[choreo] Changed the type name in frontend from DifferentialDrive to Differential

src/components/config/robotconfig/PathGradient.tsx

@@ -1,24 +1,23 @@
 import {
-  DifferentialDriveSample,
+  DifferentialSample,
   SwerveSample
 } from "../../../document/2025/DocumentTypes";
 import { IDocumentStore } from "../../../document/DocumentModel";
 
 /**
  * Represents a path gradient.
  */
-export type PathGradientArgs<S extends SwerveSample | DifferentialDriveSample> =
-  {
-    point: S;
-    prev: S;
-    next: S;
-    arr: S[][];
-    total: number;
-    count: number;
-    sect: number;
-    idxInSect: number;
-    documentModel: IDocumentStore;
-  };
+export type PathGradientArgs<S extends SwerveSample | DifferentialSample> = {
+  point: S;
+  prev: S;
+  next: S;
+  arr: S[][];
+  total: number;
+  count: number;
+  sect: number;
+  idxInSect: number;
+  documentModel: IDocumentStore;
+};
 export type PathGradient = {
   /**
    * The name/key of the path gradient.

src/components/config/robotconfig/RobotConfigPanel.tsx

@@ -59,9 +59,9 @@ class RobotConfigPanel extends Component<Props, State> {
             <Switch
               size="small"
               sx={{ gridColumn: 2 }}
-              checked={doc.type === "DifferentialDrive"}
+              checked={doc.type === "Differential"}
               onChange={(e, checked) =>
-                doc.setType(checked ? "DifferentialDrive" : "Swerve")
+                doc.setType(checked ? "Differential" : "Swerve")
               }
             ></Switch>
           </div>

src/document/2025/v2025_0_0.ts

@@ -84,7 +84,7 @@ export interface SwerveSample {
   fy?: [number, number, number, number];
 }
 
-export interface DifferentialDriveSample {
+export interface DifferentialSample {
   t: number;
   x: number;
   y: number;
@@ -128,10 +128,10 @@ export interface ChoreoPath<T extends ExprOrNumber> {
   constraints: Constraint[];
 }
 
-export type SampleType = "Swerve" | "DifferentialDrive";
+export type SampleType = "Swerve" | "Differential";
 export interface Output {
   waypoints: number[];
-  samples: SwerveSample[][] | DifferentialDriveSample[][];
+  samples: SwerveSample[][] | DifferentialSample[][];
   forcesAvailable: boolean;
 }
 

src/document/DocumentModel.tsx

@@ -55,7 +55,7 @@ export const SelectableItem = types.union(
 );
 export const ISampleType = types.enumeration<SampleType>([
   "Swerve",
-  "DifferentialDrive"
+  "Differential"
 ]);
 export const DocumentStore = types
   .model("DocumentStore", {

src/document/path/ChoreoTrajStore.ts

@@ -1,6 +1,6 @@
 import { Instance, destroy, getEnv, types } from "mobx-state-tree";
 import {
-  DifferentialDriveSample,
+  DifferentialSample,
   Output,
   type SwerveSample
 } from "../2025/DocumentTypes";
@@ -10,12 +10,12 @@ import { EventMarkerStore, IEventMarkerStore } from "../EventMarkerStore";
 export const ChoreoTrajStore = types
   .model("ChoreoTrajStore", {
     waypoints: types.frozen<number[]>(),
-    samples: types.frozen<SwerveSample[][] | DifferentialDriveSample[][]>(),
+    samples: types.frozen<SwerveSample[][] | DifferentialSample[][]>(),
     forcesAvailable: false,
     markers: types.array(EventMarkerStore)
   })
   .views((self) => ({
-    get fullTraj(): SwerveSample[] | DifferentialDriveSample[] {
+    get fullTraj(): SwerveSample[] | DifferentialSample[] {
       //@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) {
@@ -29,7 +29,7 @@ export const ChoreoTrajStore = types
         this.fullTraj.length === 0 || Object.hasOwn(this.fullTraj[0], "vx")
       );
     },
-    get isDifferentialDrive(): boolean {
+    get isDifferential(): boolean {
       return (
         this.fullTraj.length === 0 || Object.hasOwn(this.fullTraj[0], "vl")
       );
@@ -136,7 +136,7 @@ export const ChoreoTrajStore = types
       self.markers.push(marker as IEventMarkerStore);
       return marker;
     },
-    setSamples(samples: SwerveSample[][] | DifferentialDriveSample[][]) {
+    setSamples(samples: SwerveSample[][] | DifferentialSample[][]) {
       self.samples = samples;
     },
     setWaypoints(waypoints: number[]) {

src/document/path/PathUIStore.ts

@@ -1,16 +1,13 @@
 import { types, getEnv, Instance } from "mobx-state-tree";
-import {
-  DifferentialDriveSample,
-  type SwerveSample
-} from "../2025/DocumentTypes";
+import { DifferentialSample, type SwerveSample } from "../2025/DocumentTypes";
 import { Env } from "../DocumentManager";
 
 export const PathUIStore = types
   .model("PathUIStore", {
     visibleWaypointsStart: types.number,
     visibleWaypointsEnd: types.number,
     generationProgress: types.frozen<
-      Array<SwerveSample> | Array<DifferentialDriveSample>
+      Array<SwerveSample> | Array<DifferentialSample>
     >([]),
     generating: false,
     generationIterationNumber: 0
@@ -32,7 +29,7 @@ export const PathUIStore = types
       });
     },
     setInProgressTrajectory(
-      trajectory: Array<SwerveSample> | Array<DifferentialDriveSample>
+      trajectory: Array<SwerveSample> | Array<DifferentialSample>
     ) {
       getEnv<Env>(self).withoutUndo(() => {
         self.generationProgress = trajectory;

src/util/MathUtil.ts

@@ -1,5 +1,5 @@
 import {
-  DifferentialDriveSample,
+  DifferentialSample,
   SwerveSample
 } from "../document/2025/DocumentTypes";
 
@@ -32,7 +32,7 @@ export function angleModulus(input: number) {
 }
 
 export type Pose = { x: number; y: number; rot: number };
-export function storeToPose(store: SwerveSample | DifferentialDriveSample) {
+export function storeToPose(store: SwerveSample | DifferentialSample) {
   return { x: store.x, y: store.y, rot: store.heading };
 }
 export function interpolate(p1: Pose, p2: Pose, frac: number) {
@@ -49,7 +49,7 @@ export function interpolate(p1: Pose, p2: Pose, frac: number) {
 }
 export function sample(
   timeSeconds: number,
-  m_states: Array<SwerveSample> | Array<DifferentialDriveSample>
+  m_states: Array<SwerveSample> | Array<DifferentialSample>
 ): Pose {
   if (timeSeconds <= m_states[0].t) {
     return storeToPose(m_states[0]);