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JoshuaANJoshuaAN
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New Five Ball Auto
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‎src/main/java/frc/paths/NewAutoPartFour.java

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package frc.paths;
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import frc.lib.control.SwerveTrajectory;
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public class NewAutoPartFour extends Path {
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private final static double[][] points = {
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{0,-1.3,0.775,-1.7708,0.0,-0.0,0.0},
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{0.0105,-1.3,0.775,-1.7708,0.0038,0.0352,0.0023},
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{0.0211,-1.3,0.7754,-1.7708,0.0076,0.0703,0.0046},
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{0.0316,-1.2999,0.7761,-1.7707,0.0114,0.1055,0.0068},
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{0.0421,-1.2998,0.7772,-1.7707,0.0152,0.1406,0.0091},
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{0.0526,-1.2996,0.7787,-1.7706,0.019,0.1758,0.0114},
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{0.0632,-1.2994,0.7806,-1.7704,0.0228,0.2109,0.0137},
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{0.0737,-1.2992,0.7828,-1.7703,0.0266,0.2461,0.016},
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{0.0842,-1.2989,0.7854,-1.7701,0.0304,0.2812,0.0182},
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{0.0947,-1.2986,0.7883,-1.7699,0.0342,0.3164,0.0205},
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{0.1053,-1.2982,0.7917,-1.7697,0.038,0.3515,0.0228},
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{0.1158,-1.2978,0.7954,-1.7695,0.0418,0.3867,0.0251},
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{0.1263,-1.2974,0.7994,-1.7692,0.0456,0.4218,0.0273},
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{0.1369,-1.2969,0.8039,-1.7689,0.0494,0.457,0.0296},
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{0.1474,-1.2964,0.8087,-1.7686,0.0532,0.4921,0.0319},
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{0.1579,-1.2958,0.8139,-1.7683,0.057,0.5273,0.0342},
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{0.1684,-1.2952,0.8194,-1.7679,0.0608,0.5625,0.0365},
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{0.179,-1.2946,0.8253,-1.7675,0.0646,0.5976,0.0387},
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{0.1895,-1.2939,0.8316,-1.7671,0.0684,0.6328,0.041},
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{0.2,-1.2932,0.8383,-1.7667,0.0722,0.6679,0.0433},
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{0.2105,-1.2924,0.8453,-1.7662,0.076,0.7031,0.0456},
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{0.2211,-1.2916,0.8527,-1.7658,0.0798,0.7382,0.0479},
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{0.2316,-1.2908,0.8605,-1.7653,0.0836,0.7734,0.0501},
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{0.2421,-1.2899,0.8686,-1.7647,0.0874,0.8085,0.0524},
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{0.2527,-1.289,0.8771,-1.7642,0.0912,0.8437,0.0547},
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{0.2632,-1.288,0.886,-1.7636,0.095,0.8788,0.057},
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{0.2737,-1.287,0.8953,-1.763,0.0988,0.914,0.0593},
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{0.2842,-1.286,0.9049,-1.7624,0.1026,0.9491,0.0615},
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{0.2948,-1.2849,0.9149,-1.7617,0.1064,0.9843,0.0638},
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{0.3053,-1.2838,0.9252,-1.7611,0.1102,1.0194,0.0661},
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{0.3158,-1.2826,0.936,-1.7604,0.114,1.0546,0.0684},
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{0.3263,-1.2814,0.9471,-1.7596,0.1178,1.0898,0.0707},
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{0.3369,-1.2802,0.9586,-1.7589,0.1216,1.1249,0.0729},
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{0.3474,-1.2789,0.9704,-1.7581,0.1254,1.1601,0.0752},
