEndState.rotation = link.rotation;
                     changed = true;
                   }
                 }
diff --git a/lib/path/pathplanner_path.dart b/lib/path/pathplanner_path.dart
index f45cd182..8277e7b8 100644
--- a/lib/path/pathplanner_path.dart
+++ b/lib/path/pathplanner_path.dart
@@ -73,6 +73,25 @@ class PathPlannerPath {
     required this.idealStartingState,
     required this.useDefaultConstraints,
   }) : pathPoints = [] {
+    // Set the up the values of linked waypoints
+    for (int i = 0; i < waypoints.length; i++) {
+      final w = waypoints[i];
+      if (w.linkedName != null) {
+        if (i == 0) {
+          // Link rotation will be from ideal starting state
+          Waypoint.linked[w.linkedName!] =
+              Pose2d(w.anchor, idealStartingState.rotation);
+        } else if (i == waypoints.length - 1) {
+          // Link rotation will be from goal end state
+          Waypoint.linked[w.linkedName!] =
+              Pose2d(w.anchor, goalEndState.rotation);
+        } else if (!Waypoint.linked.containsKey(w.linkedName!)) {
+          // If waypoint is not already in linked map, just use a 0 rotation for now
+          Waypoint.linked[w.linkedName!] = Pose2d(w.anchor, const Rotation2d());
+        }
+      }
+    }
+
     generatePathPoints();
   }
 
diff --git a/lib/path/waypoint.dart b/lib/path/waypoint.dart
index ce269952..7707ff91 100644
--- a/lib/path/waypoint.dart
+++ b/lib/path/waypoint.dart
@@ -5,7 +5,7 @@ import 'package:pathplanner/util/wpimath/geometry.dart';
 
 class Waypoint {
   static const num minControlLength = 0.25;
-  static HashMap<String, Translation2d> linked = HashMap();
+  static HashMap<String, Pose2d> linked = HashMap();
 
   Translation2d anchor;
   Translation2d? prevControl;
@@ -24,10 +24,6 @@ class Waypoint {
     this.isLocked = false,
     this.linkedName,
   }) {
-    if (linkedName != null) {
-      linked[linkedName!] = Translation2d(anchor.x, anchor.y);
-    }
-
     // Set the lengths to their current length to enforce minimum
     if (prevControl != null) {
       setPrevControlLength(prevControlLength!);
@@ -86,7 +82,8 @@ class Waypoint {
     }
 
     if (linkedName != null) {
-      linked[linkedName!] = anchor;
+      linked[linkedName!] =
+          Pose2d(anchor, linked[linkedName!]?.rotation ?? const Rotation2d());
     }
   }
 
diff --git a/lib/widgets/editor/split_path_editor.dart b/lib/widgets/editor/split_path_editor.dart
index a7341142..295d85bd 100644
--- a/lib/widgets/editor/split_path_editor.dart
+++ b/lib/widgets/editor/split_path_editor.dart
@@ -382,6 +382,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                           widget.path.idealStartingState.rotation = endRotation;
                           widget.path.generateAndSavePath();
                           _simulatePath();
+                          widget.onPathChanged?.call();
                         });
                       },
                       (oldValue) {
@@ -389,6 +390,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                           widget.path.idealStartingState.rotation = oldValue!;
                           widget.path.generateAndSavePath();
                           _simulatePath();
+                          widget.onPathChanged?.call();
                         });
                       },
                     ));
@@ -401,6 +403,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                           widget.path.goalEndState.rotation = endRotation;
                           widget.path.generateAndSavePath();
                           _simulatePath();
+                          widget.onPathChanged?.call();
                         });
                       },
                       (oldValue) {
@@ -408,6 +411,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                           widget.path.goalEndState.rotation = oldValue!;
                           widget.path.generateAndSavePath();
                           _simulatePath();
+                          widget.onPathChanged?.call();
                         });
                       },
                     ));
@@ -423,6 +427,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                               endRotation;
                           widget.path.generateAndSavePath();
                           _simulatePath();
+                          widget.onPathChanged?.call();
                         });
                       },
                       (oldValue) {
@@ -431,6 +436,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                               oldValue!;
                           widget.path.generateAndSavePath();
                           _simulatePath();
+                          widget.onPathChanged?.call();
                         });
                       },
                     ));
diff --git a/lib/widgets/editor/tree_widgets/waypoints_tree.dart b/lib/widgets/editor/tree_widgets/waypoints_tree.dart
index 734a458b..ae8d0197 100644
--- a/lib/widgets/editor/tree_widgets/waypoints_tree.dart
+++ b/lib/widgets/editor/tree_widgets/waypoints_tree.dart
@@ -476,12 +476,22 @@ class _WaypointsTreeState extends State<WaypointsTree> {
 
                     if (Waypoint.linked.containsKey(name)) {
                       // Linked waypoint exists, update this waypoint
-                      Translation2d anchor = Waypoint.linked[name]!;
+                      Pose2d link = Waypoint.linked[name]!;
+                      Translation2d anchor = link.translation;
 
                       widget.undoStack
                           .add(_waypointChange(waypoints[waypointIdx], () {
                         waypoints[waypointIdx].linkedName = name;
                         waypoints[waypointIdx].move(anchor.x, anchor.y);
+
+                        if (waypointIdx == 0) {
+                          // Update the ideal starting state rotation
+                          widget.path.idealStartingState.rotation =
+                              link.rotation;
+                        } else if (waypointIdx == waypoints.length - 1) {
+                          // Update the goal end state rotation
+                          widget.path.goalEndState.rotation = link.rotation;
+                        }
                       }, (oldVal) {
                         waypoints[waypointIdx] = oldVal.clone();
                       }));
@@ -490,7 +500,19 @@ class _WaypointsTreeState extends State<WaypointsTree> {
                       widget.undoStack
                           .add(_waypointChange(waypoints[waypointIdx], () {
                         waypoints[waypointIdx].linkedName = name;
-                        Waypoint.linked[name] = waypoints[waypointIdx].anchor;
+
+                        Rotation2d linkRotation = const Rotation2d();
+                        if (waypointIdx == 0) {
+                          // Use ideal starting state rotation
+                          linkRotation =
+                              widget.path.idealStartingState.rotation;
+                        } else if (waypointIdx == waypoints.length - 1) {
+                          // Use goal end state rotation
+                          linkRotation = widget.path.goalEndState.rotation;
+                        }
+
+                        Waypoint.linked[name] =
+                            Pose2d(waypoints[waypointIdx].anchor, linkRotation);
                       }, (oldVal) {
                         waypoints[waypointIdx] = oldVal.clone();
                         Waypoint.linked.remove(name);
diff --git a/test/pages/project/project_page_test.dart b/test/pages/project/project_page_test.dart
index 0bcecfb8..046a09a2 100644
--- a/test/pages/project/project_page_test.dart
+++ b/test/pages/project/project_page_test.dart
@@ -1619,7 +1619,7 @@ void main() {
     await fs.directory(join(deployPath, 'autos')).create(recursive: true);
 
     ProjectPage.events.add('test1');
-    Waypoint.linked['link1'] = const Translation2d(0, 0);
+    Waypoint.linked['link1'] = const Pose2d(Translation2d(0, 0), Rotation2d());
 
     PathPlannerPath path = PathPlannerPath.defaultPath(
       pathDir: join(deployPath, 'paths'),
@@ -1752,7 +1752,7 @@ void main() {
     await fs.directory(join(deployPath, 'paths')).create(recursive: true);
     await fs.directory(join(deployPath, 'autos')).create(recursive: true);
 
-    Waypoint.linked['link1'] = const Translation2d(0, 0);
+    Waypoint.linked['link1'] = const Pose2d(Translation2d(0, 0), Rotation2d());
 
     PathPlannerPath path = PathPlannerPath.defaultPath(
       pathDir: join(deployPath, 'paths'),
diff --git a/test/widgets/dialogs/management_dialog_test.dart b/test/widgets/dialogs/management_dialog_test.dart
index 6068bcda..e0c346cc 100644
--- a/test/widgets/dialogs/management_dialog_test.dart
+++ b/test/widgets/dialogs/management_dialog_test.dart
@@ -38,8 +38,8 @@ void main() {
     FlutterError.onError = ignoreOverflowErrors;
     await widgetTester.binding.setSurfaceSize(const Size(1280, 720));
 
-    Waypoint.linked['link1'] = const Translation2d(0, 0);
-    Waypoint.linked['link2'] = const Translation2d(0, 0);
+    Waypoint.linked['link1'] = const Pose2d(Translation2d(0, 0), Rotation2d());
+    Waypoint.linked['link2'] = const Pose2d(Translation2d(0, 0), Rotation2d());
 
     await widgetTester.pumpWidget(MaterialApp(
       home: Scaffold(
@@ -107,7 +107,7 @@ void main() {
     FlutterError.onError = ignoreOverflowErrors;
     await widgetTester.binding.setSurfaceSize(const Size(1280, 720));
 
-    Waypoint.linked['link1'] = const Translation2d(0, 0);
+    Waypoint.linked['link1'] = const Pose2d(Translation2d(0, 0), Rotation2d());
 
     bool removed = false;
 
@@ -205,7 +205,7 @@ void main() {
     FlutterError.onError = ignoreOverflowErrors;
     await widgetTester.binding.setSurfaceSize(const Size(1280, 720));
 
-    Waypoint.linked['link1'] = const Translation2d(0, 0);
+    Waypoint.linked['link1'] = const Pose2d(Translation2d(0, 0), Rotation2d());
 
     bool renamed = false;
 
@@ -310,8 +310,8 @@ void main() {
     FlutterError.onError = ignoreOverflowErrors;
     await widgetTester.binding.setSurfaceSize(const Size(1280, 720));
 
-    Waypoint.linked['link1'] = const Translation2d(0, 0);
-    Waypoint.linked['link2'] = const Translation2d(0, 0);
+    Waypoint.linked['link1'] = const Pose2d(Translation2d(0, 0), Rotation2d());
+    Waypoint.linked['link2'] = const Pose2d(Translation2d(0, 0), Rotation2d());
 
     bool renamed = false;
 
@@ -415,7 +415,7 @@ void main() {
     FlutterError.onError = ignoreOverflowErrors;
     await widgetTester.binding.setSurfaceSize(const Size(1280, 720));
 
-    Waypoint.linked['link1'] = const Translation2d(0, 0);
+    Waypoint.linked['link1'] = const Pose2d(Translation2d(0, 0), Rotation2d());
 
     bool renamed = false;
 
diff --git a/test/widgets/editor/tree_widgets/waypoints_tree_test.dart b/test/widgets/editor/tree_widgets/waypoints_tree_test.dart
index c6027448..5289c3a5 100644
--- a/test/widgets/editor/tree_widgets/waypoints_tree_test.dart
+++ b/test/widgets/editor/tree_widgets/waypoints_tree_test.dart
@@ -455,8 +455,10 @@ void main() {
   });
 
   testWidgets('linked waypoint', (widgetTester) async {
-    Waypoint.linked['existing link'] = const Translation2d(0, 0);
-    Waypoint.linked['new link'] = const Translation2d(0, 0);
+    Waypoint.linked['existing link'] =
+        const Pose2d(Translation2d(0, 0), Rotation2d());
+    Waypoint.linked['new link'] =
+        const Pose2d(Translation2d(0, 0), Rotation2d());
 
     await widgetTester.pumpWidget(MaterialApp(
       home: Scaffold(

From b74e2c3991c33b5a57db7626f8c465a539320bd3 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Tue, 7 Jan 2025 16:13:50 -0500
Subject: [PATCH 31/52] Show welcome page if opening project fails (#979)

---
 lib/pages/home_page.dart | 25 +++++++++++++++++++++----
 1 file changed, 21 insertions(+), 4 deletions(-)

diff --git a/lib/pages/home_page.dart b/lib/pages/home_page.dart
index 665cea4b..ba08de7c 100644
--- a/lib/pages/home_page.dart
+++ b/lib/pages/home_page.dart
@@ -95,8 +95,19 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
         }
       }
 
-      if (projectDir == null || !fs.directory(projectDir).existsSync()) {
-        projectDir = await Navigator.push(
+      while (true) {
+        if (projectDir != null) {
+          try {
+            if (!fs.directory(projectDir).existsSync()) {
+              projectDir = null;
+            }
+          } catch (e, stack) {
+            Log.error('Failed to check if project exists', e, stack);
+            projectDir = null;
+          }
+        }
+
+        projectDir ??= await Navigator.push(
           _key.currentContext!,
           PageRouteBuilder(
             pageBuilder: (context, anim1, anim2) => WelcomePage(
@@ -106,9 +117,15 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
             reverseTransitionDuration: Duration.zero,
           ),
         );
-      }
 
-      _initFromProjectDir(projectDir!);
+        try {
+          _initFromProjectDir(projectDir!);
+          // Break from the loop if we've successfully loaded the project
+          break;
+        } catch (e, stack) {
+          Log.error('Failed to initialize from project directory', e, stack);
+        }
+      }
 
       setState(() {
         _hotReload = widget.prefs.getBool(PrefsKeys.hotReloadEnabled) ??

From ba3286b44ce172e394c8d0cfdc6703da557cd755 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Tue, 7 Jan 2025 17:23:58 -0500
Subject: [PATCH 32/52] Support arbitrary SwerveSetpointGenerator constraints
 (#980)

---
 .../pathplannerlib/util/swerve.py             |  24 ++-
 .../util/swerve/SwerveSetpointGenerator.java  | 138 +++++++++++++++++-
 .../util/swerve/SwerveSetpointGenerator.cpp   |  47 +++++-
 .../lib/util/swerve/SwerveSetpointGenerator.h |  57 +++++++-
 4 files changed, 253 insertions(+), 13 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
index b3b6dc48..292e5011 100644
--- a/pathplannerlib-python/pathplannerlib/util/swerve.py
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -6,6 +6,7 @@
 from wpilib import RobotController
 from pathplannerlib.config import RobotConfig
 from pathplannerlib.util import DriveFeedforwards
+from pathplannerlib.path import PathConstraints
 import math
 from typing import Callable
 
@@ -50,7 +51,7 @@ def from_rots_per_sec(cls, config: RobotConfig, max_steer_velocity: float) -> "S
         return cls(config, rotationsToRadians(max_steer_velocity))
 
     def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_relative: ChassisSpeeds, dt: float,
-                         input_voltage: float = None) -> SwerveSetpoint:
+                         input_voltage: float = None, constraints: PathConstraints = None) -> SwerveSetpoint:
         """
         Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
         this method. This method will discretize the speeds for you.
@@ -63,6 +64,8 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
             be a static nominal voltage if you do not want the setpoint generator to react to changes
             in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input
             voltage will be clamped to a minimum of the robot controller's brownout voltage.
+        :param constraints: he arbitrary constraints to respect along with the robot's max capabilities.
+            If this is None, the generator will only limit setpoints by the robot's max capabilities.
         :return: A Setpoint object that satisfies all the kinematic/friction limits while converging to
         desired_state quickly.
         """
@@ -76,6 +79,16 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
 
         maxSpeed = self._config.moduleConfig.maxDriveVelocityMPS * min(1, input_voltage / 12)
 
+        # Limit the max velocities in desired state based on constraints
+        if constraints is not None:
+            vel = Translation2d(desired_state_robot_relative.vx, desired_state_robot_relative.vy)
+            linearVel = vel.norm()
+            if linearVel > constraints.maxVelocityMps:
+                vel = vel * (constraints.maxVelocityMps / linearVel)
+            desired_state_robot_relative = ChassisSpeeds(vel.x, vel.y, max(min(desired_state_robot_relative.omega,
+                                                                               constraints.maxAngularVelocityRps),
+                                                                           -constraints.maxAngularVelocityRps))
+
         desired_module_states = self._config.toSwerveModuleStates(desired_state_robot_relative)
         # Make sure desired_state respects velocity limits.
         SwerveDrive4Kinematics.desaturateWheelSpeeds(desired_module_states, maxSpeed)
@@ -130,7 +143,7 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
                 and not self._epsilonEqualsSpeeds(desired_state_robot_relative, ChassisSpeeds()):
             # It will (likely) be faster to stop the robot, rotate the modules in place to the complement
             # of the desired angle, and accelerate again.
-            return self.generateSetpoint(prev_setpoint, ChassisSpeeds(), dt, input_voltage)
+            return self.generateSetpoint(prev_setpoint, ChassisSpeeds(), dt, input_voltage, constraints)
 
