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Fix python tests and format
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@shueja
shueja committed Jan 6, 2025
1 parent 1cd560a commit f4478bb
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Showing 2 changed files with 34 additions and 206 deletions.
8 changes: 5 additions & 3 deletions choreolib/py/choreo/test/sample_flipping_test.py
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Original file line number Diff line number Diff line change
@@ -1,10 +1,12 @@
from math import pi

from choreo.trajectory import DifferentialSample, SwerveSample
from choreo.util import field_dimensions

FIELD_LENGTH_2022 = 16.5811
FIELD_LENGTH_2024 = 16.5811
FIELD_WIDTH_2022 = 8.19912
# Not accurate, but ChoreoLib doesn't actually keep old field dimensions
FIELD_LENGTH_2022 = field_dimensions.FIELD_LENGTH
FIELD_LENGTH_2024 = field_dimensions.FIELD_LENGTH
FIELD_WIDTH_2022 = field_dimensions.FIELD_WIDTH


def test_swerve_sample():
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232 changes: 29 additions & 203 deletions src/components/field/svg/fields/FieldImage2025.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -32,22 +32,10 @@ export default class FieldImage2024 extends Component<Props, State> {
>
<g id="Field-Tape">
<g transform="matrix(0.294118,0,0,1.35781,1045.71,-416.354)">
<rect
x="1582"
y="302"
width="34"
height="1195"
fill={gray}
/>
<rect x="1582" y="302" width="34" height="1195" fill={gray} />
</g>
<g transform="matrix(0.294118,0,0,1.35781,1523.71,-416.354)">
<rect
x="1582"
y="302"
width="34"
height="1195"
fill={gray}
/>
<rect x="1582" y="302" width="34" height="1195" fill={gray} />
</g>
</g>
<g id="Blue-Barge">
Expand Down Expand Up @@ -86,13 +74,7 @@ export default class FieldImage2024 extends Component<Props, State> {
id="Barge-Truss"
transform="matrix(1.17172,0,0,1.17172,-301.949,-139.99)"
>
<rect
x="1706"
y="757"
width="99"
height="99"
fill={gray}
/>
<rect x="1706" y="757" width="99" height="99" fill={gray} />
<path
d="M1805,757L1805,856L1706,856L1706,757L1805,757ZM1766.46,795.539C1766.46,795.539 1744.54,795.539 1744.54,795.539C1744.54,795.539 1744.54,817.461 1744.54,817.461C1744.54,817.461 1766.46,817.461 1766.46,817.461L1766.46,795.539Z"
fill={gray}
Expand Down Expand Up @@ -132,22 +114,10 @@ export default class FieldImage2024 extends Component<Props, State> {
</g>
<g id="Field-Outline">
<g transform="matrix(0.474266,-0.344575,0.172878,0.237946,-94.6479,227.074)">
<rect
x="101"
y="220"
width="739"
height="34"
fill={white}
/>
<rect x="101" y="220" width="739" height="34" fill={white} />
</g>
<g transform="matrix(0.465208,-0.337993,0.172878,0.237946,3072.24,1577.47)">
<rect
x="101"
y="284"
width="739"
height="34"
fill={white}
/>
<rect x="101" y="284" width="739" height="34" fill={white} />
</g>
{/* blue wall */}
<g transform="matrix(0.24541,0,0,1.37423,-33.3757,-227.979)">
Expand All @@ -170,98 +140,38 @@ export default class FieldImage2024 extends Component<Props, State> {
/>
</g>
<g transform="matrix(2.03376,0,0,0.142857,-2053.87,1446.71)">
<rect
x="1175"
y="1143"
width="1396"
height="70"
fill={white}
/>
<rect x="1175" y="1143" width="1396" height="70" fill={white} />
</g>
<g transform="matrix(2.02514,0,0,0.142857,-2037.72,-153.286)">
<rect
x="1175"
y="1003"
width="1396"
height="70"
fill={white}
/>
<rect x="1175" y="1003" width="1396" height="70" fill={white} />
</g>
<g transform="matrix(-0.473797,-0.344234,0.172878,-0.237946,3510.9,355.756)">
<rect
x="101"
y="284"
width="739"
height="34"
fill={white}
/>
<rect x="101" y="284" width="739" height="34" fill={white} />
</g>
<g transform="matrix(-0.466225,-0.338733,0.172878,-0.237946,344.914,1707.06)">
<rect
x="103"
y="220"
width="735"
height="34"
fill={white}
/>
<rect x="103" y="220" width="735" height="34" fill={white} />
</g>
</g>
<g id="Blue-Algae">
<g transform="matrix(0.911111,0,0,1.01235,-0.177778,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(0.911111,0,0,1.01235,-0.177778,412.247)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(0.911111,0,0,1.01235,-0.177778,-319.753)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
</g>
<g id="Red-Algae" transform="matrix(1,0,0,1,3022,5.68434e-14)">
