diff --git a/.github/workflows/benchmark.yml b/.github/workflows/benchmark.yml
new file mode 100644
index 0000000000..d3188d916f
--- /dev/null
+++ b/.github/workflows/benchmark.yml
@@ -0,0 +1,279 @@
+name: Solver Time Benchmark
+
+# Comment-triggered: a maintainer (OWNER / MEMBER / COLLABORATOR) types
+# `/bench` on a PR. The work is split across parallel jobs to cut wall-clock:
+#
+#   resolve ─ gate + ack + resolve PR head/base SHAs
+#      │
+#      ├─ build (matrix: pr | base) ── two self-contained choreo-cli binaries
+#      │                               built concurrently, uploaded as artifacts
+#      │
+#      └─ bench (matrix: one job per project variant) ── each downloads both
+#                 binaries, benches ONLY its variant, renders that variant's
+#                 SVGs, uploads a per-variant artifact
+#      │
+#   collate ─ merges every per-variant artifact, pushes the rendered SVGs to a
+#             per-run CUSTOM ref `refs/bench-renders/<run_id>` (a hidden ref,
+#             not a branch/tag, so it never shows in the Branches/Tags UI) and
+#             links them by commit SHA so they're viewable in the browser via
+#             GitHub's blob viewer (not just a ZIP), builds the comparison
+#             report, uploads the consolidated artifact, posts a fresh PR comment
+
+on:
+  issue_comment:
+    types: [created]
+
+permissions:
+  pull-requests: write
+  contents: write   # collate pushes trajectory SVGs to a per-run refs/bench-renders/* custom ref
+  actions: read
+
+jobs:
+  resolve:
+    # Only run when:
+    #   - the comment is on a PR (not a plain issue)
+    #   - the body starts with "/bench"
+    #   - the commenter has write access (gates external drive-by triggers)
+    if: >-
+      github.event.issue.pull_request &&
+      startsWith(github.event.comment.body, '/bench') &&
+      (github.event.comment.author_association == 'OWNER' ||
+       github.event.comment.author_association == 'MEMBER' ||
+       github.event.comment.author_association == 'COLLABORATOR')
+    runs-on: ubuntu-slim
+    outputs:
+      head_sha: ${{ steps.pr.outputs.head_sha }}
+      base_sha: ${{ steps.pr.outputs.base_sha }}
+      head_repo: ${{ steps.pr.outputs.head_repo }}
+      variants: ${{ steps.variants.outputs.variants }}
+    steps:
+      - name: Acknowledge the trigger comment
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          comment-id: ${{ github.event.comment.id }}
+          reactions: rocket
+
+      - name: Resolve PR head + base
+        id: pr
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const pr = await github.rest.pulls.get({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              pull_number: context.issue.number,
+            });
+            core.setOutput('head_sha', pr.data.head.sha);
+            core.setOutput('base_sha', pr.data.base.sha);
+            core.setOutput('head_repo', pr.data.head.repo.full_name);
+
+      - name: Checkout test-projects + enumerate script
+        uses: actions/checkout@v6
+        with:
+          repository: ${{ steps.pr.outputs.head_repo }}
+          ref: ${{ steps.pr.outputs.head_sha }}
+          persist-credentials: false
+          sparse-checkout: |
+            test-projects
+            scripts/ci/enumerate-variants.sh
+          sparse-checkout-cone-mode: false
+
+      - name: Enumerate project variants
+        id: variants
+        run: bash scripts/ci/enumerate-variants.sh
+
+  # --------------------------------------------------------------------------
+  # build choreo-cli for both PR and base concurrently
+  build:
+    needs: resolve
+    runs-on: ubuntu-24.04-arm
+    strategy:
+      fail-fast: false
+      matrix:
+        side: [pr, base]
+    steps:
+      - name: Checkout PR head
+        uses: actions/checkout@v6
+        with:
+          repository: ${{ needs.resolve.outputs.head_repo }}
+          ref: ${{ needs.resolve.outputs.head_sha }}
+          fetch-depth: 0
+          persist-credentials: false
+
+      # For the base binary, overlay the base branch's Rust crates on top of
+      # the PR checkout (everything else — scripts, test-projects — is unused
+      # by the build itself).