         # Compute the deltas between start and goal. We can then interpolate from the start state to
         # the goal state; then find the amount we can move from start towards goal in this cycle such
@@ -272,6 +285,13 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
         chassis_accel_vec = chassis_force_vec / self._config.massKG
         chassis_angular_accel = chassis_torque / self._config.MOI
 
+        if constraints is not None:
+            linearAccel = chassis_accel_vec.norm()
+            if linearAccel > constraints.maxAccelerationMpsSq:
+                chassis_accel_vec = chassis_accel_vec * (constraints.maxAccelerationMpsSq / linearAccel)
+            chassis_angular_accel = max(min(chassis_angular_accel, constraints.maxAngularAccelerationRpsSq),
+                                        -constraints.maxAngularAccelerationRpsSq)
+
         # Use kinematics to convert chassis accelerations to module accelerations
         chassis_accel = \
             ChassisSpeeds(chassis_accel_vec.X(), chassis_accel_vec.Y(), chassis_angular_accel)
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
index 7df07a4a..69c172ba 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -3,7 +3,9 @@
 import static edu.wpi.first.units.Units.*;
 
 import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.util.DriveFeedforwards;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -62,6 +64,9 @@ public SwerveSetpointGenerator(RobotConfig config, AngularVelocity maxSteerVeloc
    *     iteration setpoint instead of the actual measured/estimated kinematic state.
    * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
    *     a path following algorithm.
+   * @param constraints The arbitrary constraints to respect along with the robot's max
+   *     capabilities. If this is null, the generator will only limit setpoints by the robot's max
+   *     capabilities.
    * @param dt The loop time.
    * @param inputVoltage The input voltage of the drive motor controllers, in volts. This can also
    *     be a static nominal voltage if you do not want the setpoint generator to react to changes
@@ -73,6 +78,7 @@ public SwerveSetpointGenerator(RobotConfig config, AngularVelocity maxSteerVeloc
   public SwerveSetpoint generateSetpoint(
       final SwerveSetpoint prevSetpoint,
       ChassisSpeeds desiredStateRobotRelative,
+      PathConstraints constraints,
       double dt,
       double inputVoltage) {
     if (Double.isNaN(inputVoltage)) {
@@ -82,6 +88,26 @@ public SwerveSetpoint generateSetpoint(
     }
     double maxSpeed = config.moduleConfig.maxDriveVelocityMPS * Math.min(1, inputVoltage / 12);
 
+    // Limit the max velocities in desired state based on constraints
+    if (constraints != null) {
+      Translation2d vel =
+          new Translation2d(
+              desiredStateRobotRelative.vxMetersPerSecond,
+              desiredStateRobotRelative.vyMetersPerSecond);
+      double linearVel = vel.getNorm();
+      if (linearVel > constraints.maxVelocityMPS()) {
+        vel = vel.times(constraints.maxVelocityMPS() / linearVel);
+      }
+      desiredStateRobotRelative =
+          new ChassisSpeeds(
+              vel.getX(),
+              vel.getY(),
+              MathUtil.clamp(
+                  desiredStateRobotRelative.omegaRadiansPerSecond,
+                  -constraints.maxAngularVelocityRadPerSec(),
+                  constraints.maxAngularVelocityRadPerSec()));
+    }
+
     SwerveModuleState[] desiredModuleStates =
         config.toSwerveModuleStates(desiredStateRobotRelative);
     // Make sure desiredState respects velocity limits.
@@ -139,7 +165,7 @@ public SwerveSetpoint generateSetpoint(
         && !epsilonEquals(desiredStateRobotRelative, new ChassisSpeeds())) {
       // It will (likely) be faster to stop the robot, rotate the modules in place to the complement
       // of the desired angle, and accelerate again.
-      return generateSetpoint(prevSetpoint, new ChassisSpeeds(), dt, inputVoltage);
+      return generateSetpoint(prevSetpoint, new ChassisSpeeds(), constraints, dt, inputVoltage);
     }
 
     // Compute the deltas between start and goal. We can then interpolate from the start state to
@@ -307,6 +333,18 @@ public SwerveSetpoint generateSetpoint(
     Translation2d chassisAccelVec = chassisForceVec.div(config.massKG);
     double chassisAngularAccel = chassisTorque / config.MOI;
 
+    if (constraints != null) {
+      double linearAccel = chassisAccelVec.getNorm();
+      if (linearAccel > constraints.maxAccelerationMPSSq()) {
+        chassisAccelVec = chassisAccelVec.times(constraints.maxAccelerationMPSSq() / linearAccel);
+      }
+      chassisAngularAccel =
+          MathUtil.clamp(
+              chassisAngularAccel,
+              -constraints.maxAngularAccelerationRadPerSecSq(),
+              constraints.maxAngularAccelerationRadPerSecSq());
+    }
+
     // Use kinematics to convert chassis accelerations to module accelerations
     ChassisSpeeds chassisAccel =
         new ChassisSpeeds(chassisAccelVec.getX(), chassisAccelVec.getY(), chassisAngularAccel);
@@ -401,6 +439,99 @@ public SwerveSetpoint generateSetpoint(
         new DriveFeedforwards(accelFF, linearForceFF, torqueCurrentFF, forceXFF, forceYFF));
   }
 
+  /**
+   * Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds
+   * passed into or returned from this method. This method will discretize the speeds for you.
+   *
+   * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+   *     iteration setpoint instead of the actual measured/estimated kinematic state.
+   * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+   *     a path following algorithm.
+   * @param constraints The arbitrary constraints to respect along with the robot's max
+   *     capabilities. If this is null, the generator will only limit setpoints by the robot's max
+   *     capabilities.
+   * @param dt The loop time.
+   * @param inputVoltage The input voltage of the drive motor controllers, in volts. This can also
+   *     be a static nominal voltage if you do not want the setpoint generator to react to changes
+   *     in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input
+   *     voltage will be clamped to a minimum of the robot controller's brownout voltage.
+   * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+   *     desiredState quickly.
+   */
+  public SwerveSetpoint generateSetpoint(
+      final SwerveSetpoint prevSetpoint,
+      ChassisSpeeds desiredStateRobotRelative,
+      PathConstraints constraints,
+      Time dt,
+      Voltage inputVoltage) {
+    return generateSetpoint(
+        prevSetpoint,
+        desiredStateRobotRelative,
+        constraints,
+        dt.in(Seconds),
+        inputVoltage.in(Volts));
+  }
+
+  /**
+   * Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
+   * this method. This method will discretize the speeds for you.
+   *
+   * <p>Note: This method will automatically use the current robot controller input voltage.
+   *
+   * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+   *     iteration setpoint instead of the actual measured/estimated kinematic state.
+   * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+   *     a path following algorithm.
+   * @param constraints The arbitrary constraints to respect along with the robot's max
+   *     capabilities. If this is null, the generator will only limit setpoints by the robot's max
+   *     capabilities.
+   * @param dt The loop time.
+   * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+   *     desiredState quickly.
+   */
+  public SwerveSetpoint generateSetpoint(
+      SwerveSetpoint prevSetpoint,
+      ChassisSpeeds desiredStateRobotRelative,
+      PathConstraints constraints,
+      double dt) {
+    return generateSetpoint(
+        prevSetpoint,
+        desiredStateRobotRelative,
+        constraints,
+        dt,
+        RobotController.getInputVoltage());
+  }
+
+  /**
+   * Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
+   * this method. This method will discretize the speeds for you.
+   *
+   * <p>Note: This method will automatically use the current robot controller input voltage.
+   *
+   * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+   *     iteration setpoint instead of the actual measured/estimated kinematic state.
+   * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+   *     a path following algorithm.
+   * @param constraints The arbitrary constraints to respect along with the robot's max
+   *     capabilities. If this is null, the generator will only limit setpoints by the robot's max
+   *     capabilities.
+   * @param dt The loop time.
+   * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+   *     desiredState quickly.
+   */
+  public SwerveSetpoint generateSetpoint(
+      SwerveSetpoint prevSetpoint,
+      ChassisSpeeds desiredStateRobotRelative,
+      PathConstraints constraints,
+      Time dt) {
+    return generateSetpoint(
+        prevSetpoint,
+        desiredStateRobotRelative,
+        constraints,
+        dt.in(Seconds),
+        RobotController.getBatteryVoltage());
+  }
+
   /**
    * Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds
    * passed into or returned from this method. This method will discretize the speeds for you.
@@ -423,7 +554,7 @@ public SwerveSetpoint generateSetpoint(
       Time dt,
       Voltage inputVoltage) {
     return generateSetpoint(
-        prevSetpoint, desiredStateRobotRelative, dt.in(Seconds), inputVoltage.in(Volts));
+        prevSetpoint, desiredStateRobotRelative, null, dt.in(Seconds), inputVoltage.in(Volts));
   }
 
   /**
@@ -443,7 +574,7 @@ public SwerveSetpoint generateSetpoint(
   public SwerveSetpoint generateSetpoint(
       SwerveSetpoint prevSetpoint, ChassisSpeeds desiredStateRobotRelative, double dt) {
     return generateSetpoint(
-        prevSetpoint, desiredStateRobotRelative, dt, RobotController.getInputVoltage());
+        prevSetpoint, desiredStateRobotRelative, null, dt, RobotController.getInputVoltage());
   }
 
   /**
@@ -465,6 +596,7 @@ public SwerveSetpoint generateSetpoint(
     return generateSetpoint(
         prevSetpoint,
         desiredStateRobotRelative,
+        null,
         dt.in(Seconds),
         RobotController.getBatteryVoltage());
   }
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
index bf72e5a0..1ea5cc5b 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
@@ -13,7 +13,8 @@ SwerveSetpointGenerator::SwerveSetpointGenerator(const RobotConfig &config,
 
 SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
 		SwerveSetpoint prevSetpoint,
-		frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt,
+		frc::ChassisSpeeds desiredStateRobotRelative,
+		std::optional<PathConstraints> constraints, units::second_t dt,
 		units::volt_t inputVoltage) {
 
 	if (std::isnan(inputVoltage.value())) {
@@ -25,6 +26,24 @@ SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
 			m_robotConfig.moduleConfig.maxDriveVelocityMPS
 					* std::min(1.0, inputVoltage() / 12.0);
 
+	// Limit the max velocities in desired state based on constraints
+	if (constraints.has_value()) {
+		frc::Translation2d vel(
+				units::meter_t { desiredStateRobotRelative.vx() },
+				units::meter_t { desiredStateRobotRelative.vy() });
+		units::meters_per_second_t linearVel { vel.Norm()() };
+		if (linearVel > constraints.value().getMaxVelocity()) {
+			vel = vel * (constraints.value().getMaxVelocity()() / linearVel());
+		}
+		auto angVel = units::math::max(
+				units::math::min(desiredStateRobotRelative.omega,
+						constraints.value().getMaxAngularVelocity()),
+				-constraints.value().getMaxAngularVelocity());
+		desiredStateRobotRelative = frc::ChassisSpeeds(
+				units::meters_per_second_t { vel.X()() },
+				units::meters_per_second_t { vel.Y()() }, angVel);
+	}
+
 	std::vector < frc::SwerveModuleState > desiredModuleStates =
 			m_robotConfig.toSwerveModuleStates(desiredStateRobotRelative);
 	// Make sure desiredState respects velocity limits.
@@ -88,8 +107,8 @@ SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
 					frc::ChassisSpeeds())) {
 		// It will (likely) be faster to stop the robot, rotate the modules in place to the complement
 		// of the desired angle, and accelerate again.
-		return generateSetpoint(prevSetpoint, frc::ChassisSpeeds(), dt,
-				inputVoltage);
+		return generateSetpoint(prevSetpoint, frc::ChassisSpeeds(), constraints,
+				dt, inputVoltage);
 	}
 
 	// Compute the deltas between start and goal. We can then interpolate from the start state to
@@ -260,6 +279,20 @@ SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
 	units::radians_per_second_squared_t chassisAngularAccel {
 			chassisTorque.value() / m_robotConfig.MOI.value() };
 
+	if (constraints.has_value()) {
+		units::meters_per_second_squared_t linearAccel {
+				chassisAccelVec.Norm()() };
+		if (linearAccel > constraints.value().getMaxAcceleration()) {
+			chassisAccelVec = chassisAccelVec
+					* (constraints.value().getMaxAcceleration()()
+							/ linearAccel());
+		}
+		chassisAngularAccel = units::math::max(
+				units::math::min(chassisAngularAccel,
+						constraints.value().getMaxAngularAcceleration()),
+				-constraints.value().getMaxAngularAcceleration());
+	}
+
 	// Use kinematics to convert chassis accelerations to module accelerations
 	frc::ChassisSpeeds chassisAccel { chassisAccelVec.X() / 1_s,
 			chassisAccelVec.Y() / 1_s, chassisAngularAccel * 1_s };
@@ -371,9 +404,11 @@ SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
 
 SwerveSetpoint SwerveSetpointGenerator::generateSetpoint(
 		SwerveSetpoint prevSetpoint,
-		frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt) {
-	return generateSetpoint(prevSetpoint, desiredStateRobotRelative, dt,
-			units::volt_t { frc::RobotController::GetInputVoltage() });
+		frc::ChassisSpeeds desiredStateRobotRelative,
+		std::optional<PathConstraints> constraints, units::second_t dt) {
+	return generateSetpoint(prevSetpoint, desiredStateRobotRelative,
+			constraints, dt, units::volt_t {
+					frc::RobotController::GetInputVoltage() });
 }
 
 double SwerveSetpointGenerator::findSteeringMaxS(units::meters_per_second_t x_0,
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h b/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h
index d3db1d7d..b0824cd5 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h
@@ -1,10 +1,12 @@
 #include "pathplanner/lib/config/RobotConfig.h"
 #include "pathplanner/lib/util/DriveFeedforwards.h"
 #include "pathplanner/lib/util/swerve/SwerveSetpoint.h"
+#include "pathplanner/lib/path/PathConstraints.h"
 
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/RobotController.h>
+#include <optional>
 
 using namespace pathplanner;
 
@@ -41,6 +43,9 @@ class SwerveSetpointGenerator {
 	 *     iteration setpoint instead of the actual measured/estimated kinematic state.
 	 * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
 	 *     a path following algorithm.
+	 * @param constraints The arbitrary constraints to respect along with the robot's max
+	 *     capabilities. If this is nullopt, the generator will only limit setpoints by the robot's max
+	 *     capabilities.
 	 * @param dt The loop time.
 	 * @param inputVoltage The input voltage of the drive motor controllers, in volts. This can also
 	 *     be a static nominal voltage if you do not want the setpoint generator to react to changes
@@ -50,9 +55,54 @@ class SwerveSetpointGenerator {
 	 *     desiredState quickly.
 	 */
 	SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint,
-			frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt,
+			frc::ChassisSpeeds desiredStateRobotRelative,
+			std::optional<PathConstraints> constraints, units::second_t dt,
 			units::volt_t inputVoltage);
 
+	/**
+	 * Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
+	 * this method. This method will discretize the speeds for you.
+	 *
+	 * <p>Note: This method will automatically use the current robot controller input voltage.
+	 *
+	 * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+	 *     iteration setpoint instead of the actual measured/estimated kinematic state.
+	 * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+	 *     a path following algorithm.
+	 * @param constraints The arbitrary constraints to respect along with the robot's max
+	 *     capabilities. If this is nullopt, the generator will only limit setpoints by the robot's max
+	 *     capabilities.
+	 * @param dt The loop time.
+	 * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+	 *     desiredState quickly.
+	 */
+	SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint,
+			frc::ChassisSpeeds desiredStateRobotRelative,
+			std::optional<PathConstraints> constraints, units::second_t dt);
+
+	/**
+	 * Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds
+	 * passed into or returned from this method. This method will discretize the speeds for you.
+	 *
+	 * @param prevSetpoint The previous setpoint motion. Normally, you'd pass in the previous
+	 *     iteration setpoint instead of the actual measured/estimated kinematic state.
+	 * @param desiredStateRobotRelative The desired state of motion, such as from the driver sticks or
+	 *     a path following algorithm.
+	 * @param dt The loop time.
+	 * @param inputVoltage The input voltage of the drive motor controllers, in volts. This can also
+	 *     be a static nominal voltage if you do not want the setpoint generator to react to changes
+	 *     in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input
+	 *     voltage will be clamped to a minimum of the robot controller's brownout voltage.
+	 * @return A Setpoint object that satisfies all the kinematic/friction limits while converging to
+	 *     desiredState quickly.
+	 */
+	SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint,
+			frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt,
+			units::volt_t inputVoltage) {
+		return generateSetpoint(prevSetpoint, desiredStateRobotRelative,
+				std::nullopt, dt, inputVoltage);
+	}
+
 	/**
 	 * Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from
 	 * this method. This method will discretize the speeds for you.
@@ -68,7 +118,10 @@ class SwerveSetpointGenerator {
 	 *     desiredState quickly.
 	 */
 	SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint,
-			frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt);
+			frc::ChassisSpeeds desiredStateRobotRelative, units::second_t dt) {
+		return generateSetpoint(prevSetpoint, desiredStateRobotRelative,
+				std::nullopt, dt);
+	}
 