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{0.3579,-1.2776,0.9826,-1.7573,0.1292,1.1952,0.0775},
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{0.3685,-1.2762,0.9952,-1.7565,0.133,1.2304,0.0798},
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{0.379,-1.2748,1.0081,-1.7557,0.1368,1.2655,0.0821},
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{0.3895,-1.2734,1.0215,-1.7548,0.1406,1.3007,0.0843},
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{0.4,-1.2719,1.0352,-1.7539,0.1444,1.3358,0.0866},
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{0.4106,-1.2704,1.0492,-1.753,0.1482,1.371,0.0889},
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{0.4211,-1.2688,1.0637,-1.7521,0.152,1.4061,0.0912},
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{0.4316,-1.2672,1.0785,-1.7511,0.1558,1.4413,0.0935},
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{0.4422,-1.2656,1.0936,-1.7501,0.1596,1.4764,0.0957},
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{0.4527,-1.2639,1.1092,-1.7491,0.1634,1.5116,0.098},
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{0.4632,-1.2622,1.1251,-1.7481,0.1672,1.5467,0.1003},
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{0.4737,-1.2604,1.1414,-1.747,0.171,1.5819,0.1026},
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{0.4843,-1.2586,1.158,-1.746,0.1748,1.6171,0.1049},
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{0.4948,-1.2568,1.175,-1.7449,0.1786,1.6522,0.1071},
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{0.5053,-1.2549,1.1924,-1.7437,0.1824,1.6874,0.1094},
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{0.5158,-1.253,1.2102,-1.7426,0.1862,1.7225,0.1117},
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{0.5264,-1.251,1.2283,-1.7414,0.19,1.7573,0.114},
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{0.5369,-1.249,1.2468,-1.7402,0.1862,1.7222,0.1117},
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{0.5474,-1.247,1.265,-1.739,0.1824,1.687,0.1095},
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{0.558,-1.2451,1.2827,-1.7379,0.1786,1.6519,0.1072},
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{0.5685,-1.2432,1.3001,-1.7367,0.1748,1.6167,0.1049},
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{0.579,-1.2414,1.3171,-1.7356,0.171,1.5816,0.1026},
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{0.5895,-1.2396,1.3338,-1.7346,0.1672,1.5464,0.1003},
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{0.6001,-1.2378,1.3501,-1.7335,0.1634,1.5112,0.0981},
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{0.6106,-1.2361,1.366,-1.7325,0.1596,1.4761,0.0958},
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{0.6211,-1.2344,1.3815,-1.7315,0.1558,1.4409,0.0935},
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{0.6316,-1.2328,1.3967,-1.7305,0.152,1.4058,0.0912},
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{0.6422,-1.2312,1.4115,-1.7295,0.1482,1.3706,0.0889},
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{0.6527,-1.2296,1.4259,-1.7286,0.1444,1.3355,0.0867},
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{0.6632,-1.2281,1.44,-1.7277,0.1406,1.3003,0.0844},
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{0.6738,-1.2266,1.4537,-1.7268,0.1368,1.2652,0.0821},
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{0.6843,-1.2252,1.467,-1.7259,0.133,1.23,0.0798},
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{0.6948,-1.2238,1.4799,-1.7251,0.1292,1.1949,0.0775},
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{0.7053,-1.2224,1.4925,-1.7243,0.1254,1.1597,0.0753},
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{0.7159,-1.2211,1.5047,-1.7235,0.1216,1.1246,0.073},
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{0.7264,-1.2198,1.5166,-1.7227,0.1178,1.0894,0.0707},
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{0.7369,-1.2186,1.528,-1.722,0.114,1.0543,0.0684},
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{0.7474,-1.2174,1.5391,-1.7212,0.1102,1.0191,0.0661},
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{0.758,-1.2162,1.5499,-1.7205,0.1064,0.9839,0.0639},
80+
{0.7685,-1.2151,1.5602,-1.7199,0.1026,0.9488,0.0616},
81+
{0.779,-1.214,1.5702,-1.7192,0.0988,0.9136,0.0593},
82+
{0.7896,-1.213,1.5798,-1.7186,0.095,0.8785,0.057},