+      - name: Overlay base sources
+        if: matrix.side == 'base'
+        run: |
+          git fetch origin ${{ needs.resolve.outputs.base_sha }}
+          git checkout ${{ needs.resolve.outputs.base_sha }} -- \
+            src-core src-cli trajoptlib Cargo.lock Cargo.toml
+
+      - name: Make GCC 14 the default toolchain
+        run: |
+          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
+          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
+
+      - name: Set up sccache
+        uses: mozilla-actions/sccache-action@v0.0.10
+
+      - name: Build choreo-cli (${{ matrix.side }})
+        # if base is schema-incompatible continue anyways
+        continue-on-error: ${{ matrix.side == 'base' }}
+        run: cargo build --release -p choreo-cli
+        env:
+          RUSTC_WRAPPER: sccache
+          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_STARTUP_TIMEOUT: "600"
+
+      - name: Upload binary
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: cli-${{ matrix.side }}
+          path: target/release/choreo-cli
+          if-no-files-found: warn
+
+  # --------------------------------------------------------------------------
+  # parallelize bench for each project
+  # not parallelized further to avoid variance in HW causing noisy comparisons
+  bench:
+    needs: [resolve, build]
+    runs-on: ubuntu-24.04-arm
+    strategy:
+      fail-fast: false
+      matrix:
+        variant: ${{ fromJSON(needs.resolve.outputs.variants) }}
+    env:
+      VARIANT: ${{ matrix.variant }}
+    steps:
+      - name: Checkout PR head
+        uses: actions/checkout@v6
+        with:
+          repository: ${{ needs.resolve.outputs.head_repo }}
+          ref: ${{ needs.resolve.outputs.head_sha }}
+          persist-credentials: false
+
+      - name: Download PR binary
+        uses: actions/download-artifact@v7
+        with:
+          name: cli-pr
+          path: bin-pr
+
+      - name: Download base binary
+        id: dl_base
+        continue-on-error: true
+        uses: actions/download-artifact@v7
+        with:
+          name: cli-base
+          path: bin-base
+
+      - name: Make binaries executable
+        run: |
+          chmod +x bin-pr/choreo-cli
+          [ -f bin-base/choreo-cli ] && chmod +x bin-base/choreo-cli || true
+
+      - name: Stage variant
+        run: |
+          mkdir -p tp-pr tp-base
+          cp -r "test-projects/$VARIANT" "tp-pr/$VARIANT"
+          cp -r "test-projects/$VARIANT" "tp-base/$VARIANT"
+
+      - name: Run PR benchmark
+        continue-on-error: true
+        timeout-minutes: 60
+        run: bash scripts/run-bench.sh "$PWD/bin-pr/choreo-cli" tp-pr out-pr "$VARIANT"
+
+
+      - name: Run base benchmark
+        continue-on-error: true # tolerate missing / schema-incompatible base
+        timeout-minutes: 60
+        run: |
+          if [ -x bin-base/choreo-cli ]; then
+            bash scripts/run-bench.sh "$PWD/bin-base/choreo-cli" tp-base out-base "$VARIANT"
+          else
+            echo "no base binary available — skipping base run for $VARIANT"
+          fi
+
+      - name: Render trajectory SVGs with linear acceleration coloring
+        run: bash scripts/ci/render-variant.sh
+
+      - name: Upload per-variant artifact
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: bench-${{ matrix.variant }}
+          path: |
+            out-pr/**
+            out-base/**
+            tp-pr/**
+            tp-base/**
+          if-no-files-found: warn
+
+  # --------------------------------------------------------------------------
+  collate:
+    needs: [resolve, bench]
+    runs-on: ubuntu-slim
+    steps:
+      - name: Checkout PR head
+        uses: actions/checkout@v6
+        with:
+          repository: ${{ needs.resolve.outputs.head_repo }}
+          ref: ${{ needs.resolve.outputs.head_sha }}
+          persist-credentials: false
+          sparse-checkout: scripts
+          sparse-checkout-cone-mode: false
+
+      - name: Merge per-variant artifacts
+        continue-on-error: true # if every bench job was skipped, still comment
+        uses: actions/download-artifact@v7
+        with:
+          pattern: bench-*
+          path: merged
+          merge-multiple: true
+
+      - name: Publish renders to a ref
+        id: renders
+        continue-on-error: true # a missing renders link must not block the comment
+        uses: actions/github-script@v7