 	/**
 	 * Check if it would be faster to go to the opposite of the goal heading (and reverse drive

From 447ebc8af0f5a7d80d8b4ac1a58d6babe5123b01 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Tue, 7 Jan 2025 23:48:30 -0500
Subject: [PATCH 33/52] Avoid division by zero in python (#982)

---
 .../pathplannerlib/trajectory.py              | 22 ++++++++++---------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index 71642598..66f41028 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -578,12 +578,13 @@ def _forwardAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
         for m in range(config.numModules):
             prevRotDelta = state.moduleStates[m].angle - prevState.moduleStates[m].angle
             modVel = state.moduleStates[m].speed
-            dt = nextState.moduleStates[m].deltaPos / modVel
+            if modVel != 0.0:
+                dt = nextState.moduleStates[m].deltaPos / modVel
 
-            if math.isfinite(dt):
-                realMaxDT = max(realMaxDT, dt)
-                if abs(prevRotDelta.degrees()) < 60:
-                    maxDT = max(maxDT, dt)
+                if math.isfinite(dt):
+                    realMaxDT = max(realMaxDT, dt)
+                    if abs(prevRotDelta.degrees()) < 60:
+                        maxDT = max(maxDT, dt)
 
         if maxDT == 0.0:
             maxDT = realMaxDT
@@ -674,13 +675,14 @@ def _reverseAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
         for m in range(config.numModules):
             prevRotDelta = state.moduleStates[m].angle - states[i - 1].moduleStates[m].angle
             modVel = state.moduleStates[m].speed
-            dt = nextState.moduleStates[m].deltaPos / modVel
+            if modVel != 0.0:
+                dt = nextState.moduleStates[m].deltaPos / modVel
 
-            if math.isfinite(dt):
-                realMaxDT = max(realMaxDT, dt)
+                if math.isfinite(dt):
+                    realMaxDT = max(realMaxDT, dt)
 
-                if abs(prevRotDelta.degrees()) < 60:
-                    maxDT = max(maxDT, dt)
+                    if abs(prevRotDelta.degrees()) < 60:
+                        maxDT = max(maxDT, dt)
 
         if maxDT == 0.0:
             maxDT = realMaxDT

From 59a266c3c10582ff7c6adecb31448970996318e6 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Wed, 8 Jan 2025 14:06:53 -0500
Subject: [PATCH 34/52] Remove duplicate angle calculation from C++ (#985)

---
 .../cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp   | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
index 2d371527..375e70c2 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
@@ -307,9 +307,6 @@ void PathPlannerTrajectory::generateStates(
 	for (size_t i = 0; i < states.size(); i++) {
 		for (size_t m = 0; m < config.numModules; m++) {
 			if (i != states.size() - 1) {
-				states[i].moduleStates[m].fieldAngle =
-						(states[i + 1].moduleStates[m].fieldPos
-								- states[i].moduleStates[m].fieldPos).Angle();
 				frc::Translation2d fieldTranslation =
 						states[i + 1].moduleStates[m].fieldPos
 								- states[i].moduleStates[m].fieldPos;

From a11e5e4b2cbaf3cf50faf97771bc950a16097c55 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Wed, 8 Jan 2025 14:15:45 -0500
Subject: [PATCH 35/52] Mention vendor dep manager in install docs (#986)

---
 Writerside/images/vendor_dep_manager.png   | Bin 0 -> 176504 bytes
 Writerside/topics/pplib-Getting-Started.md |  14 +++++---------
 2 files changed, 5 insertions(+), 9 deletions(-)
 create mode 100644 Writerside/images/vendor_dep_manager.png

diff --git a/Writerside/images/vendor_dep_manager.png b/Writerside/images/vendor_dep_manager.png
new file mode 100644
index 0000000000000000000000000000000000000000..b91f33a1ac58bf10945810c3ba08d02380e80f41
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diff --git a/Writerside/topics/pplib-Getting-Started.md b/Writerside/topics/pplib-Getting-Started.md
index 982a46de..c529b9a1 100644
--- a/Writerside/topics/pplib-Getting-Started.md
+++ b/Writerside/topics/pplib-Getting-Started.md
@@ -5,16 +5,12 @@
 <tabs>
 <tab title="Java/C++">
 
-PathPlannerLib can be added to your robot code project using the "Install New Libraries (online)" feature in VSCode
-using the following JSON file URL:
+The easiest way to install PathPlannerLib is to find and install it via the WPILib Vendor Dependency Manager in VSCode.
 
-> **Note**
->
-> The main PathPlannerLib json file will not be updated for beta versions. To use the beta, you will need to use the
-> beta json file below. Once PathPlannerLib is fully released after kickoff, you will need to switch back to the main
-> vendor json file.
->
-{style="note"}
+![](vendor_dep_manager.png)
+
+Alternatively, PathPlannerLib can be added to your robot code project using the "Install New Libraries (online)" feature
+in VSCode using the following JSON file URL:
 
 <br/>
 

From 068a610797871e86ae9779698d070eba62fea606 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Wed, 8 Jan 2025 15:50:33 -0500
Subject: [PATCH 36/52] Add ability to mirror paths & autos (#987)

---
 .../com/pathplanner/lib/auto/CommandUtil.java |  51 +++--
 .../lib/commands/PathPlannerAuto.java         |  32 +++-
 .../com/pathplanner/lib/path/EventMarker.java |   2 +-
 .../pathplanner/lib/path/PathPlannerPath.java | 179 +++++++++++++++++-
 .../pathplanner/lib/util/FlippingUtil.java    |   4 +-
 5 files changed, 231 insertions(+), 37 deletions(-)

diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/auto/CommandUtil.java b/pathplannerlib/src/main/java/com/pathplanner/lib/auto/CommandUtil.java
index 70aae80b..9fccc2e1 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/auto/CommandUtil.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/auto/CommandUtil.java
@@ -31,11 +31,13 @@ public static Command wrappedEventCommand(Command eventCommand) {
    *
    * @param commandJson the JSON object to build the command from
    * @param loadChoreoPaths Load path commands using choreo trajectories
+   * @param mirror Should the paths be mirrored
    * @return a command built from the JSON object
    * @throws IOException if attempting to load a path file that does not exist or cannot be read
    * @throws ParseException If attempting to load a path with JSON that cannot be parsed
    */
-  public static Command commandFromJson(JSONObject commandJson, boolean loadChoreoPaths)
+  public static Command commandFromJson(
+      JSONObject commandJson, boolean loadChoreoPaths, boolean mirror)
       throws IOException, ParseException {
     String type = (String) commandJson.get("type");
     JSONObject data = (JSONObject) commandJson.get("data");
@@ -43,11 +45,11 @@ public static Command commandFromJson(JSONObject commandJson, boolean loadChoreo
     return switch (type) {
       case "wait" -> waitCommandFromData(data);
       case "named" -> namedCommandFromData(data);
-      case "path" -> pathCommandFromData(data, loadChoreoPaths);
-      case "sequential" -> sequentialGroupFromData(data, loadChoreoPaths);
-      case "parallel" -> parallelGroupFromData(data, loadChoreoPaths);
-      case "race" -> raceGroupFromData(data, loadChoreoPaths);
-      case "deadline" -> deadlineGroupFromData(data, loadChoreoPaths);
+      case "path" -> pathCommandFromData(data, loadChoreoPaths, mirror);
+      case "sequential" -> sequentialGroupFromData(data, loadChoreoPaths, mirror);
+      case "parallel" -> parallelGroupFromData(data, loadChoreoPaths, mirror);
+      case "race" -> raceGroupFromData(data, loadChoreoPaths, mirror);
+      case "deadline" -> deadlineGroupFromData(data, loadChoreoPaths, mirror);
       default -> Commands.none();
     };
   }
@@ -69,53 +71,60 @@ private static Command namedCommandFromData(JSONObject dataJson) {
     return NamedCommands.getCommand(name);
   }
 
-  private static Command pathCommandFromData(JSONObject dataJson, boolean choreoPath)
-      throws IOException, ParseException {
+  private static Command pathCommandFromData(
+      JSONObject dataJson, boolean choreoPath, boolean mirror) throws IOException, ParseException {
     String pathName = (String) dataJson.get("pathName");
 
-    if (choreoPath) {
-      return AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory(pathName));
-    } else {
-      return AutoBuilder.followPath(PathPlannerPath.fromPathFile(pathName));
+    PathPlannerPath path =
+        choreoPath
+            ? PathPlannerPath.fromChoreoTrajectory(pathName)
+            : PathPlannerPath.fromPathFile(pathName);
+    if (mirror) {
+      path = path.mirrorPath();
     }
+    return AutoBuilder.followPath(path);
   }
 
-  private static Command sequentialGroupFromData(JSONObject dataJson, boolean loadChoreoPaths)
+  private static Command sequentialGroupFromData(
+      JSONObject dataJson, boolean loadChoreoPaths, boolean mirror)
       throws IOException, ParseException {
     SequentialCommandGroup group = new SequentialCommandGroup();
     for (var cmdJson : (JSONArray) dataJson.get("commands")) {
-      group.addCommands(commandFromJson((JSONObject) cmdJson, loadChoreoPaths));
+      group.addCommands(commandFromJson((JSONObject) cmdJson, loadChoreoPaths, mirror));
     }
     return group;
   }
 
-  private static Command parallelGroupFromData(JSONObject dataJson, boolean loadChoreoPaths)
+  private static Command parallelGroupFromData(
+      JSONObject dataJson, boolean loadChoreoPaths, boolean mirror)
       throws IOException, ParseException {
     ParallelCommandGroup group = new ParallelCommandGroup();
     for (var cmdJson : (JSONArray) dataJson.get("commands")) {
-      group.addCommands(commandFromJson((JSONObject) cmdJson, loadChoreoPaths));
+      group.addCommands(commandFromJson((JSONObject) cmdJson, loadChoreoPaths, mirror));
     }
     return group;
   }
 
-  private static Command raceGroupFromData(JSONObject dataJson, boolean loadChoreoPaths)
+  private static Command raceGroupFromData(
+      JSONObject dataJson, boolean loadChoreoPaths, boolean mirror)
       throws IOException, ParseException {
     ParallelRaceGroup group = new ParallelRaceGroup();
     for (var cmdJson : (JSONArray) dataJson.get("commands")) {
-      group.addCommands(commandFromJson((JSONObject) cmdJson, loadChoreoPaths));
+      group.addCommands(commandFromJson((JSONObject) cmdJson, loadChoreoPaths, mirror));
     }
     return group;
   }
 
-  private static Command deadlineGroupFromData(JSONObject dataJson, boolean loadChoreoPaths)
+  private static Command deadlineGroupFromData(
+      JSONObject dataJson, boolean loadChoreoPaths, boolean mirror)
       throws IOException, ParseException {
     JSONArray cmds = (JSONArray) dataJson.get("commands");
 
     if (!cmds.isEmpty()) {
-      Command deadline = commandFromJson((JSONObject) cmds.get(0), loadChoreoPaths);
+      Command deadline = commandFromJson((JSONObject) cmds.get(0), loadChoreoPaths, mirror);
       ParallelDeadlineGroup group = new ParallelDeadlineGroup(deadline);
       for (int i = 1; i < cmds.size(); i++) {
-        group.addCommands(commandFromJson((JSONObject) cmds.get(i), loadChoreoPaths));
+        group.addCommands(commandFromJson((JSONObject) cmds.get(i), loadChoreoPaths, mirror));
       }
       return group;
     } else {
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathPlannerAuto.java b/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathPlannerAuto.java
index 1edfdf4f..ae16cca0 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathPlannerAuto.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathPlannerAuto.java
@@ -60,6 +60,20 @@ public class PathPlannerAuto extends Command {
    *     autonomous routine
    */
   public PathPlannerAuto(String autoName) {
+    this(autoName, false);
+  }
+
+  /**
+   * Constructs a new PathPlannerAuto command.
+   *
+   * @param autoName the name of the autonomous routine to load and run
+   * @param mirror Mirror all paths to the other side of the current alliance. For example, if a
+   *     path is on the right of the blue alliance side of the field, it will be mirrored to the
+   *     left of the blue alliance side of the field.
+   * @throws AutoBuilderException if AutoBuilder is not configured before attempting to load the
+   *     autonomous routine
+   */
+  public PathPlannerAuto(String autoName, boolean mirror) {
     if (!AutoBuilder.isConfigured()) {
       throw new AutoBuilderException(
           "AutoBuilder was not configured before attempting to load a PathPlannerAuto from file");
@@ -86,7 +100,7 @@ public PathPlannerAuto(String autoName) {
         throw new FileVersionException(version, "2025.X", autoName + ".auto");
       }
 
-      initFromJson(json);
+      initFromJson(json, mirror);
     } catch (FileNotFoundException e) {
       DriverStation.reportError(e.getMessage(), e.getStackTrace());
       autoCommand = Commands.none();
@@ -620,27 +634,29 @@ public static List<PathPlannerPath> getPathGroupFromAutoFile(String autoName)
    */
   public void hotReload(JSONObject autoJson) {
     try {
-      initFromJson(autoJson);
+      initFromJson(autoJson, false);
     } catch (Exception e) {
       DriverStation.reportError("Failed to load path during hot reload", e.getStackTrace());
     }
   }
 
-  private void initFromJson(JSONObject autoJson)
+  private void initFromJson(JSONObject autoJson, boolean mirror)
       throws IOException, ParseException, FileVersionException {
     boolean choreoAuto = autoJson.get("choreoAuto") != null && (boolean) autoJson.get("choreoAuto");
     JSONObject commandJson = (JSONObject) autoJson.get("command");
-    Command cmd = CommandUtil.commandFromJson(commandJson, choreoAuto);
+    Command cmd = CommandUtil.commandFromJson(commandJson, choreoAuto, mirror);
     boolean resetOdom = autoJson.get("resetOdom") != null && (boolean) autoJson.get("resetOdom");
     List<PathPlannerPath> pathsInAuto = pathsFromCommandJson(commandJson, choreoAuto);
     if (!pathsInAuto.isEmpty()) {
+      PathPlannerPath path0 = pathsInAuto.get(0);
+      if (mirror) {
+        path0 = path0.mirrorPath();
+      }
       if (AutoBuilder.isHolonomic()) {
         this.startingPose =
-            new Pose2d(
-                pathsInAuto.get(0).getPoint(0).position,
-                pathsInAuto.get(0).getIdealStartingState().rotation());
+            new Pose2d(path0.getPoint(0).position, path0.getIdealStartingState().rotation());
       } else {
-        this.startingPose = pathsInAuto.get(0).getStartingDifferentialPose();
+        this.startingPose = path0.getStartingDifferentialPose();
       }
     } else {
       this.startingPose = null;
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/EventMarker.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/EventMarker.java
index 7c9e9bc4..c8b11689 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/EventMarker.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/EventMarker.java
@@ -64,7 +64,7 @@ static EventMarker fromJson(JSONObject markerJson) {
     Command cmd = null;
     if (markerJson.get("command") != null) {
       try {
-        cmd = CommandUtil.commandFromJson((JSONObject) markerJson.get("command"), false);
+        cmd = CommandUtil.commandFromJson((JSONObject) markerJson.get("command"), false, false);
       } catch (Exception ignored) {
         // Path files won't be loaded from event markers
       }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
index b4ec9d32..f84a9e6b 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
@@ -7,10 +7,7 @@
 import com.pathplanner.lib.events.ScheduleCommandEvent;
 import com.pathplanner.lib.trajectory.PathPlannerTrajectory;
 import com.pathplanner.lib.trajectory.PathPlannerTrajectoryState;
-import com.pathplanner.lib.util.DriveFeedforwards;
-import com.pathplanner.lib.util.FileVersionException;
-import com.pathplanner.lib.util.GeometryUtil;
-import com.pathplanner.lib.util.PPLibTelemetry;
+import com.pathplanner.lib.util.*;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.MathUtil;
@@ -432,7 +429,7 @@ private static void loadChoreoTrajectoryIntoCache(String trajectoryName)
 
         if (markerJson.get("event") != null) {
           Command eventCommand =
-              CommandUtil.commandFromJson((JSONObject) markerJson.get("event"), true);
+              CommandUtil.commandFromJson((JSONObject) markerJson.get("event"), true, false);
           fullEvents.add(new ScheduleCommandEvent(fromTimestamp, eventCommand));
         }
       }
@@ -1191,6 +1188,178 @@ public PathPlannerPath flipPath() {
     return path;
   }
 