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{0.8001,-1.212,1.5891,-1.718,0.0912,0.8433,0.0547},
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{0.8106,-1.211,1.5979,-1.7174,0.0874,0.8082,0.0524},
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{0.8211,-1.2101,1.6065,-1.7169,0.0836,0.773,0.0502},
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{0.8317,-1.2092,1.6146,-1.7163,0.0798,0.7379,0.0479},
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{0.8422,-1.2084,1.6224,-1.7158,0.076,0.7027,0.0456},
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{0.8527,-1.2076,1.6298,-1.7154,0.0722,0.6676,0.0433},
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{0.8632,-1.2068,1.6368,-1.7149,0.0684,0.6324,0.041},
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{0.8738,-1.2061,1.6434,-1.7145,0.0646,0.5973,0.0388},
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{0.8843,-1.2054,1.6497,-1.7141,0.0608,0.5621,0.0365},
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{0.8948,-1.2048,1.6556,-1.7137,0.057,0.527,0.0342},
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{0.9054,-1.2042,1.6612,-1.7133,0.0532,0.4918,0.0319},
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{0.9159,-1.2036,1.6664,-1.713,0.0494,0.4566,0.0296},
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{0.9264,-1.2031,1.6712,-1.7127,0.0456,0.4215,0.0274},
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{0.9369,-1.2026,1.6756,-1.7124,0.0418,0.3863,0.0251},
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{0.9475,-1.2022,1.6797,-1.7121,0.038,0.3512,0.0228},
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{0.958,-1.2018,1.6834,-1.7119,0.0342,0.316,0.0205},
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{0.9685,-1.2014,1.6867,-1.7117,0.0304,0.2809,0.0182},
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{0.979,-1.2011,1.6897,-1.7115,0.0266,0.2457,0.0159},
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{0.9896,-1.2008,1.6923,-1.7113,0.0228,0.2106,0.0137},
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{1.0001,-1.2006,1.6945,-1.7112,0.019,0.1754,0.0114},
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{1.0106,-1.2004,1.6963,-1.711,0.0152,0.1403,0.0091},
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{1.0212,-1.2002,1.6978,-1.7109,0.0114,0.1051,0.0068},
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{1.0317,-1.2001,1.6989,-1.7109,0.0076,0.07,0.0045},
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{1.0422,-1.2,1.6996,-1.7108,0.0038,0.0348,0.0023},
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{1.0527,-1.2,1.7,-1.7108,-0.0,-0.0003,-0.0},
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{1.0633,-1.2,1.7,-1.7108,-0.0038,-0.0355,-0.0023},
109+
{1.0738,-1.2,1.6996,-1.7108,-0.0076,-0.0706,-0.0046},
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{1.0843,-1.2001,1.6989,-1.7109,-0.0114,-0.1058,-0.0069},
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{1.0948,-1.2002,1.6978,-1.7109,-0.0152,-0.1409,-0.0091},
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{1.1054,-1.2004,1.6963,-1.711,-0.019,-0.1761,-0.0114},
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{1.1159,-1.2006,1.6944,-1.7112,-0.0228,-0.2112,-0.0137},
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{1.1264,-1.2008,1.6922,-1.7113,-0.0266,-0.2464,-0.016},
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{1.1369,-1.2011,1.6896,-1.7115,-0.0304,-0.2815,-0.0183},
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{1.1475,-1.2014,1.6866,-1.7117,-0.0342,-0.3167,-0.0205},
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{1.158,-1.2018,1.6833,-1.7119,-0.038,-0.3518,-0.0228},
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{1.1685,-1.2022,1.6796,-1.7121,-0.0418,-0.387,-0.0251},
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{1.179,-1.2026,1.6755,-1.7124,-0.0456,-0.4221,-0.0274},
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{1.1896,-1.2031,1.6711,-1.7127,-0.0494,-0.4573,-0.0297},
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{1.2001,-1.2036,1.6663,-1.713,-0.0532,-0.4924,-0.032},
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{1.2106,-1.2042,1.6611,-1.7133,-0.057,-0.5275,-0.0342},