<g transform="matrix(0.911111,0,0,1.01235,-0.177778,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(0.911111,0,0,1.01235,-0.177778,412.247)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(0.911111,0,0,1.01235,-0.177778,-319.753)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
</g>
<g id="Blue-Reef">
Expand All @@ -287,13 +197,7 @@ export default class FieldImage2024 extends Component<Props, State> {
</g>
<g id="Reef-Algae">
<g transform="matrix(0.911111,0,0,1.01235,790.222,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-173.267,-2)">
<path
Expand All @@ -310,13 +214,7 @@ export default class FieldImage2024 extends Component<Props, State> {
</g>
<g id="Reef-Algae1">
<g transform="matrix(0.911111,0,0,1.01235,516.422,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-435.067,-2)">
<path
Expand All @@ -336,13 +234,7 @@ export default class FieldImage2024 extends Component<Props, State> {
transform="matrix(0.5,-0.866025,0.866025,0.5,-248.4,1179.76)"
>
<g transform="matrix(0.911111,0,0,1.01235,790.222,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-173.267,-2)">
<path
Expand All @@ -362,13 +254,7 @@ export default class FieldImage2024 extends Component<Props, State> {
transform="matrix(0.5,-0.866025,0.866025,0.5,-248.4,1179.76)"
>
<g transform="matrix(0.911111,0,0,1.01235,516.422,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-435.067,-2)">
<path
Expand All @@ -388,13 +274,7 @@ export default class FieldImage2024 extends Component<Props, State> {
transform="matrix(0.5,0.866025,-0.866025,0.5,1145.9,-374.758)"
>
<g transform="matrix(0.911111,0,0,1.01235,790.222,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-173.267,-2)">
<path
Expand All @@ -414,13 +294,7 @@ export default class FieldImage2024 extends Component<Props, State> {
transform="matrix(0.5,0.866025,-0.866025,0.5,1145.9,-374.758)"
>
<g transform="matrix(0.911111,0,0,1.01235,516.422,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-435.067,-2)">
<path
Expand Down Expand Up @@ -459,13 +333,7 @@ export default class FieldImage2024 extends Component<Props, State> {
</g>
<g id="Reef-Algae6">
<g transform="matrix(0.911111,0,0,1.01235,790.222,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-173.267,-2)">
<path
Expand All @@ -482,13 +350,7 @@ export default class FieldImage2024 extends Component<Props, State> {
</g>
<g id="Reef-Algae7">
<g transform="matrix(0.911111,0,0,1.01235,516.422,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-435.067,-2)">
<path
Expand All @@ -508,13 +370,7 @@ export default class FieldImage2024 extends Component<Props, State> {
transform="matrix(0.5,-0.866025,0.866025,0.5,-248.4,1179.76)"
>
<g transform="matrix(0.911111,0,0,1.01235,790.222,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-173.267,-2)">
<path
Expand All @@ -534,13 +390,7 @@ export default class FieldImage2024 extends Component<Props, State> {
transform="matrix(0.5,-0.866025,0.866025,0.5,-248.4,1179.76)"
>
<g transform="matrix(0.911111,0,0,1.01235,516.422,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-435.067,-2)">
<path
Expand All @@ -560,13 +410,7 @@ export default class FieldImage2024 extends Component<Props, State> {
transform="matrix(0.5,0.866025,-0.866025,0.5,1145.9,-374.758)"
>
<g transform="matrix(0.911111,0,0,1.01235,790.222,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-173.267,-2)">
<path
Expand All @@ -586,13 +430,7 @@ export default class FieldImage2024 extends Component<Props, State> {
transform="matrix(0.5,0.866025,-0.866025,0.5,1145.9,-374.758)"
>
<g transform="matrix(0.911111,0,0,1.01235,516.422,46.2469)">
<ellipse
cx="268"
cy="749.5"
rx="45"
ry="40.5"
fill={green}
/>
<ellipse cx="268" cy="749.5" rx="45" ry="40.5" fill={green} />
</g>
<g transform="matrix(1.16667,0,0,1,-435.067,-2)">
<path
Expand All @@ -610,22 +448,10 @@ export default class FieldImage2024 extends Component<Props, State> {
</g>
<g id="Processors">
<g transform="matrix(0.265918,0,0,0.322581,1661.81,-9.03226)">
<rect
x="2148"
y="29"
width="534"
height="31"
fill={gray}
/>
<rect x="2148" y="29" width="534" height="31" fill={gray} />
</g>
<g transform="matrix(0.265918,0,0,0.322581,625.809,1570.97)">
<rect
x="2148"
y="90"
width="534"
height="31"
fill={gray}
/>
<rect x="2148" y="90" width="534" height="31" fill={gray} />
</g>
</g>{" "}
<use
Expand Down

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