+  private static Translation2d mirrorTranslation(Translation2d translation) {
+    return new Translation2d(translation.getX(), FlippingUtil.fieldSizeY - translation.getY());
+  }
+
+  /**
+   * Mirror a path to the other side of the current alliance. For example, if this path is on the
+   * right of the blue alliance side of the field, it will be mirrored to the left of the blue
+   * alliance side of the field.
+   *
+   * @return The mirrored path
+   */
+  public PathPlannerPath mirrorPath() {
+    PathPlannerPath path = new PathPlannerPath();
+
+    Optional<PathPlannerTrajectory> mirroredTraj = Optional.empty();
+    if (idealTrajectory.isPresent()) {
+      PathPlannerTrajectory traj = idealTrajectory.get();
+      // Flip the ideal trajectory
+      mirroredTraj =
+          Optional.of(
+              new PathPlannerTrajectory(
+                  traj.getStates().stream()
+                      .map(
+                          s -> {
+                            var state = new PathPlannerTrajectoryState();
+
+                            state.timeSeconds = s.timeSeconds;
+                            state.linearVelocity = s.linearVelocity;
+                            state.pose =
+                                new Pose2d(
+                                    mirrorTranslation(s.pose.getTranslation()),
+                                    s.pose.getRotation().unaryMinus());
+                            state.fieldSpeeds =
+                                new ChassisSpeeds(
+                                    s.fieldSpeeds.vxMetersPerSecond,
+                                    -s.fieldSpeeds.vyMetersPerSecond,
+                                    -s.fieldSpeeds.omegaRadiansPerSecond);
+                            DriveFeedforwards ff = s.feedforwards;
+                            if (ff.accelerationsMPSSq().length == 4) {
+                              state.feedforwards =
+                                  new DriveFeedforwards(
+                                      new double[] {
+                                        ff.accelerationsMPSSq()[1],
+                                        ff.accelerationsMPSSq()[0],
+                                        ff.accelerationsMPSSq()[3],
+                                        ff.accelerationsMPSSq()[2]
+                                      },
+                                      new double[] {
+                                        ff.linearForcesNewtons()[1],
+                                        ff.linearForcesNewtons()[0],
+                                        ff.linearForcesNewtons()[3],
+                                        ff.linearForcesNewtons()[2]
+                                      },
+                                      new double[] {
+                                        ff.torqueCurrentsAmps()[1],
+                                        ff.torqueCurrentsAmps()[0],
+                                        ff.torqueCurrentsAmps()[3],
+                                        ff.torqueCurrentsAmps()[2]
+                                      },
+                                      new double[] {
+                                        ff.robotRelativeForcesXNewtons()[1],
+                                        ff.robotRelativeForcesXNewtons()[0],
+                                        ff.robotRelativeForcesXNewtons()[3],
+                                        ff.robotRelativeForcesXNewtons()[2]
+                                      },
+                                      new double[] {
+                                        ff.robotRelativeForcesYNewtons()[1],
+                                        ff.robotRelativeForcesYNewtons()[0],
+                                        ff.robotRelativeForcesYNewtons()[3],
+                                        ff.robotRelativeForcesYNewtons()[2]
+                                      });
+                            } else if (ff.accelerationsMPSSq().length == 2) {
+                              state.feedforwards =
+                                  new DriveFeedforwards(
+                                      new double[] {
+                                        ff.accelerationsMPSSq()[1], ff.accelerationsMPSSq()[0]
+                                      },
+                                      new double[] {
+                                        ff.linearForcesNewtons()[1], ff.linearForcesNewtons()[0]
+                                      },
+                                      new double[] {
+                                        ff.torqueCurrentsAmps()[1], ff.torqueCurrentsAmps()[0]
+                                      },
+                                      new double[] {
+                                        ff.robotRelativeForcesXNewtons()[1],
+                                        ff.robotRelativeForcesXNewtons()[0]
+                                      },
+                                      new double[] {
+                                        ff.robotRelativeForcesYNewtons()[1],
+                                        ff.robotRelativeForcesYNewtons()[0]
+                                      });
+                            } else {
+                              state.feedforwards = ff;
+                            }
+                            state.heading = s.heading.unaryMinus();
+
+                            return state;
+                          })
+                      .toList(),
+                  traj.getEvents()));
+    }
+
+    path.waypoints =
+        waypoints.stream()
+            .map(
+                w -> {
+                  Translation2d prevControl = null;
+                  Translation2d anchor = mirrorTranslation(w.anchor());
+                  Translation2d nextControl = null;
+
+                  if (w.prevControl() != null) {
+                    prevControl = mirrorTranslation(w.prevControl());
+                  }
+                  if (w.nextControl() != null) {
+                    nextControl = mirrorTranslation(w.nextControl());
+                  }
+                  return new Waypoint(prevControl, anchor, nextControl);
+                })
+            .toList();
+    path.rotationTargets =
+        rotationTargets.stream()
+            .map(t -> new RotationTarget(t.position(), t.rotation().unaryMinus()))
+            .toList();
+    path.pointTowardsZones =
+        pointTowardsZones.stream()
+            .map(
+                z ->
+                    new PointTowardsZone(
+                        z.name(),
+                        mirrorTranslation(z.targetPosition()),
+                        z.rotationOffset(),
+                        z.minPosition(),
+                        z.maxPosition()))
+            .toList();
+    path.constraintZones = constraintZones;
+    path.eventMarkers = eventMarkers;
+    path.globalConstraints = globalConstraints;
+    if (idealStartingState != null) {
+      path.idealStartingState =
+          new IdealStartingState(
+              idealStartingState.velocityMPS(), idealStartingState.rotation().unaryMinus());
+    } else {
+      path.idealStartingState = null;
+    }
+    path.goalEndState =
+        new GoalEndState(goalEndState.velocityMPS(), goalEndState.rotation().unaryMinus());
+    path.allPoints =
+        allPoints.stream()
+            .map(
+                p -> {
+                  PathPoint point = new PathPoint(mirrorTranslation(p.position));
+                  point.distanceAlongPath = p.distanceAlongPath;
+                  point.maxV = p.maxV;
+                  if (p.rotationTarget != null) {
+                    point.rotationTarget =
+                        new RotationTarget(
+                            p.rotationTarget.position(), p.rotationTarget.rotation().unaryMinus());
+                  }
+                  point.constraints = p.constraints;
+                  point.waypointRelativePos = p.waypointRelativePos;
+                  return point;
+                })
+            .toList();
+    path.reversed = reversed;
+    path.isChoreoPath = isChoreoPath;
+    path.idealTrajectory = mirroredTraj;
+    path.preventFlipping = preventFlipping;
+    path.name = name;
+
+    return path;
+  }
+
   /**
    * Get a list of poses representing every point in this path. This can be used to display a path
    * on a field 2d widget, for example.
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
index 8e8d9226..2e73efd8 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
@@ -47,8 +47,8 @@ public static Translation2d flipFieldPosition(Translation2d pos) {
    */
   public static Rotation2d flipFieldRotation(Rotation2d rotation) {
     return switch (symmetryType) {
-      case kMirrored -> new Rotation2d(Math.PI).minus(rotation);
-      case kRotational -> rotation.minus(new Rotation2d(Math.PI));
+      case kMirrored -> Rotation2d.kPi.minus(rotation);
+      case kRotational -> rotation.minus(Rotation2d.kPi);
     };
   }
 

From 237d21ecfe9b3f30a7f7abe760e83bd7031c0cd8 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 8 Jan 2025 23:18:10 -0500
Subject: [PATCH 37/52] Fix chassis speeds flipping in java (#989)

---
 .../src/main/java/com/pathplanner/lib/util/FlippingUtil.java    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
index 2e73efd8..245c07be 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/util/FlippingUtil.java
@@ -78,7 +78,7 @@ public static ChassisSpeeds flipFieldSpeeds(ChassisSpeeds fieldSpeeds) {
           -fieldSpeeds.omegaRadiansPerSecond);
       case kRotational -> new ChassisSpeeds(
           -fieldSpeeds.vxMetersPerSecond,
-          -fieldSpeeds.vxMetersPerSecond,
+          -fieldSpeeds.vyMetersPerSecond,
           fieldSpeeds.omegaRadiansPerSecond);
     };
   }

From f2450a9811204c90075bceb6e643aff95c955e65 Mon Sep 17 00:00:00 2001
From: Tim Winters <twinters007@gmail.com>
Date: Fri, 10 Jan 2025 10:52:06 -0500
Subject: [PATCH 38/52] Add annotated field image (#990)

---
 images/field25-annotated.png | Bin 0 -> 234325 bytes
 lib/widgets/field_image.dart |  15 ++++++++++++++-
 2 files changed, 14 insertions(+), 1 deletion(-)
 create mode 100644 images/field25-annotated.png

diff --git a/images/field25-annotated.png b/images/field25-annotated.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2c9539e91cb08e08ebc1e778ccebe330e2b7af2
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/lib/widgets/field_image.dart b/lib/widgets/field_image.dart
index b13142d3..71f171d2 100644
--- a/lib/widgets/field_image.dart
+++ b/lib/widgets/field_image.dart
@@ -10,6 +10,7 @@ enum OfficialField {
   chargedUp,
   crescendo,
   reefscape,
+  reefscapeAnnotated
 }
 
 class FieldImage {
@@ -22,7 +23,8 @@ class FieldImage {
 
   static List<FieldImage>? _officialFields;
 
-  static final FieldImage defaultField = offialFields().last;
+  static final FieldImage defaultField =
+      FieldImage.official(OfficialField.reefscape);
 
   static List<FieldImage> offialFields() {
     _officialFields ??= [
@@ -30,6 +32,7 @@ class FieldImage {
       FieldImage.official(OfficialField.chargedUp),
       FieldImage.official(OfficialField.crescendo),
       FieldImage.official(OfficialField.reefscape),
+      FieldImage.official(OfficialField.reefscapeAnnotated),
     ];
     return _officialFields!;
   }
@@ -76,6 +79,16 @@ class FieldImage {
         pixelsPerMeter = 200.0;
         name = 'Reefscape';
         break;
+      case OfficialField.reefscapeAnnotated:
+        image = Image.asset(
+          'images/field25-annotated.png',
+          fit: BoxFit.contain,
+          filterQuality: FilterQuality.medium,
+        );
+        defaultSize = const ui.Size(3510, 1610);
+        pixelsPerMeter = 200.0;
+        name = 'Reefscape';
+        break;
     }
     isCustom = false;
     extension = 'png';

From 8e08c54032cd536eb54441825378f1c8d9df7065 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Fri, 10 Jan 2025 08:39:16 -0800
Subject: [PATCH 39/52] Prevent NaN trajectory time calculations (#994)

---
 lib/trajectory/trajectory.dart                |   9 +-
 pathplannerlib-python/pathplannerlib/path.py  |   2 +-
 .../pathplannerlib/trajectory.py              |  78 ++++++------
 .../com/pathplanner/lib/path/Waypoint.java    |   2 +-
 .../lib/trajectory/PathPlannerTrajectory.java | 102 ++++++++-------
 .../lib/trajectory/PathPlannerTrajectory.cpp  | 116 ++++++++++--------
 .../include/pathplanner/lib/path/Waypoint.h   |   2 +-
 7 files changed, 174 insertions(+), 137 deletions(-)

diff --git a/lib/trajectory/trajectory.dart b/lib/trajectory/trajectory.dart
index cc2f0ddd..55820611 100644
--- a/lib/trajectory/trajectory.dart
+++ b/lib/trajectory/trajectory.dart
@@ -450,8 +450,13 @@ class PathPlannerTrajectory {
           pow(states[i - 1].fieldSpeeds.vy, 2));
       num v = sqrt(
           pow(states[i].fieldSpeeds.vx, 2) + pow(states[i].fieldSpeeds.vy, 2));
-      num dt = (2 * states[i].deltaPos) / (v + v0);
-      states[i].timeSeconds = states[i - 1].timeSeconds + dt;
+      num sumV = v + v0;
+      if (sumV.abs() < 1e-6) {
+        states[i].timeSeconds = states[i - 1].timeSeconds;
+      } else {
+        num dt = (2 * states[i].deltaPos) / sumV;
+        states[i].timeSeconds = states[i - 1].timeSeconds + dt;
+      }
     }
 
     DateTime now = DateTime.now();
diff --git a/pathplannerlib-python/pathplannerlib/path.py b/pathplannerlib-python/pathplannerlib/path.py
index cf4db595..4adbe48b 100644
--- a/pathplannerlib-python/pathplannerlib/path.py
+++ b/pathplannerlib-python/pathplannerlib/path.py
@@ -20,7 +20,7 @@
 
 targetIncrement: Final[float] = 0.05
 targetSpacing: Final[float] = 0.2
-autoControlDistanceFactor: Final[float] = 1.0 / 3.0
+autoControlDistanceFactor: Final[float] = 0.4
 
 
 @dataclass(frozen=True)
diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index 66f41028..be6c0021 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -239,41 +239,49 @@ def __init__(self, path: Union[PathPlannerPath, None], starting_speeds: Union[Ch
 
                     v0 = prevState.linearVelocity
                     v = state.linearVelocity
-                    dt = (2 * state.deltaPos) / (v + v0)
-                    state.timeSeconds = prevState.timeSeconds + dt
-
-                    prevRobotSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(prevState.fieldSpeeds,
-                                                                            prevState.pose.rotation())
-                    robotSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(state.fieldSpeeds, state.pose.rotation())
-                    chassisAccelX = (robotSpeeds.vx - prevRobotSpeeds.vx) / dt
-                    chassisAccelY = (robotSpeeds.vy - prevRobotSpeeds.vy) / dt
-                    chassisForceX = chassisAccelX * config.massKG
-                    chassisForceY = chassisAccelY * config.massKG
-
-                    angularAccel = (robotSpeeds.omega - prevRobotSpeeds.omega) / dt
-                    angTorque = angularAccel * config.MOI
-                    chassisForces = ChassisSpeeds(chassisForceX, chassisForceY, angTorque)
-
-                    wheelForces = config.chassisForcesToWheelForceVectors(chassisForces)
-                    accelFF = []
-                    linearForceFF = []
-                    torqueCurrentFF = []
-                    forceXFF = []
-                    forceYFF = []
-                    for m in range(config.numModules):
-                        wheelForceDist = wheelForces[m].norm()
-                        appliedForce = 0.0 if wheelForceDist <= 1e-6 else wheelForceDist * (
-                                wheelForces[m].angle() - state.moduleStates[m].angle).cos()
-                        wheelTorque = appliedForce * config.moduleConfig.wheelRadiusMeters
-                        torqueCurrent = wheelTorque / config.moduleConfig.driveMotor.Kt
-
-                        accelFF.append((state.moduleStates[m].speed - prevState.moduleStates[m].speed) / dt)
-                        linearForceFF.append(appliedForce)
-                        torqueCurrentFF.append(torqueCurrent)
-                        forceXFF.append(wheelForces[m].x)
-                        forceYFF.append(wheelForces[m].y)
-                    prevState.feedforwards = DriveFeedforwards(accelFF, linearForceFF, torqueCurrentFF, forceXFF,
-                                                               forceYFF)
+                    sumV = v + v0
+                    if abs(sumV) < 1e-6:
+                        state.timeSeconds = prevState.timeSeconds
+                        if i != 1:
+                            prevState.feedforwards = self._states[i - 2].feedforwards
+                        else:
+                            prevState.feedforwards = DriveFeedforwards.zeros(config.numModules)
+                    else:
+                        dt = (2 * state.deltaPos) / sumV
+                        state.timeSeconds = prevState.timeSeconds + dt
+
+                        prevRobotSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(prevState.fieldSpeeds,
+                                                                                prevState.pose.rotation())
+                        robotSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(state.fieldSpeeds, state.pose.rotation())
+                        chassisAccelX = (robotSpeeds.vx - prevRobotSpeeds.vx) / dt
+                        chassisAccelY = (robotSpeeds.vy - prevRobotSpeeds.vy) / dt
+                        chassisForceX = chassisAccelX * config.massKG
+                        chassisForceY = chassisAccelY * config.massKG
+
+                        angularAccel = (robotSpeeds.omega - prevRobotSpeeds.omega) / dt
+                        angTorque = angularAccel * config.MOI
+                        chassisForces = ChassisSpeeds(chassisForceX, chassisForceY, angTorque)
+
+                        wheelForces = config.chassisForcesToWheelForceVectors(chassisForces)
+                        accelFF = []
+                        linearForceFF = []
+                        torqueCurrentFF = []
+                        forceXFF = []
+                        forceYFF = []
+                        for m in range(config.numModules):
+                            wheelForceDist = wheelForces[m].norm()
+                            appliedForce = 0.0 if wheelForceDist <= 1e-6 else wheelForceDist * (
+                                    wheelForces[m].angle() - state.moduleStates[m].angle).cos()
+                            wheelTorque = appliedForce * config.moduleConfig.wheelRadiusMeters
+                            torqueCurrent = wheelTorque / config.moduleConfig.driveMotor.Kt
+
+                            accelFF.append((state.moduleStates[m].speed - prevState.moduleStates[m].speed) / dt)
+                            linearForceFF.append(appliedForce)
+                            torqueCurrentFF.append(torqueCurrent)
+                            forceXFF.append(wheelForces[m].x)
+                            forceYFF.append(wheelForces[m].y)
+                        prevState.feedforwards = DriveFeedforwards(accelFF, linearForceFF, torqueCurrentFF, forceXFF,
+                                                                   forceYFF)
 