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{1.2317,-1.2054,1.6496,-1.7141,-0.0646,-0.5978,-0.0388},
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{1.3474,-1.2151,1.5601,-1.7199,-0.1064,-0.9844,-0.0639},
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{1.358,-1.2162,1.5497,-1.7205,-0.1102,-1.0196,-0.0662},
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{1.3685,-1.2174,1.539,-1.7212,-0.114,-1.0547,-0.0684},
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{1.379,-1.2186,1.5279,-1.722,-0.1178,-1.0899,-0.0707},
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{1.3896,-1.2198,1.5164,-1.7227,-0.1216,-1.125,-0.073},
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{2.0316,-1.2989,0.7854,-1.7701,-0.0266,-0.246,-0.016},
201+
{2.0421,-1.2992,0.7828,-1.7703,-0.0228,-0.2109,-0.0137},
202+
{2.0526,-1.2994,0.7805,-1.7704,-0.019,-0.1757,-0.0114},
203+
{2.0632,-1.2996,0.7787,-1.7706,-0.0152,-0.1406,-0.0091},
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{2.0737,-1.2998,0.7772,-1.7707,-0.0114,-0.1054,-0.0068},
205+
{2.0842,-1.2999,0.7761,-1.7707,-0.0076,-0.0703,-0.0046},
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{2.0947,-1.3,0.7754,-1.7708,-0.0038,-0.0351,-0.0023},
207+
{2.1053,-1.3,0.775,-1.7708,0.0,0.0,0.0},
208+
};
209+
public SwerveTrajectory getPath() {
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return new SwerveTrajectory(points);
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}
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}

‎src/main/java/frc/paths/NewAutoPartOne.java

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package frc.paths;
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import frc.lib.control.SwerveTrajectory;
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public class NewAutoPartOne extends Path {
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private final static double[][] points = {
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{0,0.0,0.0,-2.35,-0.0,0.0,0.0},
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{0.0117,-0.0,0.0,-2.35,0.0377,0.0103,-0.0068},
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{0.0233,0.0004,0.0001,-2.3501,0.0755,0.0206,-0.0136},
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{0.035,0.0013,0.0004,-2.3502,0.1132,0.0309,-0.0204},
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{0.0466,0.0026,0.0007,-2.3505,0.151,0.0412,-0.0272},
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{0.0583,0.0044,0.0012,-2.3508,0.1887,0.0515,-0.034},
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{0.0699,0.0066,0.0018,-2.3512,0.2265,0.0618,-0.0408},
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{0.0816,0.0092,0.0025,-2.3517,0.2642,0.0721,-0.0476},
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{0.0932,0.0123,0.0034,-2.3522,0.302,0.0824,-0.0544},
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{0.1049,0.0158,0.0043,-2.3529,0.3397,0.0927,-0.0612},
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{0.1166,0.0198,0.0054,-2.3536,0.3775,0.103,-0.068},
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{0.1282,0.0242,0.0066,-2.3544,0.4152,0.1133,-0.0748},
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{0.1399,0.029,0.0079,-2.3552,0.453,0.1235,-0.0816},
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{0.1515,0.0343,0.0094,-2.3562,0.4907,0.1338,-0.0884},
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{0.1632,0.04,0.0109,-2.3572,0.5285,0.1441,-0.0952},
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{0.1748,0.0462,0.0126,-2.3583,0.5662,0.1544,-0.102},
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{0.1865,0.0528,0.0144,-2.3595,0.604,0.1647,-0.1088},
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{0.1981,0.0598,0.0163,-2.3608,0.6417,0.175,-0.1156},
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{0.2098,0.0673,0.0184,-2.3621,0.6795,0.1853,-0.1224},
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{0.2215,0.0752,0.0205,-2.3635,0.7172,0.1956,-0.1292},
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{0.2331,0.0836,0.0228,-2.3651,0.755,0.2059,-0.136},
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{0.2448,0.0924,0.0252,-2.3666,0.7927,0.2162,-0.1428},