+        env:
+          HEAD_SHA: ${{ needs.resolve.outputs.head_sha }}
+        with:
+          script: |
+            const publish = require(`${process.env.GITHUB_WORKSPACE}/scripts/ci/publish-renders.cjs`)
+            await publish({ github, context, core })
+
+      - name: Build markdown report
+        env:
+          ARTIFACT_URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+          HEAD_SHA: ${{ needs.resolve.outputs.head_sha }}
+          RENDERS_URL: ${{ steps.renders.outputs.url }}
+        run: |
+          node scripts/bench-report.mjs \
+            --pr merged/tp-pr --base merged/tp-base \
+            --pr-reports merged/out-pr --base-reports merged/out-base \
+            --artifact-url "$ARTIFACT_URL" \
+            ${RENDERS_URL:+--renders-url "$RENDERS_URL"} \
+            --commit "${HEAD_SHA:0:7}" \
+            --out report.md
+          cat report.md
+
+      - name: Upload consolidated bench artifact
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: bench-output-${{ github.run_id }}
+          path: |
+            merged/out-pr/**
+            merged/out-base/**
+            merged/tp-pr/**/*.svg
+            merged/tp-base/**/*.svg
+            report.md
+          if-no-files-found: warn
+
+      - name: Post benchmark comment on PR
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          issue-number: ${{ github.event.issue.number }}
+          body-path: report.md
diff --git a/.gitignore b/.gitignore
index 241dc94a23..a5a7b7f5e8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -54,3 +54,6 @@ CMakeUserPresets.json
 build/
 cli/
 test-tmp*/
+
+# Local PR-benchmark output (scripts/bench-local.sh)
+bench-local/
diff --git a/Cargo.lock b/Cargo.lock
index 00794a83b2..3c6867e2d9 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -565,6 +565,8 @@ version = "2026.0.3"
 dependencies = [
  "choreo-core",
  "clap",
+ "serde",
+ "serde_json",
  "tracing",
  "tracing-subscriber",
 ]
diff --git a/scripts/bench-local.sh b/scripts/bench-local.sh
new file mode 100755
index 0000000000..2f59eb6891
--- /dev/null
+++ b/scripts/bench-local.sh
@@ -0,0 +1,172 @@
+#!/usr/bin/env bash
+# Local equivalent of .github/workflows/benchmark.yml — runs the bench pipeline
+# against your working tree, optionally comparing to a base git ref, and writes
+# everything (SVGs + reports + markdown) into ./bench-local/.
+#
+# Usage:
+#   scripts/bench-local.sh              # PR-only run, no comparison
+#   scripts/bench-local.sh <base-ref>   # full comparison vs <base-ref> (e.g. main)
+#
+# Requires: cargo and node (node also performs run-bench.sh's per-trajectory
+# JSON merge). The base build uses `git worktree` so your current checkout
+# stays untouched.
+#
+# Concurrency (locally we want to saturate the box, unlike CI's 1-variant-per-
+# job matrix): variants are benched in parallel, and within each variant
+# run-bench.sh runs that variant's trajectories in parallel too. Peak solver
+# processes ≈ BENCH_VARIANT_JOBS × BENCH_TRAJ_JOBS, so size the product to your
+# core count:
+#   BENCH_VARIANT_JOBS  max variants in parallel   (default: nproc/4, min 1)
+#   BENCH_TRAJ_JOBS     trajectories per variant   (run-bench.sh, default 4)
+# Defaults give ≈ nproc concurrent solves. Example:
+#   BENCH_VARIANT_JOBS=8 BENCH_TRAJ_JOBS=4 scripts/bench-local.sh
+
+set -euo pipefail
+
+REPO_ROOT=$(git -C "$(dirname "$0")" rev-parse --show-toplevel)
+cd "$REPO_ROOT"
+
+BASE_REF=${1:-}
+NPROC=$(nproc 2>/dev/null || echo 4)
+VARIANT_JOBS=${BENCH_VARIANT_JOBS:-$(( NPROC / 4 > 0 ? NPROC / 4 : 1 ))}
+OUT_ROOT="$REPO_ROOT/bench-local"
+PR_TP="$OUT_ROOT/tp-pr"
+BASE_TP="$OUT_ROOT/tp-base"
+PR_OUT="$OUT_ROOT/out-pr"
+BASE_OUT="$OUT_ROOT/out-base"
+BASE_WORKTREE="$OUT_ROOT/base-worktree"
+
+if [ ! -d "$REPO_ROOT/test-projects" ]; then
+  echo "test-projects/ not found at repo root" >&2
+  exit 1
+fi
+for cmd in cargo node; do
+  command -v "$cmd" >/dev/null || { echo "missing required command: $cmd" >&2; exit 1; }
+done
+
+# Bench every variant under $2 with $1, writing reports to $3, running up to
+# $VARIANT_JOBS variants concurrently. Each variant is a separate run-bench.sh
+# process (its own SHARD_ROOT, its own variant-prefixed report files — no
+# cross-variant collision in the shared out dir). Per-variant output is teed to
+# bench-local/logs/<label>-<variant>.log so the parallel console stays legible;
+# a variant failing is reported but does not abort the rest.
