{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://libraries.horizon36596.org/zenith/schema/v1/robot.json",
  "title": "Zenith robot file, formatVersion 1",
  "type": "object",
  "properties": {
    "$schema": {
      "type": "string"
    },
    "formatVersion": {
      "type": "number",
      "const": 1
    },
    "name": {
      "type": "string",
      "minLength": 1
    },
    "frame": {
      "type": "object",
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          "type": "string",
          "enum": [
            "+x",
            "-x",
            "+y",
            "-y"
          ]
        },
        "left": {
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            "-x",
            "+y",
            "-y"
          ]
        },
        "headingZero": {
          "type": "string",
          "enum": [
            "+x",
            "+y"
          ]
        },
        "headingPositive": {
          "type": "string",
          "enum": [
            "ccw",
            "cw"
          ]
        }
      },
      "required": [
        "forward",
        "left",
        "headingZero",
        "headingPositive"
      ],
      "additionalProperties": false
    },
    "footprint": {
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      "properties": {
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          "type": "object",
          "properties": {
            "lengthIn": {
              "type": "number",
              "exclusiveMinimum": 0
            },
            "widthIn": {
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              "exclusiveMinimum": 0
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              "minLength": 1
            }
          },
          "required": [
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            "widthIn"
          ],
          "additionalProperties": false
        },
        "expandedIn": {
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        },
        "centreOfRotationIn": {
          "type": "object",
          "properties": {
            "xIn": {
              "type": "number"
            },
            "yIn": {
              "type": "number"
            },
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            }
          },
          "required": [
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          ],
          "additionalProperties": false
        },
        "heightIn": {
          "type": "object",
          "properties": {
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            }
          },
          "required": [
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          ],
          "additionalProperties": false
        },
        "clearanceIn": {
          "type": "object",
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              "type": "number",
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            },
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            }
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          "additionalProperties": false
        }
      },
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        "expandedIn",
        "centreOfRotationIn"
      ],
      "additionalProperties": false
    },
    "heightIn": {
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        {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        {
          "type": "number",
          "exclusiveMinimum": 0
        }
      ]
    },
    "kinematics": {
      "type": "object",
      "properties": {
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          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "maxStrafeVelInPerS": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "forwardDecelInPerS2": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "strafeDecelInPerS2": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "accelInPerS2": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "maxAngularVelRadPerS": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "defaultPathSpeedFraction": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "settleS": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "strafeFractionWarn": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "strafeFractionThreshold": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "sweepSpeedFraction": {
          "$ref": "#/properties/footprint/properties/heightIn"
        },
        "calibration": {
          "type": "object",
          "properties": {
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              "type": "number",
              "exclusiveMinimum": 0
            },
            "samples": {
              "type": "integer",
              "minimum": 0
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            }
          },
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          ],
          "additionalProperties": false
        },
        "follower": {
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          "properties": {
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              "type": "string",
              "enum": [
                "pedro"
              ]
            },
            "version": {
              "type": "string",
              "minLength": 1
            },
            "holdEnd": {
              "type": "boolean"
            },
            "forwardTranslationalPowerPerIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "strafeTranslationalPowerPerIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "headingPowerPerRad": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "headingStaticPower": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "coastPowerPerInPerS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "coastFeedforwardPowerPerInPerS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "brakeFeedforwardPowerPerInPerS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "maxBrakingPower": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "headingDriveRatio": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "brakeAggression": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "brakeLinearForwardS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "brakeQuadraticForwardS2PerIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "brakeLinearStrafeS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "brakeQuadraticStrafeS2PerIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "headingBrakeLinearS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "headingBrakeQuadraticS2PerRad": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "endParametricT": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "endHeadingToleranceRad": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "endTranslationalToleranceIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "endVelocityToleranceInPerS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "holdTimeoutS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "headingDeviationToleranceRad": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "translationalDeviationToleranceIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "minCorrectionDistanceIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "cosineScale": {
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                {
                  "type": "boolean"
                },
                {
                  "type": "object",
                  "properties": {
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                      "type": "boolean"
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                    }
                  },
                  "required": [
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                  ],
                  "additionalProperties": false
                }
              ]
            },
            "turnBeforeDriving": {
              "$ref": "#/properties/kinematics/properties/follower/properties/cosineScale"
            }
          },
          "required": [
            "library",
            "version",
            "holdEnd"
          ],
          "additionalProperties": false
        },
        "drivetrain": {
          "type": "object",
          "properties": {
            "trackWidthIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "wheelBaseIn": {
              "$ref": "#/properties/footprint/properties/heightIn"
            },
            "wheelResponseRatePerS": {
              "$ref": "#/properties/footprint/properties/heightIn"
            }
          },
          "additionalProperties": false
        }
      },
      "required": [
        "maxForwardVelInPerS",
        "maxStrafeVelInPerS",
        "forwardDecelInPerS2",
        "strafeDecelInPerS2",
        "accelInPerS2",
        "maxAngularVelRadPerS",
        "defaultPathSpeedFraction",
        "follower"
      ],
      "additionalProperties": false
    },
    "mouths": {
      "type": "array",
      "items": {
        "type": "object",
        "properties": {
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            "type": "string",
            "minLength": 1
          },
          "side": {
            "type": "string",
            "enum": [
              "FRONT",
              "BACK",
              "LEFT",
              "RIGHT"
            ]
          },
          "offsetIn": {
            "type": "object",
            "properties": {
              "xIn": {
                "type": "number"
              },
              "yIn": {
                "type": "number"
              }
            },
            "required": [
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            "additionalProperties": false
          },
          "widthIn": {
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          },
          "depthIn": {
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            "exclusiveMinimum": 0
          },
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          }
        },
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          "side",
          "offsetIn",
          "widthIn",
          "depthIn"
        ],
        "additionalProperties": false
      }
    },
    "capacity": {
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          "type": "string",
          "minLength": 1
        },
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        },
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        }
      },
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        "max"
      ],
      "additionalProperties": false
    },
    "shooter": {
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        },
        "turretRangeRad": {
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            },
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              "$ref": "#/properties/footprint/properties/startIn/properties/provenance"
            }
          },
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            "maxRad"
          ],
          "additionalProperties": false
        },
        "cadenceS": {
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          "additionalProperties": {
            "type": [
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              "string"
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          }
        },
        "settleS": {
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        }
      },
      "required": [
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      ],
      "additionalProperties": true
    },
    "commands": {
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        "properties": {
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            "minLength": 1
          },
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    "frame",
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  ],
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}