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{0.2564,0.1016,0.0277,-2.3683,0.8305,0.2265,-0.1496},
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{0.2681,0.1113,0.0304,-2.37,0.8682,0.2368,-0.1564},
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{0.2797,0.1214,0.0331,-2.3719,0.906,0.2471,-0.1632},
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{0.2914,0.132,0.036,-2.3738,0.9437,0.2574,-0.17},
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{0.3031,0.143,0.039,-2.3758,0.9815,0.2677,-0.1769},
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{0.3147,0.1544,0.0421,-2.3778,1.0192,0.278,-0.1837},
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{0.3264,0.1663,0.0454,-2.38,1.057,0.2883,-0.1905},
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{0.338,0.1786,0.0487,-2.3822,1.0947,0.2986,-0.1973},
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{0.3497,0.1914,0.0522,-2.3845,1.1325,0.3089,-0.2042},
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{0.3613,0.2046,0.0558,-2.3869,1.1702,0.3192,-0.211},
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{0.373,0.2182,0.0595,-2.3893,1.208,0.3295,-0.2178},
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{0.3846,0.2323,0.0634,-2.3919,1.2457,0.3398,-0.2246},
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{0.3963,0.2468,0.0673,-2.3945,1.2835,0.3501,-0.2315},
42+
{0.408,0.2618,0.0714,-2.3972,1.3212,0.3603,-0.2383},
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{0.4196,0.2772,0.0756,-2.4,1.359,0.3706,-0.2452},
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{0.4313,0.293,0.0799,-2.4028,1.3967,0.3809,-0.252},
45+
{0.4429,0.3093,0.0844,-2.4057,1.4345,0.3912,-0.2589},
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{0.4546,0.326,0.0889,-2.4088,1.4722,0.4015,-0.2657},
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{0.4662,0.3432,0.0936,-2.4119,1.51,0.4118,-0.2726},
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{0.4779,0.3608,0.0984,-2.415,1.5477,0.4221,-0.2794},
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{0.4895,0.3788,0.1033,-2.4183,1.5855,0.4324,-0.2863},
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{0.5012,0.3973,0.1084,-2.4216,1.6232,0.4427,-0.2932},
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{0.5129,0.4162,0.1135,-2.4251,1.661,0.453,-0.3001},
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{0.5245,0.4356,0.1188,-2.4285,1.6987,0.4633,-0.307},
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{0.5362,0.4554,0.1242,-2.4321,1.7365,0.4736,-0.3139},
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{0.5478,0.4756,0.1297,-2.4358,1.7742,0.4839,-0.3208},
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{0.5595,0.4963,0.1354,-2.4395,1.812,0.4942,-0.3278},
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{0.5711,0.5174,0.1411,-2.4433,1.8497,0.5045,-0.3348},
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{0.5828,0.539,0.147,-2.4472,1.8875,0.5148,-0.342},
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{0.5944,0.561,0.153,-2.4512,1.8497,0.5045,-0.3378},
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{0.6061,0.5826,0.1589,-2.4552,1.812,0.4942,-0.3311},
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{0.6178,0.6037,0.1646,-2.459,1.7742,0.4839,-0.3244},
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{0.6294,0.6244,0.1703,-2.4628,1.7365,0.4736,-0.3176},
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{0.6411,0.6446,0.1758,-2.4665,1.6987,0.4633,-0.3108},
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{0.6527,0.6644,0.1812,-2.4701,1.661,0.453,-0.304},
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{0.6644,0.6838,0.1865,-2.4737,1.6232,0.4427,-0.2971},
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{0.676,0.7027,0.1916,-2.4771,1.5855,0.4324,-0.2903},
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{0.6877,0.7212,0.1967,-2.4805,1.5477,0.4221,-0.2834},
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{0.6993,0.7392,0.2016,-2.4838,1.51,0.4118,-0.2766},
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{0.711,0.7568,0.2064,-2.4871,1.4722,0.4015,-0.2697},
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{0.7227,0.774,0.2111,-2.4902,1.4345,0.3912,-0.2628},