                     # Un-added events have their timestamp set to a waypoint relative position
                     # When adding the event to this trajectory, set its timestamp properly
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/Waypoint.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/Waypoint.java
index 0b320de1..ced5a5d2 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/Waypoint.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/Waypoint.java
@@ -14,7 +14,7 @@
  * @param nextControl Next control point
  */
 public record Waypoint(Translation2d prevControl, Translation2d anchor, Translation2d nextControl) {
-  private static final double AUTO_CONTROL_DISTANCE_FACTOR = 1.0 / 3.0;
+  private static final double AUTO_CONTROL_DISTANCE_FACTOR = 0.4;
 
   /**
    * Flip this waypoint to the other side of the field, maintaining a blue alliance origin
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
index 472bd683..fd031954 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
@@ -132,53 +132,63 @@ public PathPlannerTrajectory(
 
         double v0 = prevState.linearVelocity;
         double v = state.linearVelocity;
-        double dt = (2 * state.deltaPos) / (v + v0);
-        state.timeSeconds = prevState.timeSeconds + dt;
-
-        ChassisSpeeds prevRobotSpeeds =
-            ChassisSpeeds.fromFieldRelativeSpeeds(
-                prevState.fieldSpeeds, prevState.pose.getRotation());
-        ChassisSpeeds robotSpeeds =
-            ChassisSpeeds.fromFieldRelativeSpeeds(state.fieldSpeeds, state.pose.getRotation());
-        double chassisAccelX =
-            (robotSpeeds.vxMetersPerSecond - prevRobotSpeeds.vxMetersPerSecond) / dt;
-        double chassisAccelY =
-            (robotSpeeds.vyMetersPerSecond - prevRobotSpeeds.vyMetersPerSecond) / dt;
-        double chassisForceX = chassisAccelX * config.massKG;
-        double chassisForceY = chassisAccelY * config.massKG;
-
-        double angularAccel =
-            (robotSpeeds.omegaRadiansPerSecond - prevRobotSpeeds.omegaRadiansPerSecond) / dt;
-        double angTorque = angularAccel * config.MOI;
-        ChassisSpeeds chassisForces = new ChassisSpeeds(chassisForceX, chassisForceY, angTorque);
-
-        Translation2d[] wheelForces = config.chassisForcesToWheelForceVectors(chassisForces);
-        double[] accelFF = new double[config.numModules];
-        double[] linearForceFF = new double[config.numModules];
-        double[] torqueCurrentFF = new double[config.numModules];
-        double[] forceXFF = new double[config.numModules];
-        double[] forceYFF = new double[config.numModules];
-        for (int m = 0; m < config.numModules; m++) {
-          double wheelForceDist = wheelForces[m].getNorm();
-          double appliedForce =
-              wheelForceDist > 1e-6
-                  ? wheelForceDist
-                      * wheelForces[m].getAngle().minus(state.moduleStates[m].angle).getCos()
-                  : 0.0;
-          double wheelTorque = appliedForce * config.moduleConfig.wheelRadiusMeters;
-          double torqueCurrent = config.moduleConfig.driveMotor.getCurrent(wheelTorque);
-
-          accelFF[m] =
-              (state.moduleStates[m].speedMetersPerSecond
-                      - prevState.moduleStates[m].speedMetersPerSecond)
-                  / dt;
-          linearForceFF[m] = appliedForce;
-          torqueCurrentFF[m] = torqueCurrent;
-          forceXFF[m] = wheelForces[m].getX();
-          forceYFF[m] = wheelForces[m].getY();
+        double sumV = v + v0;
+        if (Math.abs(sumV) < 1e-6) {
+          state.timeSeconds = prevState.timeSeconds;
+          if (i != 1) {
+            prevState.feedforwards = states.get(i - 2).feedforwards;
+          } else {
+            prevState.feedforwards = DriveFeedforwards.zeros(config.numModules);
+          }
+        } else {
+          double dt = (2 * state.deltaPos) / sumV;
+          state.timeSeconds = prevState.timeSeconds + dt;
+
+          ChassisSpeeds prevRobotSpeeds =
+              ChassisSpeeds.fromFieldRelativeSpeeds(
+                  prevState.fieldSpeeds, prevState.pose.getRotation());
+          ChassisSpeeds robotSpeeds =
+              ChassisSpeeds.fromFieldRelativeSpeeds(state.fieldSpeeds, state.pose.getRotation());
+          double chassisAccelX =
+              (robotSpeeds.vxMetersPerSecond - prevRobotSpeeds.vxMetersPerSecond) / dt;
+          double chassisAccelY =
+              (robotSpeeds.vyMetersPerSecond - prevRobotSpeeds.vyMetersPerSecond) / dt;
+          double chassisForceX = chassisAccelX * config.massKG;
+          double chassisForceY = chassisAccelY * config.massKG;
+
+          double angularAccel =
+              (robotSpeeds.omegaRadiansPerSecond - prevRobotSpeeds.omegaRadiansPerSecond) / dt;
+          double angTorque = angularAccel * config.MOI;
+          ChassisSpeeds chassisForces = new ChassisSpeeds(chassisForceX, chassisForceY, angTorque);
+
+          Translation2d[] wheelForces = config.chassisForcesToWheelForceVectors(chassisForces);
+          double[] accelFF = new double[config.numModules];
+          double[] linearForceFF = new double[config.numModules];
+          double[] torqueCurrentFF = new double[config.numModules];
+          double[] forceXFF = new double[config.numModules];
+          double[] forceYFF = new double[config.numModules];
+          for (int m = 0; m < config.numModules; m++) {
+            double wheelForceDist = wheelForces[m].getNorm();
+            double appliedForce =
+                wheelForceDist > 1e-6
+                    ? wheelForceDist
+                        * wheelForces[m].getAngle().minus(state.moduleStates[m].angle).getCos()
+                    : 0.0;
+            double wheelTorque = appliedForce * config.moduleConfig.wheelRadiusMeters;
+            double torqueCurrent = config.moduleConfig.driveMotor.getCurrent(wheelTorque);
+
+            accelFF[m] =
+                (state.moduleStates[m].speedMetersPerSecond
+                        - prevState.moduleStates[m].speedMetersPerSecond)
+                    / dt;
+            linearForceFF[m] = appliedForce;
+            torqueCurrentFF[m] = torqueCurrent;
+            forceXFF[m] = wheelForces[m].getX();
+            forceYFF[m] = wheelForces[m].getY();
+          }
+          prevState.feedforwards =
+              new DriveFeedforwards(accelFF, linearForceFF, torqueCurrentFF, forceXFF, forceYFF);
         }
-        prevState.feedforwards =
-            new DriveFeedforwards(accelFF, linearForceFF, torqueCurrentFF, forceXFF, forceYFF);
 
         // Un-added events have their timestamp set to a waypoint relative position
         // When adding the event to this trajectory, set its timestamp properly
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
index 375e70c2..36e0fb0e 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
@@ -109,59 +109,73 @@ PathPlannerTrajectory::PathPlannerTrajectory(
 
 			units::meters_per_second_t v0 = prevState.linearVelocity;
 			units::meters_per_second_t v = state.linearVelocity;
-			units::second_t dt = (2 * state.deltaPos) / (v + v0);
-			state.time = prevState.time + dt;
-
-			frc::ChassisSpeeds prevRobotSpeeds =
-					frc::ChassisSpeeds::FromFieldRelativeSpeeds(
-							prevState.fieldSpeeds, prevState.pose.Rotation());
-			frc::ChassisSpeeds robotSpeeds =
-					frc::ChassisSpeeds::FromFieldRelativeSpeeds(
-							state.fieldSpeeds, state.pose.Rotation());
-
-			auto chassisAccelX = (robotSpeeds.vx - prevRobotSpeeds.vx) / dt;
-			auto chassisAccelY = (robotSpeeds.vy - prevRobotSpeeds.vy) / dt;
-			auto chassisForceX = chassisAccelX * config.mass;
-			auto chassisForceY = chassisAccelY * config.mass;
-
-			auto angularAccel = (robotSpeeds.omega - prevRobotSpeeds.omega)
-					/ dt;
-			auto angTorque = angularAccel * config.MOI;
-			frc::ChassisSpeeds chassisForces { units::meters_per_second_t {
-					chassisForceX() }, units::meters_per_second_t {
-					chassisForceY() },
-					units::radians_per_second_t { angTorque() }, };
-
-			auto wheelForces = config.chassisForcesToWheelForceVectors(
-					chassisForces);
-			std::vector < units::meters_per_second_squared_t > accelFF;
-			std::vector < units::newton_t > linearForceFF;
-			std::vector < units::ampere_t > torqueCurrentFF;
-			std::vector < units::newton_t > forceXFF;
-			std::vector < units::newton_t > forceYFF;
-			for (size_t m = 0; m < config.numModules; m++) {
-				units::meter_t wheelForceDist = wheelForces[m].Norm();
-				units::newton_t appliedForce { 0.0 };
-				if (wheelForceDist() > 1e-6) {
-					appliedForce = units::newton_t { wheelForceDist()
-							* (wheelForces[m].Angle()
-									- state.moduleStates[m].angle).Cos() };
+			units::meters_per_second_t sumV = v + v0;
+			if (units::math::abs(sumV) < 1e-6_mps) {
+				state.time = prevState.time;
+				if (i != 1) {
+					prevState.feedforwards = m_states[i - 2].feedforwards;
+				} else {
+					prevState.feedforwards = DriveFeedforwards::zeros(
+							config.numModules);
+				}
+			} else {
+				units::second_t dt = (2 * state.deltaPos) / sumV;
+				state.time = prevState.time + dt;
+
+				frc::ChassisSpeeds prevRobotSpeeds =
+						frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+								prevState.fieldSpeeds,
+								prevState.pose.Rotation());
+				frc::ChassisSpeeds robotSpeeds =
+						frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+								state.fieldSpeeds, state.pose.Rotation());
+
+				auto chassisAccelX = (robotSpeeds.vx - prevRobotSpeeds.vx) / dt;
+				auto chassisAccelY = (robotSpeeds.vy - prevRobotSpeeds.vy) / dt;
+				auto chassisForceX = chassisAccelX * config.mass;
+				auto chassisForceY = chassisAccelY * config.mass;
+
+				auto angularAccel = (robotSpeeds.omega - prevRobotSpeeds.omega)
+						/ dt;
+				auto angTorque = angularAccel * config.MOI;
+				frc::ChassisSpeeds chassisForces { units::meters_per_second_t {
+						chassisForceX() }, units::meters_per_second_t {
+						chassisForceY() }, units::radians_per_second_t {
+						angTorque() }, };
+
+				auto wheelForces = config.chassisForcesToWheelForceVectors(
+						chassisForces);
+				std::vector < units::meters_per_second_squared_t > accelFF;
+				std::vector < units::newton_t > linearForceFF;
+				std::vector < units::ampere_t > torqueCurrentFF;
+				std::vector < units::newton_t > forceXFF;
+				std::vector < units::newton_t > forceYFF;
+				for (size_t m = 0; m < config.numModules; m++) {
+					units::meter_t wheelForceDist = wheelForces[m].Norm();
+					units::newton_t appliedForce { 0.0 };
+					if (wheelForceDist() > 1e-6) {
+						appliedForce = units::newton_t { wheelForceDist()
+								* (wheelForces[m].Angle()
+										- state.moduleStates[m].angle).Cos() };
+					}
+					units::newton_meter_t wheelTorque = appliedForce
+							* config.moduleConfig.wheelRadius;
+					units::ampere_t torqueCurrent =
+							config.moduleConfig.driveMotor.Current(wheelTorque);
+
+					accelFF.emplace_back(
+							(state.moduleStates[m].speed
+									- prevState.moduleStates[m].speed) / dt);
+					linearForceFF.emplace_back(appliedForce);
+					torqueCurrentFF.emplace_back(torqueCurrent);
+					forceXFF.emplace_back(
+							units::newton_t { wheelForces[m].X()() });
+					forceYFF.emplace_back(
+							units::newton_t { wheelForces[m].Y()() });
 				}
-				units::newton_meter_t wheelTorque = appliedForce
-						* config.moduleConfig.wheelRadius;
-				units::ampere_t torqueCurrent =
-						config.moduleConfig.driveMotor.Current(wheelTorque);
-
-				accelFF.emplace_back(
-						(state.moduleStates[m].speed
-								- prevState.moduleStates[m].speed) / dt);
-				linearForceFF.emplace_back(appliedForce);
-				torqueCurrentFF.emplace_back(torqueCurrent);
-				forceXFF.emplace_back(units::newton_t { wheelForces[m].X()() });
-				forceYFF.emplace_back(units::newton_t { wheelForces[m].Y()() });
+				prevState.feedforwards = DriveFeedforwards { accelFF,
+						linearForceFF, torqueCurrentFF, forceXFF, forceYFF };
 			}
-			prevState.feedforwards = DriveFeedforwards { accelFF, linearForceFF,
-					torqueCurrentFF, forceXFF, forceYFF };
 
 			// Un-added events have their timestamp set to a waypoint relative position
 			// When adding the event to this trajectory, set its timestamp properly
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/path/Waypoint.h b/pathplannerlib/src/main/native/include/pathplanner/lib/path/Waypoint.h
index 2459e8e9..7de844e7 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/path/Waypoint.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/path/Waypoint.h
@@ -8,7 +8,7 @@
 
 namespace pathplanner {
 
-#define AUTO_CONTROL_DISTANCE_FACTOR 1.0 / 3.0
+#define AUTO_CONTROL_DISTANCE_FACTOR 0.4
 
 class Waypoint {
 public:

From 9bf4c9041c7d188469b3f8b1c63409323e74f842 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Fri, 10 Jan 2025 17:44:10 -0500
Subject: [PATCH 40/52] Fix Reefscape annotated field not loading (#995)