+bench_all() {
+  local cli=$1 tp=$2 out=$3 label=$4
+  shopt -s nullglob
+  local dirs=("$tp"/*/) d variant
+  if [ "${#dirs[@]}" -eq 0 ]; then
+    echo "no variants under $tp" >&2
+    return 1
+  fi
+  mkdir -p "$OUT_ROOT/logs"
+  echo "==> Running $label benchmark — ${#dirs[@]} variants, up to $VARIANT_JOBS in parallel (${BENCH_TRAJ_JOBS:-4} trajectories each)"
+  for d in "${dirs[@]}"; do
+    variant=$(basename "$d")
+    [ -f "$d/project.chor" ] || { echo "  skip $variant (no project.chor)" >&2; continue; }
+    while [ "$(jobs -rp | wc -l)" -ge "$VARIANT_JOBS" ]; do wait -n || true; done
+    {
+      lf="$OUT_ROOT/logs/$label-$variant.log"
+      if bash "$REPO_ROOT/scripts/run-bench.sh" "$cli" "$tp" "$out" "$variant" >"$lf" 2>&1; then
+        echo "  done  $label/$variant"
+      else
+        echo "  FAIL  $label/$variant (see $lf)" >&2
+      fi
+    } &
+  done
+  wait
+}
+
+rm -rf "$OUT_ROOT"
+mkdir -p "$PR_OUT" "$BASE_OUT"
+
+echo "==> Building PR choreo-cli (current tree)"
+cargo build --release -p choreo-cli
+PR_CLI="$REPO_ROOT/target/release/choreo-cli"
+cp "$PR_CLI" "$OUT_ROOT/cli-pr"
+
+echo "==> Snapshotting test-projects/"
+cp -r "$REPO_ROOT/test-projects" "$PR_TP"
+if [ -n "$BASE_REF" ]; then
+  cp -r "$REPO_ROOT/test-projects" "$BASE_TP"
+else
+  # No base ref — give the report builder an empty dir so the "base" columns
+  # collapse to "—" instead of silently comparing PR regen to whatever stale
+  # samples happen to be committed to test-projects/.
+  mkdir -p "$BASE_TP"
+fi
+
+bench_all "$OUT_ROOT/cli-pr" "$PR_TP" "$PR_OUT" PR
+
+ARTIFACT_ARG=()
+if [ -n "$BASE_REF" ]; then
+  if ! git rev-parse --verify --quiet "$BASE_REF" >/dev/null; then
+    echo "base ref '$BASE_REF' is not a valid git ref" >&2
+    exit 1
+  fi
+  echo "==> Setting up worktree for base ref '$BASE_REF'"
+  git worktree add --detach "$BASE_WORKTREE" "$BASE_REF"
+  trap 'git worktree remove --force "$BASE_WORKTREE" 2>/dev/null || true' EXIT
+
+  # Build base CLI inside the base worktree using a separate target dir so we
+  # don't blow away the working-tree's incremental cache.
+  echo "==> Building base choreo-cli (in worktree, separate target dir)"
+  (
+    cd "$BASE_WORKTREE"
+    CARGO_TARGET_DIR="$OUT_ROOT/base-target" cargo build --release -p choreo-cli
+  )
+  cp "$OUT_ROOT/base-target/release/choreo-cli" "$OUT_ROOT/cli-base"
+
+  bench_all "$OUT_ROOT/cli-base" "$BASE_TP" "$BASE_OUT" base || true
+fi
+
+echo "==> Rendering SVGs"
+render_side() {
+  local side=$1
+  local root=$2
+  for traj in "$root"/*/*.traj; do
+    [ -f "$traj" ] || continue
+    variant=$(basename "$(dirname "$traj")")
+    name=$(basename "$traj" .traj)
+    # Best-effort per trajectory, matching scripts/ci/render-variant.sh: one
+    # bad render must not abort the whole local run under `set -e`.