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{0.7343,0.7907,0.2156,-2.4933,1.3967,0.3809,-0.2559},
71+
{0.746,0.807,0.2201,-2.4962,1.359,0.3706,-0.2491},
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{0.7576,0.8228,0.2244,-2.4991,1.3212,0.3603,-0.2422},
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{0.7693,0.8382,0.2286,-2.502,1.2835,0.35,-0.2353},
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{0.7809,0.8532,0.2327,-2.5047,1.2457,0.3397,-0.2284},
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{0.7926,0.8677,0.2366,-2.5074,1.208,0.3294,-0.2215},
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{0.8043,0.8818,0.2405,-2.51,1.1702,0.3191,-0.2146},
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{0.8159,0.8954,0.2442,-2.5125,1.1325,0.3088,-0.2077},
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{0.8276,0.9086,0.2478,-2.5149,1.0947,0.2986,-0.2008},
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{0.8392,0.9214,0.2513,-2.5172,1.057,0.2883,-0.1939},
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{0.8509,0.9337,0.2546,-2.5195,1.0192,0.278,-0.187},
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{0.8625,0.9456,0.2579,-2.5217,0.9815,0.2677,-0.1801},
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{0.8742,0.957,0.261,-2.5238,0.9437,0.2574,-0.1731},
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{0.8858,0.968,0.264,-2.5258,0.906,0.2471,-0.1662},
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{0.8975,0.9786,0.2669,-2.5277,0.8682,0.2368,-0.1593},
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{0.9092,0.9887,0.2696,-2.5296,0.8305,0.2265,-0.1524},
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{0.9208,0.9984,0.2723,-2.5313,0.7927,0.2162,-0.1455},
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{0.9325,1.0076,0.2748,-2.533,0.755,0.2059,-0.1386},
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{0.9441,1.0164,0.2772,-2.5347,0.7172,0.1956,-0.1316},
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{0.9558,1.0248,0.2795,-2.5362,0.6795,0.1853,-0.1247},
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{0.9674,1.0327,0.2816,-2.5376,0.6417,0.175,-0.1178},
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{0.9791,1.0402,0.2837,-2.539,0.604,0.1647,-0.1109},
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{0.9907,1.0472,0.2856,-2.5403,0.5662,0.1544,-0.1039},
93+
{1.0024,1.0538,0.2874,-2.5415,0.5285,0.1441,-0.097},
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{1.0141,1.06,0.2891,-2.5426,0.4907,0.1338,-0.0901},
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{1.0257,1.0657,0.2906,-2.5437,0.453,0.1235,-0.0832},
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{1.0374,1.071,0.2921,-2.5447,0.4152,0.1132,-0.0762},
97+
{1.049,1.0758,0.2934,-2.5456,0.3775,0.1029,-0.0693},
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{1.0607,1.0802,0.2946,-2.5464,0.3397,0.0927,-0.0624},
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{1.0723,1.0842,0.2957,-2.5471,0.302,0.0824,-0.0554},
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{1.084,1.0877,0.2966,-2.5477,0.2642,0.0721,-0.0485},
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{1.0956,1.0908,0.2975,-2.5483,0.2265,0.0618,-0.0416},
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{1.1073,1.0934,0.2982,-2.5488,0.1887,0.0515,-0.0347},
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{1.119,1.0956,0.2988,-2.5492,0.151,0.0412,-0.0277},
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{1.1306,1.0974,0.2993,-2.5495,0.1132,0.0309,-0.0208},
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{1.1423,1.0987,0.2996,-2.5498,0.0755,0.0206,-0.0139},
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{1.1539,1.0996,0.2999,-2.5499,0.0377,0.0103,-0.0069},
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{1.1656,1.1,0.3,-2.55,0.0,0.0,0.0},
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};
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public SwerveTrajectory getPath() {
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return new SwerveTrajectory(points);
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}
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}

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