---
 lib/pages/home_page.dart     | 3 ++-
 lib/widgets/field_image.dart | 2 +-
 pubspec.yaml                 | 8 +-------
 3 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/lib/pages/home_page.dart b/lib/pages/home_page.dart
index ba08de7c..77554948 100644
--- a/lib/pages/home_page.dart
+++ b/lib/pages/home_page.dart
@@ -146,7 +146,8 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
       _animController.forward();
 
       if (!(widget.prefs.getBool(PrefsKeys.seen2025ResetPopup) ?? false) &&
-          _fieldImage?.name != 'Reefscape' &&
+          (_fieldImage?.name != 'Reefscape' &&
+              _fieldImage?.name != 'Reefscape (Annotated)') &&
           mounted) {
         showDialog(
           context: this.context,
diff --git a/lib/widgets/field_image.dart b/lib/widgets/field_image.dart
index 71f171d2..a1921f9e 100644
--- a/lib/widgets/field_image.dart
+++ b/lib/widgets/field_image.dart
@@ -87,7 +87,7 @@ class FieldImage {
         );
         defaultSize = const ui.Size(3510, 1610);
         pixelsPerMeter = 200.0;
-        name = 'Reefscape';
+        name = 'Reefscape (Annotated)';
         break;
     }
     isCustom = false;
diff --git a/pubspec.yaml b/pubspec.yaml
index 3e7652e6..19298ea1 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -82,13 +82,7 @@ flutter:
 
   # To add assets to your application, add an assets section, like this:
   assets:
-    - images/field22.png
-    - images/field23.png
-    - images/field24.png
-    - images/field25.png
-    - images/icon.png
-    - images/icon.ico
-    - images/choreo.png
+    - images/
     - resources/default_navgrid.json
 
   # An image asset can refer to one or more resolution-specific "variants", see

From 53dfd8cac3b233690390ead59c9f9741369a1ce0 Mon Sep 17 00:00:00 2001
From: Caden Dalley <61672111+PickleFace5@users.noreply.github.com>
Date: Sun, 12 Jan 2025 08:24:29 -0800
Subject: [PATCH 41/52] Fix Python AttributeError in SwerveSetpointGenerator
 (#999)

---
 pathplannerlib-python/pathplannerlib/util/swerve.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
index 292e5011..af3b45ac 100644
--- a/pathplannerlib-python/pathplannerlib/util/swerve.py
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -235,7 +235,7 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
             # battery is sagging down to 11v, which will affect the max torque output
             current_draw = self._config.moduleConfig.driveMotor.current(abs(last_vel_rad_per_sec), input_voltage)
             reverse_current_draw = abs(
-                self._config.moduleConfig.driveMotor.getCurrent(abs(last_vel_rad_per_sec), -input_voltage))
+                self._config.moduleConfig.driveMotor.current(abs(last_vel_rad_per_sec), -input_voltage))
             current_draw = min(current_draw, self._config.moduleConfig.driveCurrentLimit)
             current_draw = max(current_draw, 0.0)
             reverse_current_draw = min(reverse_current_draw, self._config.moduleConfig.driveCurrentLimit)

From c7dfca2604884e48b149ab7c2b5f52a2b7cc6ef6 Mon Sep 17 00:00:00 2001
From: michaelgtodd <eltodd@gmail.com>
Date: Wed, 15 Jan 2025 19:43:00 -0500
Subject: [PATCH 42/52] Use references in EventScheduler for loops (#1012)

---
 .../cpp/pathplanner/lib/events/EventScheduler.cpp    | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/events/EventScheduler.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/events/EventScheduler.cpp
index 8d5b24e9..fd7f2418 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/events/EventScheduler.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/events/EventScheduler.cpp
@@ -11,7 +11,7 @@ void EventScheduler::execute(units::second_t time) {
 	}
 
 	// Run currently running commands
-	for (auto entry : m_eventCommands) {
+	for (auto &entry : m_eventCommands) {
 		if (!entry.second) {
 			continue;
 		}
@@ -28,7 +28,7 @@ void EventScheduler::execute(units::second_t time) {
 
 void EventScheduler::end() {
 	// Cancel all currently running commands
-	for (auto entry : m_eventCommands) {
+	for (auto &entry : m_eventCommands) {
 		if (!entry.second) {
 			continue;
 		}
@@ -37,7 +37,7 @@ void EventScheduler::end() {
 	}
 
 	// Cancel any unhandled events
-	for (auto e : m_upcomingEvents) {
+	for (auto &e : m_upcomingEvents) {
 		e->cancelEvent(this);
 	}
 
@@ -49,13 +49,13 @@ void EventScheduler::scheduleCommand(std::shared_ptr<frc2::Command> command) {
 	// Check for commands that should be cancelled by this command
 	auto commandReqs = command->GetRequirements();
 	if (!commandReqs.empty()) {
-		for (auto entry : m_eventCommands) {
+		for (auto &entry : m_eventCommands) {
 			if (!entry.second) {
 				continue;
 			}
 
 			auto otherReqs = entry.first->GetRequirements();
-			for (auto requirement : otherReqs) {
+			for (const auto &requirement : otherReqs) {
 				if (commandReqs.find(requirement) != commandReqs.end()) {
 					cancelCommand(command);
 				}
@@ -68,7 +68,7 @@ void EventScheduler::scheduleCommand(std::shared_ptr<frc2::Command> command) {
 }
 
 void EventScheduler::cancelCommand(std::shared_ptr<frc2::Command> command) {
-	for (auto entry : m_eventCommands) {
+	for (auto &entry : m_eventCommands) {
 		if (entry.first == command && entry.second) {
 			command->End(true);
 			entry.second = false;

From c2d8a7d0f2197f97073e0b1a24dc426fbe5f5ac9 Mon Sep 17 00:00:00 2001
From: Cody Graham <27172078+codydg@users.noreply.github.com>
Date: Wed, 15 Jan 2025 20:09:40 -0500
Subject: [PATCH 43/52] Fix typo in IdealStartingState Javadoc (#1008)

---
 pathplannerlib-python/pathplannerlib/path.py                  | 2 +-
 .../java/com/pathplanner/lib/path/IdealStartingState.java     | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/path.py b/pathplannerlib-python/pathplannerlib/path.py
index 4adbe48b..15755529 100644
--- a/pathplannerlib-python/pathplannerlib/path.py
+++ b/pathplannerlib-python/pathplannerlib/path.py
@@ -109,7 +109,7 @@ def __eq__(self, other):
 @dataclass(frozen=True)
 class IdealStartingState:
     """
-    Describes the ideal starting state of the robot when finishing a path
+    Describes the ideal starting state of the robot when starting a path
 
     Args:
         velocity (float): The ideal starting velocity (M/S)
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/IdealStartingState.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/IdealStartingState.java
index e1c318ef..2f3b76b8 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/IdealStartingState.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/IdealStartingState.java
@@ -8,14 +8,14 @@
 import org.json.simple.JSONObject;
 
 /**
- * Describes the ideal starting state of the robot when finishing a path
+ * Describes the ideal starting state of the robot when starting a path
  *
  * @param velocityMPS The ideal starting velocity (M/S)
  * @param rotation The ideal starting rotation
  */
 public record IdealStartingState(double velocityMPS, Rotation2d rotation) {
   /**
-   * Describes the ideal starting state of the robot when finishing a path
+   * Describes the ideal starting state of the robot when starting a path
    *
    * @param velocity The ideal starting velocity
    * @param rotation The ideal starting rotation

From f93ff95539e915f599208e52eeb6af1a9d29d285 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 16 Jan 2025 17:25:16 -0800
Subject: [PATCH 44/52] catch weird trajectory length errors (#1014)

---
 lib/widgets/editor/split_auto_editor.dart | 81 ++++++++++++-----------
 lib/widgets/editor/split_path_editor.dart | 79 ++++++++++++----------
 2 files changed, 88 insertions(+), 72 deletions(-)

diff --git a/lib/widgets/editor/split_auto_editor.dart b/lib/widgets/editor/split_auto_editor.dart
index 7c5721ec..243c5d25 100644
--- a/lib/widgets/editor/split_auto_editor.dart
+++ b/lib/widgets/editor/split_auto_editor.dart
@@ -271,47 +271,54 @@ class _SplitAutoEditorState extends State<SplitAutoEditor>
         _simTraj = simPath;
       });
 
-      if (!_paused) {
-        _previewController.stop();
-        _previewController.reset();
-        _previewController.duration = Duration(
-            milliseconds: (simPath.states.last.timeSeconds * 1000).toInt());
-        _previewController.repeat();
-      } else {
-        double prevTime = _previewController.value *
-            (_previewController.duration!.inMilliseconds / 1000.0);
-        _previewController.duration = Duration(
-            milliseconds: (simPath.states.last.timeSeconds * 1000).toInt());
-        double newPos = prevTime / simPath.states.last.timeSeconds;
-        _previewController.forward(from: newPos);
-        _previewController.stop();
+      try {
+        if (!_paused) {
+          _previewController.stop();
+          _previewController.reset();
+          _previewController.duration = Duration(
+              milliseconds: (simPath.states.last.timeSeconds * 1000).toInt());
+          _previewController.repeat();
+        } else {
+          double prevTime = _previewController.value *
+              (_previewController.duration!.inMilliseconds / 1000.0);
+          _previewController.duration = Duration(
+              milliseconds: (simPath.states.last.timeSeconds * 1000).toInt());
+          double newPos = prevTime / simPath.states.last.timeSeconds;
+          _previewController.forward(from: newPos);
+          _previewController.stop();
+        }
+      } catch (_) {
+        _showGenerationFailedError();
       }
     } else {
       // Trajectory failed to generate. Notify the user
-      Log.warning(
-          'Failed to generate trajectory for auto: ${widget.auto.name}');
+      _showGenerationFailedError();
+    }
+  }
 
-      ScaffoldMessenger.of(context).showSnackBar(
-        SnackBar(
-          content: Text(
-            'Failed to generate trajectory for ${widget.auto.name}. This is likely due to bad control point placement. Please adjust your control points to avoid kinks in the path.',
-            style: TextStyle(
-                color: Theme.of(context).colorScheme.onErrorContainer),
-          ),
-          backgroundColor: Theme.of(context).colorScheme.errorContainer,
-          behavior: SnackBarBehavior.floating,
-          shape: RoundedRectangleBorder(
-            borderRadius: BorderRadius.circular(8),
-          ),
-          action: SnackBarAction(
-            label: 'Dismiss',
-            textColor: Theme.of(context).colorScheme.onErrorContainer,
-            onPressed: () {
-              ScaffoldMessenger.of(context).hideCurrentSnackBar();
-            },
-          ),
+  void _showGenerationFailedError() {
+    Log.warning('Failed to generate trajectory for auto: ${widget.auto.name}');
+
+    ScaffoldMessenger.of(context).showSnackBar(
+      SnackBar(
+        content: Text(
+          'Failed to generate trajectory for ${widget.auto.name}. This is likely due to bad control point placement. Please adjust your control points to avoid kinks in the path.',
+          style:
+              TextStyle(color: Theme.of(context).colorScheme.onErrorContainer),
         ),
-      );
-    }
+        backgroundColor: Theme.of(context).colorScheme.errorContainer,
+        behavior: SnackBarBehavior.floating,
+        shape: RoundedRectangleBorder(
+          borderRadius: BorderRadius.circular(8),
+        ),
+        action: SnackBarAction(
+          label: 'Dismiss',
+          textColor: Theme.of(context).colorScheme.onErrorContainer,
+          onPressed: () {
+            ScaffoldMessenger.of(context).hideCurrentSnackBar();
+          },
+        ),
+      ),
+    );
   }
 }
diff --git a/lib/widgets/editor/split_path_editor.dart b/lib/widgets/editor/split_path_editor.dart
index 295d85bd..b35e1cdd 100644
--- a/lib/widgets/editor/split_path_editor.dart
+++ b/lib/widgets/editor/split_path_editor.dart
@@ -766,48 +766,57 @@ class _SplitPathEditorState extends State<SplitPathEditor>
       }
 
       if (_simTraj != null) {
-        if (!_paused) {
-          _previewController.duration = Duration(
-              milliseconds: (_simTraj!.states.last.timeSeconds * 1000).toInt());
-          _previewController.repeat();
-        } else if (_previewController.duration != null) {
-          double prevTime = _previewController.value *
-              (_previewController.duration!.inMilliseconds / 1000.0);
-          _previewController.duration = Duration(
-              milliseconds: (_simTraj!.states.last.timeSeconds * 1000).toInt());
-          double newPos = prevTime / _simTraj!.states.last.timeSeconds;
-          _previewController.forward(from: newPos);
-          _previewController.stop();
+        try {
+          if (!_paused) {
+            _previewController.duration = Duration(
+                milliseconds:
+                    (_simTraj!.states.last.timeSeconds * 1000).toInt());
+            _previewController.repeat();
+          } else if (_previewController.duration != null) {
+            double prevTime = _previewController.value *
+                (_previewController.duration!.inMilliseconds / 1000.0);
+            _previewController.duration = Duration(
+                milliseconds:
+                    (_simTraj!.states.last.timeSeconds * 1000).toInt());
+            double newPos = prevTime / _simTraj!.states.last.timeSeconds;
+            _previewController.forward(from: newPos);
+            _previewController.stop();
+          }
+        } catch (_) {
+          _showGenerationFailedError();
         }
       } else {
         // Trajectory failed to generate. Notify the user
-        Log.warning(
-            'Failed to generate trajectory for path: ${widget.path.name}');
-        ScaffoldMessenger.of(context).showSnackBar(
-          SnackBar(
-            content: Text(
-              'Failed to generate trajectory. This is likely due to bad control point placement. Please adjust your control points to avoid kinks in the path.',
-              style: TextStyle(
-                  color: Theme.of(context).colorScheme.onErrorContainer),
-            ),
-            backgroundColor: Theme.of(context).colorScheme.errorContainer,
-            behavior: SnackBarBehavior.floating,
-            shape: RoundedRectangleBorder(
-              borderRadius: BorderRadius.circular(8),
-            ),
-            action: SnackBarAction(
-              label: 'Dismiss',
-              textColor: Theme.of(context).colorScheme.onErrorContainer,
-              onPressed: () {
-                ScaffoldMessenger.of(context).hideCurrentSnackBar();
-              },
-            ),
-          ),
-        );
+        _showGenerationFailedError();
       }
     }
   }
 
+  void _showGenerationFailedError() {
+    Log.warning('Failed to generate trajectory for path: ${widget.path.name}');
+    ScaffoldMessenger.of(context).showSnackBar(
+      SnackBar(
+        content: Text(
+          'Failed to generate trajectory. This is likely due to bad control point placement. Please adjust your control points to avoid kinks in the path.',
+          style:
+              TextStyle(color: Theme.of(context).colorScheme.onErrorContainer),
+        ),
+        backgroundColor: Theme.of(context).colorScheme.errorContainer,
+        behavior: SnackBarBehavior.floating,
+        shape: RoundedRectangleBorder(
+          borderRadius: BorderRadius.circular(8),
+        ),
+        action: SnackBarAction(
+          label: 'Dismiss',
+          textColor: Theme.of(context).colorScheme.onErrorContainer,
+          onPressed: () {
+            ScaffoldMessenger.of(context).hideCurrentSnackBar();
+          },
+        ),
+      ),
+    );
+  }
+
   num _adjustDeletedWaypointRelativePos(num pos, int deletedWaypointIdx) {
     if (pos >= deletedWaypointIdx + 1) {
       return pos - 1.0;

From 11005ab0ffa28ee7772bff385aad10b5d641cdd0 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Thu, 16 Jan 2025 17:58:44 -0800
Subject: [PATCH 45/52] Add note about disabling webserver on RIO 1 for python
 teams (#1015)

---
 Writerside/topics/pplib-Getting-Started.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/Writerside/topics/pplib-Getting-Started.md b/Writerside/topics/pplib-Getting-Started.md
index c529b9a1..97ed20d7 100644
--- a/Writerside/topics/pplib-Getting-Started.md
+++ b/Writerside/topics/pplib-Getting-Started.md
@@ -49,6 +49,15 @@ https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib2022.json
 
 The Python version is compatible with RobotPy and available to install from PyPI via the `pip` command
 