+    node "$REPO_ROOT/scripts/render-traj.mjs" \
+      --traj "$traj" \
+      --out "${traj%.traj}.${side}.svg" \
+      --title "${side^^}  ${variant} · ${name}" || true
+  done
+}
+render_side pr "$PR_TP"
+if [ -n "$BASE_REF" ]; then
+  render_side base "$BASE_TP"
+fi
+
+echo "==> Collecting SVGs into bench-local/svgs/"
+mkdir -p "$OUT_ROOT/svgs"
+find "$PR_TP" "$BASE_TP" -name "*.svg" -print0 2>/dev/null | while IFS= read -r -d '' f; do
+  variant=$(basename "$(dirname "$f")")
+  cp "$f" "$OUT_ROOT/svgs/${variant}__$(basename "$f")"
+done
+
+echo "==> Building markdown report"
+# No --commit: a local run benches the working tree (typically with uncommitted
+# changes), so a HEAD SHA in the report header would mislabel what was built.
+node "$REPO_ROOT/scripts/bench-report.mjs" \
+  --pr "$PR_TP" \
+  --base "$BASE_TP" \
+  --pr-reports "$PR_OUT" \
+  --base-reports "$BASE_OUT" \
+  --artifact-url "file://$OUT_ROOT/svgs/" \
+  --out "$OUT_ROOT/report.md"
+
+echo
+echo "------------------------------------------------------------"
+cat "$OUT_ROOT/report.md"
+echo "------------------------------------------------------------"
+echo
+echo "Outputs:"
+echo "  Report:  $OUT_ROOT/report.md"
+echo "  SVGs:    $OUT_ROOT/svgs/"
+echo "  PR raw:  $PR_OUT/  + $PR_TP/"
+if [ -n "$BASE_REF" ]; then
+  echo "  Base raw: $BASE_OUT/ + $BASE_TP/"
+fi
diff --git a/scripts/bench-report.mjs b/scripts/bench-report.mjs
new file mode 100644
index 0000000000..e3198ec5a3
--- /dev/null
+++ b/scripts/bench-report.mjs
@@ -0,0 +1,473 @@
+#!/usr/bin/env node
+// Build a markdown comparison report from two `run-bench.sh` output dirs.
+//
+// Usage:
+//   node scripts/bench-report.mjs \
+//     --pr <PR test-projects dir>  --base <BASE test-projects dir> \
+//     --pr-reports <PR out dir>    --base-reports <BASE out dir> \
+//     --artifact-url <url>         --commit <sha> --out <report.md>
+//
+// Each *-reports dir holds one CLI report per run: `<variant>.run<N>.report.json`
+// (an array of {name, solve_ms, ok, error}). We aggregate the runs per
+// trajectory into mean ± stdev. Trajectory geometry (length / duration /
+// sample count) is read from the staged `<variant>/<name>.traj` ONLY when that
+// side actually generated it this run (report says ok) — otherwise the `.traj`
+// on disk is stale committed input, not this run's output.
+
+import { readFileSync, writeFileSync, existsSync, readdirSync, statSync } from "node:fs";
+import { join } from "node:path";
+
+const argv = parseArgs(process.argv.slice(2));
+for (const k of ["pr", "base", "pr-reports", "base-reports", "out"]) {
+  if (!argv[k]) {
+    console.error(`missing required --${k}`);
+    process.exit(2);
+  }
+}
+const artifactUrl = argv["artifact-url"] ?? null;
+const commit = argv.commit ?? null;
+// Commit-pinned base blob URL (.../blob/<sha>) from publish-renders.cjs; SVGs
+// live at <rendersUrl>/<variant>/<name>.{pr,base}.svg (matches the bench job's
+// `${traj%.traj}.${side}.svg` render paths).
+const rendersUrl = argv["renders-url"] ?? null;
+
+// Solve-time regression highlight threshold (bold if |Δ%| exceeds this).
