From 18df1329b43b596d111c83783c4b1b6f6312a54f Mon Sep 17 00:00:00 2001
From: shueja-personal <j.a.shue@outlook.com>
Date: Mon, 2 Sep 2024 23:50:30 -0700
Subject: [PATCH] Fix TSC failing on main

---
 src/document/path/ChoreoTrajStore.ts | 1 +
 src/util/MathUtil.ts                 | 9 ++++++---
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/document/path/ChoreoTrajStore.ts b/src/document/path/ChoreoTrajStore.ts
index ced32218c..885370c5f 100644
--- a/src/document/path/ChoreoTrajStore.ts
+++ b/src/document/path/ChoreoTrajStore.ts
@@ -16,6 +16,7 @@ export const ChoreoTrajStore = types
   })
   .views((self) => ({
     get fullTraj(): SwerveSample[] | DifferentialDriveSample[] {
+      //@ts-expect-error This might be a TS bug, flatMap on an A[] | B[] returns an (A | B)[]
       return self.samples.flatMap((sect, i, samp) => {
         if (i != 0) {
           return sect.slice(1);
diff --git a/src/util/MathUtil.ts b/src/util/MathUtil.ts
index 48b886fd2..479b7db91 100644
--- a/src/util/MathUtil.ts
+++ b/src/util/MathUtil.ts
@@ -1,4 +1,7 @@
-import { SwerveSample } from "../document/2025/DocumentTypes";
+import {
+  DifferentialDriveSample,
+  SwerveSample
+} from "../document/2025/DocumentTypes";
 
 /**
  * A port of WPILib's MathUtil.inputModulus
@@ -29,7 +32,7 @@ export function angleModulus(input: number) {
 }
 
 export type Pose = { x: number; y: number; rot: number };
-export function storeToPose(store: SwerveSample) {
+export function storeToPose(store: SwerveSample | DifferentialDriveSample) {
   return { x: store.x, y: store.y, rot: store.heading };
 }
 export function interpolate(p1: Pose, p2: Pose, frac: number) {
@@ -46,7 +49,7 @@ export function interpolate(p1: Pose, p2: Pose, frac: number) {
 }
 export function sample(
   timeSeconds: number,
-  m_states: Array<SwerveSample>
+  m_states: Array<SwerveSample> | Array<DifferentialDriveSample>
 ): Pose {
   if (timeSeconds <= m_states[0].t) {
     return storeToPose(m_states[0]);