Pride is going to be death of you...

src/main/deploy/choreo/Test middle.traj

@@ -0,0 +1,69 @@
+{
+ "name":"Test middle",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
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+    {"x":6.115453243255615, "y":3.6550402641296382, "heading":2.8083484747368153, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":true},
+    {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
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+    {"x":{"exp":"6.115453243255615 m", "val":6.115453243255615}, "y":{"exp":"3.6550402641296387 m", "val":3.6550402641296382}, "heading":{"exp":"2.8083484747368153 rad", "val":2.8083484747368153}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
+    {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.27926],
+  "samples":[
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+  "splits":[0]
+ },
+ "events":[]
+}