+> **Warning**
+>
+> If using a RoboRIO 1, you must disable the NI webserver via `robotpy installer niweb disable` in order to ensure there
+> is enough available memory.
+>
+> If you need to re-image your rio, you will need to re-enable the webserver.
+>
+{style="warning"}
+
 <br/>
 
 ```text

From 47a765f5193397e562c826a78ceb63c51c52a41c Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Mon, 27 Jan 2025 11:16:35 -0800
Subject: [PATCH 46/52] Actually catch project init errors (#1036)

---
 lib/pages/home_page.dart | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/lib/pages/home_page.dart b/lib/pages/home_page.dart
index 77554948..4620bd8e 100644
--- a/lib/pages/home_page.dart
+++ b/lib/pages/home_page.dart
@@ -119,7 +119,7 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
         );
 
         try {
-          _initFromProjectDir(projectDir!);
+          await _initFromProjectDir(projectDir!);
           // Break from the loop if we've successfully loaded the project
           break;
         } catch (e, stack) {
@@ -276,7 +276,7 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
               IconButton(
                 icon: const Icon(Icons.open_in_new_rounded, size: 20),
                 tooltip: 'Open Project',
-                onPressed: () => _openProjectDialog(this.context),
+                onPressed: () => _openProjectDialog(),
               ),
             ],
           ),
@@ -677,16 +677,22 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
     });
   }
 
-  void _openProjectDialog(BuildContext context) async {
+  void _openProjectDialog() async {
     String initialDirectory = _projectDir?.path ?? fs.currentDirectory.path;
     String? projectFolder = await getDirectoryPath(
         confirmButtonText: 'Open Project', initialDirectory: initialDirectory);
     if (projectFolder != null) {
-      _initFromProjectDir(projectFolder);
+      try {
+        await _initFromProjectDir(projectFolder);
+      } catch (e, stack) {
+        Log.error('Failed to initialize from project directory', e, stack);
+        // Try again
+        _openProjectDialog();
+      }
     }
   }
 
-  void _initFromProjectDir(String projectDir) async {
+  Future<void> _initFromProjectDir(String projectDir) async {
     widget.prefs.setString(PrefsKeys.currentProjectDir, projectDir);
 
     if (Platform.isMacOS) {

From 4fb3a1c01755828cb0eb7b98eca1386ad355b79f Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Mon, 27 Jan 2025 11:34:10 -0800
Subject: [PATCH 47/52] Fix potential division by zero when calculating FF
 (#1037)

---
 pathplannerlib-python/pathplannerlib/trajectory.py             | 2 +-
 .../com/pathplanner/lib/trajectory/PathPlannerTrajectory.java  | 2 +-
 .../cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp   | 3 ++-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index be6c0021..024f00e1 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -240,7 +240,7 @@ def __init__(self, path: Union[PathPlannerPath, None], starting_speeds: Union[Ch
                     v0 = prevState.linearVelocity
                     v = state.linearVelocity
                     sumV = v + v0
-                    if abs(sumV) < 1e-6:
+                    if abs(sumV) < 1e-6 or abs(state.deltaPos) < 1e-6:
                         state.timeSeconds = prevState.timeSeconds
                         if i != 1:
                             prevState.feedforwards = self._states[i - 2].feedforwards
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
index fd031954..7f3d3f64 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
@@ -133,7 +133,7 @@ public PathPlannerTrajectory(
         double v0 = prevState.linearVelocity;
         double v = state.linearVelocity;
         double sumV = v + v0;
-        if (Math.abs(sumV) < 1e-6) {
+        if (Math.abs(sumV) < 1e-6 || Math.abs(state.deltaPos) < 1e-6) {
           state.timeSeconds = prevState.timeSeconds;
           if (i != 1) {
             prevState.feedforwards = states.get(i - 2).feedforwards;
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
index 36e0fb0e..aa61f475 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
@@ -110,7 +110,8 @@ PathPlannerTrajectory::PathPlannerTrajectory(
 			units::meters_per_second_t v0 = prevState.linearVelocity;
 			units::meters_per_second_t v = state.linearVelocity;
 			units::meters_per_second_t sumV = v + v0;
-			if (units::math::abs(sumV) < 1e-6_mps) {
+			if (units::math::abs(sumV) < 1e-6_mps
+					|| units::math::abs(state.deltaPos) < 1e-6_m) {
 				state.time = prevState.time;
 				if (i != 1) {
 					prevState.feedforwards = m_states[i - 2].feedforwards;

From ef131f52ffafa2e1ca2832d55cb03a5b7b870ede Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Mon, 27 Jan 2025 11:44:38 -0800
Subject: [PATCH 48/52] Potentially better fix weird animation controller crash
 (#1039)

---
 lib/widgets/editor/split_path_editor.dart | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/lib/widgets/editor/split_path_editor.dart b/lib/widgets/editor/split_path_editor.dart
index b35e1cdd..75158f06 100644
--- a/lib/widgets/editor/split_path_editor.dart
+++ b/lib/widgets/editor/split_path_editor.dart
@@ -768,6 +768,8 @@ class _SplitPathEditorState extends State<SplitPathEditor>
       if (_simTraj != null) {
         try {
           if (!_paused) {
+            _previewController.stop();
+            _previewController.reset();
             _previewController.duration = Duration(
                 milliseconds:
                     (_simTraj!.states.last.timeSeconds * 1000).toInt());

From 9f735e372040f402ddad7b36727461b72aa9eb5a Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Mon, 27 Jan 2025 12:26:41 -0800
Subject: [PATCH 49/52] Fix processor location in field images (#1040)

---
 images/field25-annotated.png  | Bin 234325 -> 130400 bytes
 images/field25.png            | Bin 117450 -> 117449 bytes
 source_assets/field25.afphoto | Bin 612796 -> 615726 bytes
 3 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/images/field25-annotated.png b/images/field25-annotated.png
index d2c9539e91cb08e08ebc1e778ccebe330e2b7af2..77e4f74cadfcc92d44fd7727c5663312cf3ad6db 100644
GIT binary patch
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diff --git a/images/field25.png b/images/field25.png
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EUwyvF5&!@I


From 17937621adffa11f7d05c544244f3b48a41b5260 Mon Sep 17 00:00:00 2001
From: Drew Williams <williams.r.drew@gmail.com>
Date: Thu, 30 Jan 2025 12:08:03 -0500
Subject: [PATCH 50/52] Add path mirroring for C++ (#1045)

---
 .../cpp/pathplanner/lib/auto/CommandUtil.cpp  |  51 ++++---
 .../lib/commands/PathPlannerAuto.cpp          |  33 +++--
 .../cpp/pathplanner/lib/path/EventMarker.cpp  |   2 +-
 .../pathplanner/lib/path/PathPlannerPath.cpp  | 140 +++++++++++++++++-
 .../pathplanner/lib/auto/CommandUtil.h        |  12 +-
 .../lib/commands/PathPlannerAuto.h            |  12 +-
 .../pathplanner/lib/path/PathPlannerPath.h    |  11 ++
 7 files changed, 219 insertions(+), 42 deletions(-)

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp
index 3f3a4e94..6d13504e 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp
@@ -29,7 +29,7 @@ frc2::CommandPtr CommandUtil::wrappedEventCommand(
 }
 
 frc2::CommandPtr CommandUtil::commandFromJson(const wpi::json &json,
-		bool loadChoreoPaths) {
+		bool loadChoreoPaths, bool mirror) {
 	std::string type = json.at("type").get<std::string>();
 	wpi::json::const_reference data = json.at("data");
 
@@ -38,15 +38,16 @@ frc2::CommandPtr CommandUtil::commandFromJson(const wpi::json &json,
 	} else if (type == "named") {
 		return CommandUtil::namedCommandFromJson(data);
 	} else if (type == "path") {
-		return CommandUtil::pathCommandFromJson(data, loadChoreoPaths);
+		return CommandUtil::pathCommandFromJson(data, loadChoreoPaths, mirror);
 	} else if (type == "sequential") {
-		return CommandUtil::sequentialGroupFromJson(data, loadChoreoPaths);
+		return CommandUtil::sequentialGroupFromJson(data, loadChoreoPaths,
+				mirror);
 	} else if (type == "parallel") {
-		return CommandUtil::parallelGroupFromJson(data, loadChoreoPaths);
+		return CommandUtil::parallelGroupFromJson(data, loadChoreoPaths, mirror);
 	} else if (type == "race") {
-		return CommandUtil::raceGroupFromJson(data, loadChoreoPaths);
+		return CommandUtil::raceGroupFromJson(data, loadChoreoPaths, mirror);
 	} else if (type == "deadline") {
-		return CommandUtil::deadlineGroupFromJson(data, loadChoreoPaths);
+		return CommandUtil::deadlineGroupFromJson(data, loadChoreoPaths, mirror);
 	}
 
 	return frc2::cmd::None();
@@ -69,55 +70,62 @@ frc2::CommandPtr CommandUtil::namedCommandFromJson(const wpi::json &json) {
 }
 
 frc2::CommandPtr CommandUtil::pathCommandFromJson(const wpi::json &json,
-		bool loadChoreoPaths) {
+		bool loadChoreoPaths, bool mirror) {
 	std::string pathName = json.at("pathName").get<std::string>();
 
-	if (loadChoreoPaths) {
-		return AutoBuilder::followPath(
-				PathPlannerPath::fromChoreoTrajectory(pathName));
-	} else {
-		return AutoBuilder::followPath(PathPlannerPath::fromPathFile(pathName));
+	std::shared_ptr < PathPlannerPath > path =
+			loadChoreoPaths ?
+					PathPlannerPath::fromChoreoTrajectory(pathName) :
+					PathPlannerPath::fromPathFile(pathName);
+
+	if (mirror) {
+		path = path->mirrorPath();
 	}
+
+	return AutoBuilder::followPath(path);
 }
 
 frc2::CommandPtr CommandUtil::sequentialGroupFromJson(const wpi::json &json,
-		bool loadChoreoPaths) {
+		bool loadChoreoPaths, bool mirror) {
 	std::vector < frc2::CommandPtr > commands;
 
 	for (wpi::json::const_reference commandJson : json.at("commands")) {
 		commands.push_back(
-				CommandUtil::commandFromJson(commandJson, loadChoreoPaths));
+				CommandUtil::commandFromJson(commandJson, loadChoreoPaths,
+						mirror));
 	}
 
 	return frc2::cmd::Sequence(std::move(commands));
 }
 
 frc2::CommandPtr CommandUtil::parallelGroupFromJson(const wpi::json &json,
-		bool loadChoreoPaths) {
+		bool loadChoreoPaths, bool mirror) {
 	std::vector < frc2::CommandPtr > commands;
 
 	for (wpi::json::const_reference commandJson : json.at("commands")) {
 		commands.push_back(
-				CommandUtil::commandFromJson(commandJson, loadChoreoPaths));
+				CommandUtil::commandFromJson(commandJson, loadChoreoPaths,
+						mirror));
 	}
 
 	return frc2::cmd::Parallel(std::move(commands));
 }
 
 frc2::CommandPtr CommandUtil::raceGroupFromJson(const wpi::json &json,
-		bool loadChoreoPaths) {
+		bool loadChoreoPaths, bool mirror) {
 	std::vector < frc2::CommandPtr > commands;
 
 	for (wpi::json::const_reference commandJson : json.at("commands")) {
 		commands.push_back(
-				CommandUtil::commandFromJson(commandJson, loadChoreoPaths));
+				CommandUtil::commandFromJson(commandJson, loadChoreoPaths,
+						mirror));
 	}
 
 	return frc2::cmd::Race(std::move(commands));
 }
 
 frc2::CommandPtr CommandUtil::deadlineGroupFromJson(const wpi::json &json,
-		bool loadChoreoPaths) {
+		bool loadChoreoPaths, bool mirror) {
 	wpi::json::const_reference commandsJson = json.at("commands");
 
 	if (commandsJson.size() == 0) {
@@ -125,12 +133,13 @@ frc2::CommandPtr CommandUtil::deadlineGroupFromJson(const wpi::json &json,
 	}
 
 	frc2::CommandPtr deadline = CommandUtil::commandFromJson(commandsJson[0],
-			loadChoreoPaths);
+			loadChoreoPaths, mirror);
 	std::vector < frc2::CommandPtr > commands;
 
 	for (size_t i = 1; i < commandsJson.size(); i++) {
 		commands.push_back(
-				CommandUtil::commandFromJson(commandsJson[i], loadChoreoPaths));
+				CommandUtil::commandFromJson(commandsJson[i], loadChoreoPaths,
+						mirror));
 	}
 
 	return frc2::cmd::Deadline(std::move(deadline), std::move(commands));
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp
index ff281263..b2188228 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp
@@ -12,7 +12,12 @@ using namespace pathplanner;
 std::string PathPlannerAuto::currentPathName = "";
 int PathPlannerAuto::m_instances = 0;
 
-PathPlannerAuto::PathPlannerAuto(std::string autoName) {
+PathPlannerAuto::PathPlannerAuto(std::string autoName) : PathPlannerAuto(
+		autoName, false) {
+
+}
+
+PathPlannerAuto::PathPlannerAuto(std::string autoName, bool mirror) {
 	if (!AutoBuilder::isConfigured()) {
 		throw FRC_MakeError(frc::err::CommandIllegalUse,
 				"AutoBuilder was not configured before attempting to load a PathPlannerAuto from file");
@@ -41,7 +46,7 @@ PathPlannerAuto::PathPlannerAuto(std::string autoName) {
 						+ "' Expected: '2025.0'");
 	}
 
-	initFromJson(json);
+	initFromJson(json, mirror);
 
 	AddRequirements(m_autoCommand->GetRequirements());
 	SetName(autoName);
@@ -148,7 +153,7 @@ std::vector<std::shared_ptr<PathPlannerPath>> PathPlannerAuto::getPathGroupFromA
 	return pathsFromCommandJson(json.at("command"), choreoAuto);
 }
 
-void PathPlannerAuto::initFromJson(const wpi::json &json) {
+void PathPlannerAuto::initFromJson(const wpi::json &json, bool mirror) {
 	bool choreoAuto = json.contains("choreoAuto")
 			&& json.at("choreoAuto").get<bool>();
 	wpi::json::const_reference commandJson = json.at("command");
@@ -156,24 +161,28 @@ void PathPlannerAuto::initFromJson(const wpi::json &json) {
 			&& json.at("resetOdom").get<bool>();
 	auto pathsInAuto = pathsFromCommandJson(commandJson, choreoAuto);
 	if (!pathsInAuto.empty()) {
+		std::shared_ptr < PathPlannerPath > path0 = pathsInAuto[0];
+		if (mirror) {
+			path0 = path0->mirrorPath();
+		}
 		if (AutoBuilder::isHolonomic()) {
-			m_startingPose =
-					frc::Pose2d(pathsInAuto[0]->getPoint(0).position,
-							pathsInAuto[0]->getIdealStartingState().value().getRotation());
+			m_startingPose = frc::Pose2d(path0->getPoint(0).position,
+					path0->getIdealStartingState().value().getRotation());
 		} else {
-			m_startingPose = pathsInAuto[0]->getStartingDifferentialPose();
+			m_startingPose = path0->getStartingDifferentialPose();
 		}
 	} else {
 		m_startingPose = frc::Pose2d();
 	}
 
 	if (resetOdom) {
-		m_autoCommand = frc2::cmd::Sequence(
-				AutoBuilder::resetOdom(m_startingPose),
-				CommandUtil::commandFromJson(commandJson, choreoAuto)).Unwrap();
-	} else {
 		m_autoCommand =
-				CommandUtil::commandFromJson(commandJson, choreoAuto).Unwrap();
+				frc2::cmd::Sequence(AutoBuilder::resetOdom(m_startingPose),
+						CommandUtil::commandFromJson(commandJson, choreoAuto,
+								mirror)).Unwrap();
+	} else {
+		m_autoCommand = CommandUtil::commandFromJson(commandJson, choreoAuto,
+				mirror).Unwrap();
 	}
 }
 
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/EventMarker.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/EventMarker.cpp
index 681aacf6..66b7d553 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/EventMarker.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/EventMarker.cpp
@@ -14,7 +14,7 @@ EventMarker EventMarker::fromJson(const wpi::json &json) {
 
 	if (!json.at("command").is_null()) {
 		return EventMarker(name, pos, endPos,
-				CommandUtil::commandFromJson(json.at("command"), false));
+				CommandUtil::commandFromJson(json.at("command"), false, false));
 	}
 
 	return EventMarker(name, pos, endPos, frc2::cmd::None());
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
index 4050762b..0c078b8d 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
@@ -242,7 +242,7 @@ void PathPlannerPath::loadChoreoTrajectoryIntoCache(
 			frc2::CommandPtr eventCommand = frc2::cmd::None();
 			if (!markerJson.at("event").is_null()) {
 				eventCommand = CommandUtil::commandFromJson(
-						markerJson.at("event"), true);
+						markerJson.at("event"), true, false);
 			}
 			fullEvents.emplace_back(
