Spline Test

// Spline Test
.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.setTangent(0)
.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.setTangent(0)
.setReversed(true)
.splineTo(new Vector2d(24, 24), Math.PI / 2)

.setTangent(0)
.setReversed(false)
.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)

.turnTo(Math.toRadians(180))

.splineTo(new Vector2d(-48, 48), Math.PI / 2)

.splineTo(new Vector2d(0, 0), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.setTangent(0)
.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.setTangent(0)
.setReversed(true)
.splineTo(new Vector2d(24, 24), Math.PI / 2)

.setTangent(0)
.setReversed(false)
.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)

.turnTo(Math.toRadians(180))

.splineTo(new Vector2d(-48, 48), Math.PI / 2)

.splineTo(new Vector2d(0, 0), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.setTangent(0)
.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.setTangent(0)
.setReversed(true)
.splineTo(new Vector2d(24, 24), Math.PI / 2)

.setTangent(0)
.setReversed(false)
.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)

.turnTo(Math.toRadians(180))

.splineTo(new Vector2d(-48, 48), Math.PI / 2)

.splineTo(new Vector2d(0, 0), Math.PI / 2)

.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))

.setTangent(0)
.splineToSplineHeading(new Pose2d(48, 48, Math.toRadians(90)), Math.PI / 2)

.setTangent(0)
.setReversed(true)
.splineTo(new Vector2d(24, 24), Math.PI / 2)

.setTangent(0)
.setReversed(false)
.splineToConstantHeading(new Vector2d(0, 36), Math.PI / 2)

.turnTo(Math.toRadians(180))

.splineTo(new Vector2d(-48, 48), Math.PI / 2)

.splineTo(new Vector2d(0, 0), Math.PI / 2)