 					std::make_shared < ScheduleCommandEvent
@@ -769,6 +769,144 @@ std::shared_ptr<PathPlannerPath> PathPlannerPath::flipPath() {
 	return path;
 }
 
+frc::Translation2d PathPlannerPath::mirrorTranslation(
+		frc::Translation2d translation) {
+	return frc::Translation2d { translation.X(), FlippingUtil::fieldSizeY
+			- translation.Y() };
+}
+
+std::shared_ptr<PathPlannerPath> PathPlannerPath::mirrorPath() {
+	std::optional < PathPlannerTrajectory > mirroredTraj = std::nullopt;
+	if (m_idealTrajectory.has_value()) {
+		auto traj = m_idealTrajectory.value();
+		// Flip the ideal trajectory
+		std::vector < PathPlannerTrajectoryState > newStates;
+		for (const auto &s : traj.getStates()) {
+			PathPlannerTrajectoryState state;
+
+			state.time = s.time;
+			state.linearVelocity = s.linearVelocity;
+			state.pose = frc::Pose2d(mirrorTranslation(s.pose.Translation()),
+					-s.pose.Rotation());
+			state.fieldSpeeds = frc::ChassisSpeeds(s.fieldSpeeds.vx,
+					-s.fieldSpeeds.vy, -s.fieldSpeeds.omega);
+
+			const auto &ff = s.feedforwards;
+			if (ff.accelerations.size() == 4) {
+				state.feedforwards = DriveFeedforwards { std::vector<
+						units::meters_per_second_squared_t> {
+						ff.accelerations[1], ff.accelerations[0],
+						ff.accelerations[3], ff.accelerations[2] }, std::vector<
+						units::newton_t> { ff.linearForces[1],
+						ff.linearForces[0], ff.linearForces[3],
+						ff.linearForces[2] }, std::vector<units::ampere_t> {
+						ff.torqueCurrents[1], ff.torqueCurrents[0],
+						ff.torqueCurrents[3], ff.torqueCurrents[2] },
+						std::vector<units::newton_t> {
+								ff.robotRelativeForcesX[1],
+								ff.robotRelativeForcesX[0],
+								ff.robotRelativeForcesX[3],
+								ff.robotRelativeForcesX[2] }, std::vector<
+								units::newton_t> { ff.robotRelativeForcesY[1],
+								ff.robotRelativeForcesY[0],
+								ff.robotRelativeForcesY[3],
+								ff.robotRelativeForcesY[2] } };
+			} else if (ff.accelerations.size() == 2) {
+				state.feedforwards = DriveFeedforwards { std::vector<
+						units::meters_per_second_squared_t> {
+						ff.accelerations[1], ff.accelerations[0] }, std::vector<
+						units::newton_t> { ff.linearForces[1],
+						ff.linearForces[0] }, std::vector<units::ampere_t> {
+						ff.torqueCurrents[1], ff.torqueCurrents[0] },
+						std::vector<units::newton_t> {
+								ff.robotRelativeForcesX[1],
+								ff.robotRelativeForcesX[0] }, std::vector<
+								units::newton_t> { ff.robotRelativeForcesY[1],
+								ff.robotRelativeForcesY[0] } };
+			} else {
+				state.feedforwards = ff;
+			}
+			state.heading = -s.heading;
+
+			newStates.push_back(state);
+		}
+		mirroredTraj = PathPlannerTrajectory(newStates, traj.getEvents());
+	}
+
+	auto path = std::make_shared < PathPlannerPath
+			> (m_globalConstraints, m_goalEndState);
+
+	std::vector < Waypoint > newWaypoints;
+	for (const auto &w : m_waypoints) {
+		std::optional < frc::Translation2d > prevControl;
+		frc::Translation2d anchor = mirrorTranslation(w.anchor);
+		std::optional < frc::Translation2d > nextControl;
+
+		if (w.prevControl.has_value()) {
+			prevControl = mirrorTranslation(w.prevControl.value());
+		}
+		if (w.nextControl.has_value()) {
+			nextControl = mirrorTranslation(w.nextControl.value());
+		}
+		newWaypoints.emplace_back(prevControl, anchor, nextControl);
+	}
+	path->m_waypoints = newWaypoints;
+
+	std::vector < RotationTarget > newRotationTargets;
+	for (const auto &t : m_rotationTargets) {
+		newRotationTargets.emplace_back(t.getPosition(), -t.getTarget());
+	}
+	path->m_rotationTargets = newRotationTargets;
+
+	std::vector < PointTowardsZone > newPointTowardsZones;
+	for (auto &z : m_pointTowardsZones) {
+		newPointTowardsZones.emplace_back(PointTowardsZone { z.getName(),
+				mirrorTranslation(z.getTargetPosition()), z.getRotationOffset(),
+				z.getMinWaypointRelativePos(), z.getMaxWaypointRelativePos() });
+	}
+	path->m_pointTowardsZones = newPointTowardsZones;
+
+	path->m_constraintZones = m_constraintZones;
+	path->m_eventMarkers = m_eventMarkers;
+	path->m_globalConstraints = m_globalConstraints;
+
+	if (m_idealStartingState.has_value()) {
+		path->m_idealStartingState = IdealStartingState(
+				m_idealStartingState.value().getVelocity(),
+				-m_idealStartingState.value().getRotation());
+	} else {
+		path->m_idealStartingState = std::nullopt;
+	}
+
+	path->m_goalEndState = GoalEndState(m_goalEndState.getVelocity(),
+			-m_goalEndState.getRotation());
+
+	std::vector < PathPoint > newAllPoints;
+	for (const auto &p : m_allPoints) {
+		PathPoint point(mirrorTranslation(p.position));
+		point.distanceAlongPath = p.distanceAlongPath;
+		point.maxV = p.maxV;
+
+		if (p.rotationTarget.has_value()) {
+			point.rotationTarget = RotationTarget(
+					p.rotationTarget.value().getPosition(),
+					-p.rotationTarget.value().getTarget());
+		}
+		point.constraints = p.constraints;
+		point.waypointRelativePos = p.waypointRelativePos;
+		newAllPoints.push_back(point);
+	}
+	path->m_allPoints = newAllPoints;
+
+	path->m_reversed = m_reversed;
+	path->m_isChoreoPath = m_isChoreoPath;
+	path->m_idealTrajectory = mirroredTraj;
+	path->preventFlipping = preventFlipping;
+	path->name = name;
+
+	return path;
+}
+
 frc::Translation2d PathPlannerPath::samplePath(
 		double waypointRelativePos) const {
 	double pos = std::clamp(waypointRelativePos, 0.0, m_waypoints.size() - 1.0);
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/auto/CommandUtil.h b/pathplannerlib/src/main/native/include/pathplanner/lib/auto/CommandUtil.h
index e9074aa4..1ec41c01 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/auto/CommandUtil.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/auto/CommandUtil.h
@@ -25,7 +25,7 @@ class CommandUtil {
 	 * @return a command built from the JSON
 	 */
 	static frc2::CommandPtr commandFromJson(const wpi::json &json,
-			bool loadChoreoPaths);
+			bool loadChoreoPaths, bool mirror);
 
 private:
 	static frc2::CommandPtr waitCommandFromJson(const wpi::json &json);
@@ -33,18 +33,18 @@ class CommandUtil {
 	static frc2::CommandPtr namedCommandFromJson(const wpi::json &json);
 
 	static frc2::CommandPtr pathCommandFromJson(const wpi::json &json,
-			bool loadChoreoPaths);
+			bool loadChoreoPaths, bool mirror);
 
 	static frc2::CommandPtr sequentialGroupFromJson(const wpi::json &json,
-			bool loadChoreoPaths);
+			bool loadChoreoPaths, bool mirror);
 
 	static frc2::CommandPtr parallelGroupFromJson(const wpi::json &json,
-			bool loadChoreoPaths);
+			bool loadChoreoPaths, bool mirror);
 
 	static frc2::CommandPtr raceGroupFromJson(const wpi::json &json,
-			bool loadChoreoPaths);
+			bool loadChoreoPaths, bool mirror);
 
 	static frc2::CommandPtr deadlineGroupFromJson(const wpi::json &json,
-			bool loadChoreoPaths);
+			bool loadChoreoPaths, bool mirror);
 };
 }
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathPlannerAuto.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathPlannerAuto.h
index 746793da..9e0fe11a 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathPlannerAuto.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathPlannerAuto.h
@@ -30,6 +30,16 @@ class PathPlannerAuto: public frc2::CommandHelper<frc2::Command, PathPlannerAuto
 	 */
 	PathPlannerAuto(std::string autoName);
 
+	/**
+	 * Constructs a new PathPlannerAuto command.
+	 *
+	 * @param autoName the name of the autonomous routine to load and run
+	 * @param mirror Mirror all paths to the other side of the current alliance. For example, if a
+	 * path is on the right of the blue alliance side of the field, it will be mirrored to the
+	 * left of the blue alliance side of the field.
+	 */
+	PathPlannerAuto(std::string autoName, bool mirror);
+
 	/**
 	 * Create a PathPlannerAuto from a custom command
 	 *
@@ -218,7 +228,7 @@ class PathPlannerAuto: public frc2::CommandHelper<frc2::Command, PathPlannerAuto
 	static std::vector<std::shared_ptr<PathPlannerPath>> pathsFromCommandJson(
 			const wpi::json &json, bool choreoPaths);
 
-	void initFromJson(const wpi::json &json);
+	void initFromJson(const wpi::json &json, bool mirror);
 
 	static int m_instances;
 };
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerPath.h b/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerPath.h
index ebf5956a..f60649b2 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerPath.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerPath.h
@@ -316,6 +316,15 @@ class PathPlannerPath: public std::enable_shared_from_this<PathPlannerPath> {
 	 */
 	std::shared_ptr<PathPlannerPath> flipPath();
 
+	/**
+	 * Mirror a path to the other side of the current alliance. For example, if this path is on the
+	 * right of the blue alliance side of the field, it will be mirrored to the left of the blue
+	 * alliance side of the field.
+	 *
+	 * @return The mirrored path
+	 */
+	std::shared_ptr<PathPlannerPath> mirrorPath();
+
 	/**
 	 * Get a list of poses representing every point in this path. This can be used to display a path
 	 * on a field 2d widget, for example.
@@ -385,6 +394,8 @@ class PathPlannerPath: public std::enable_shared_from_this<PathPlannerPath> {
 		return std::nullopt;
 	}
 
+	static frc::Translation2d mirrorTranslation(frc::Translation2d translation);
+
 	frc::Translation2d samplePath(double waypointRelativePos) const;
 
 	static std::unordered_map<std::string, std::shared_ptr<PathPlannerPath>>& getPathCache();

From 10271416a7d0e6a6296cf0a6be5867af5df67c43 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Fri, 31 Jan 2025 09:57:45 -0800
Subject: [PATCH 51/52] Fix python autobuilder docs (#1046)

---
 Writerside/topics/pplib-Build-an-Auto.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Writerside/topics/pplib-Build-an-Auto.md b/Writerside/topics/pplib-Build-an-Auto.md
index 05153fd4..d3cc2ebd 100644
--- a/Writerside/topics/pplib-Build-an-Auto.md
+++ b/Writerside/topics/pplib-Build-an-Auto.md
@@ -149,7 +149,7 @@ class SwerveSubsystem(Subsystem):
         config = RobotConfig.fromGUISettings()
 
         # Configure the AutoBuilder last
-        AutoBuilder.configureHolonomic(
+        AutoBuilder.configure(
             self.getPose, # Robot pose supplier
             self.resetPose, # Method to reset odometry (will be called if your auto has a starting pose)
             self.getRobotRelativeSpeeds, # ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
@@ -283,7 +283,7 @@ class DriveSubsystem(Subsystem):
         config = RobotConfig.fromGUISettings()
 
         # Configure the AutoBuilder last
-        AutoBuilder.configureHolonomic(
+        AutoBuilder.configure(
             self.getPose, # Robot pose supplier
             self.resetPose, # Method to reset odometry (will be called if your auto has a starting pose)
             self.getRobotRelativeSpeeds, # ChassisSpeeds supplier. MUST BE ROBOT RELATIVE

From ce94d1eaabe83e886155db554ee4858ff6df1919 Mon Sep 17 00:00:00 2001
From: Jeremy Nicholl <102098975+icros-personal@users.noreply.github.com>
Date: Thu, 6 Feb 2025 14:01:23 -0500
Subject: [PATCH 52/52] Fix oscillating velocity for differential drive (#1052)

---
 lib/trajectory/trajectory.dart                                | 4 ++--
 pathplannerlib-python/pathplannerlib/trajectory.py            | 4 ++--
 .../com/pathplanner/lib/trajectory/PathPlannerTrajectory.java | 4 ++--
 .../cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp  | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/lib/trajectory/trajectory.dart b/lib/trajectory/trajectory.dart
index 55820611..8ff8301f 100644
--- a/lib/trajectory/trajectory.dart
+++ b/lib/trajectory/trajectory.dart
@@ -219,7 +219,7 @@ class PathPlannerTrajectory {
       var accelStates =
           robotConfig.kinematics.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < numModules; m++) {
-        num moduleAcceleration = accelStates[m].speedMetersPerSecond;
+        num moduleAcceleration = accelStates[m].speedMetersPerSecond.abs();
 
         // Calculate the module velocity at the current state
         // vf^2 = v0^2 + 2ad
@@ -371,7 +371,7 @@ class PathPlannerTrajectory {
 
       // Use the robot accelerations to calculate how each module should decelerate
       for (int m = 0; m < numModules; m++) {
-        num moduleAcceleration = accelStates[m].speedMetersPerSecond;
+        num moduleAcceleration = accelStates[m].speedMetersPerSecond.abs();
 
         // Calculate the module velocity at the current state
         // vf^2 = v0^2 + 2ad
diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index 024f00e1..92f2671f 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -564,7 +564,7 @@ def _forwardAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
                                                              state.pose.rotation())
         accelStates = config.toSwerveModuleStates(chassisAccel)
         for m in range(config.numModules):
-            moduleAcceleration = accelStates[m].speed
+            moduleAcceleration = abs(accelStates[m].speed)
 
             # Calculate the module velocity at the current state
             # vf^2 = v0^2 + 2ad
@@ -669,7 +669,7 @@ def _reverseAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
                                                              state.pose.rotation())
         accelStates = config.toSwerveModuleStates(chassisAccel)
         for m in range(config.numModules):
-            moduleAcceleration = accelStates[m].speed
+            moduleAcceleration = abs(accelStates[m].speed)
 
             # Calculate the module velocity at the current state
             # vf^2 = v0^2 + 2ad
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
index 7f3d3f64..089a02bc 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
@@ -382,7 +382,7 @@ private static void forwardAccelPass(
               accelVec.getX(), accelVec.getY(), angularAccel, state.pose.getRotation());
       var accelStates = config.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < config.numModules; m++) {
-        double moduleAcceleration = accelStates[m].speedMetersPerSecond;
+        double moduleAcceleration = Math.abs(accelStates[m].speedMetersPerSecond);
 
         // Calculate the module velocity at the current state
         // vf^2 = v0^2 + 2ad
@@ -527,7 +527,7 @@ private static void reverseAccelPass(
               state.pose.getRotation());
       var accelStates = config.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < config.numModules; m++) {
-        double moduleAcceleration = accelStates[m].speedMetersPerSecond;
+        double moduleAcceleration = Math.abs(accelStates[m].speedMetersPerSecond);
 
         // Calculate the module velocity at the current state
         // vf^2 = v0^2 + 2ad
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
index aa61f475..12ed45e8 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
@@ -420,7 +420,7 @@ void PathPlannerTrajectory::forwardAccelPass(
 		auto accelStates = config.toSwerveModuleStates(chassisAccel);
 		for (size_t m = 0; m < config.numModules; m++) {
 			units::meters_per_second_squared_t moduleAcceleration {
-					accelStates[m].speed() };
+					units::math::abs(accelStates[m].speed)() };
 
 			// Calculate the module velocity at the current state
 			// vf^2 = v0^2 + 2ad
@@ -580,7 +580,7 @@ void PathPlannerTrajectory::reverseAccelPass(
 		auto accelStates = config.toSwerveModuleStates(chassisAccel);
 		for (size_t m = 0; m < config.numModules; m++) {
 			units::meters_per_second_squared_t moduleAcceleration {
-					accelStates[m].speed() };
+					units::math::abs(accelStates[m].speed)() };
 
 			// Calculate the module velocity at the current state
 			// vf^2 = v0^2 + 2ad