+const SOLVE_PCT_THRESHOLD = 15;
+
+const variants = listVariants(argv.pr);
+const rows = [];
+const summary = {
+  total: 0,        // trajectories seen across all variants
+  comparable: 0,   // generated OK on BOTH sides (the only ones scored)
+  prFailed: 0,     // did not generate on PR (independent of base outcome)
+  baseFailed: 0,   // did not generate on base (independent of PR outcome)
+  flaky: 0,        // some-but-not-all runs OK on a side
+  sumPr: 0,        // Σ mean solve ms over comparable
+  sumBase: 0,
+  pcts: [],        // per-trajectory solve Δ% over comparable
+  durPcts: [],     // per-trajectory duration Δ% over comparable
+  dTimeCount: 0,
+};
+
+for (const variant of variants) {
+  const prRuns = loadRuns(argv["pr-reports"], variant);
+  const baseRuns = loadRuns(argv["base-reports"], variant);
+
+  if (prRuns.length === 0) {
+    rows.push({ variant, noReport: true });
+    continue;
+  }
+
+  // sort names for consistent order
+  const names = [...new Set(prRuns.flatMap(r => r.map(e => e?.name).filter(Boolean)))].sort();
+  for (const name of names) {
+    const pr = aggregateSide(prRuns, name);
+    const base = aggregateSide(baseRuns, name);
+    const prOk = !!(pr && pr.ok);
+    const baseOk = !!(base && base.ok);
+
+    // Only trust geometry from a side that actually produced this traj.
+    const prTraj = prOk ? trajMetrics(join(argv.pr, variant, `${name}.traj`)) : null;
+    const baseTraj = baseOk ? trajMetrics(join(argv.base, variant, `${name}.traj`)) : null;
+
+    let status;
+    if (!prOk) status = "PR_FAILED";
+    else if (!base || base.runs === 0) status = "BASE_MISSING";
+    else if (!baseOk) status = "BASE_FAILED";
+    else if (pr.flaky || base.flaky) status = "FLAKY";
+    else status = "OK";
+
+    const dSolve = prOk && baseOk ? pr.mean - base.mean : null;
+    const pct = dSolve != null && base.mean > 0 ? (dSolve / base.mean) * 100 : null;
+    const dLen = prTraj && baseTraj ? prTraj.length_m - baseTraj.length_m : null;
+    const dTime = prTraj && baseTraj ? prTraj.total_s - baseTraj.total_s : null;
+
+    summary.total++;
+    if (!prOk) summary.prFailed++;
+    if (!baseOk) summary.baseFailed++;
+    if (prOk && baseOk) {
+      summary.comparable++;
+      summary.sumPr += pr.mean;
+      summary.sumBase += base.mean;
+      if (pct != null) summary.pcts.push(pct);
+      if (dTime != null) {
+        summary.dTimeCount++;
+        if (baseTraj.total_s > 0) summary.durPcts.push((dTime / baseTraj.total_s) * 100);
+      }
+    }
+    if ((pr && pr.flaky) || (base && base.flaky)) summary.flaky++;
+
+    rows.push({
+      variant, name, status, pr, base, prOk, baseOk, dSolve, pct,
+      lenPr: prTraj?.length_m, lenBase: baseTraj?.length_m, dLen,
+      timePr: prTraj?.total_s, timeBase: baseTraj?.total_s, dTime,
+      samplesPr: prTraj?.sample_count, samplesBase: baseTraj?.sample_count,
+    });
+  }
+}
+
+writeFileSync(argv.out, renderMarkdown(rows, summary, artifactUrl, commit, rendersUrl));
+
+// ---------- aggregation ----------
+
+function listVariants(dir) {
+  if (!existsSync(dir)) return [];
+  return readdirSync(dir)
+    .filter(n => statSync(join(dir, n)).isDirectory())
+    .filter(n => existsSync(join(dir, n, "project.chor")))
+    .sort();
+}
+
+// All per-run report arrays for a variant: `<variant>.run<N>.report.json`,
+// plus a legacy single `<variant>.report.json` if present.
+function loadRuns(dir, variant) {
+  if (!existsSync(dir)) return [];
+  const files = readdirSync(dir)
+    .filter(f =>
+      f === `${variant}.report.json` ||
+      (f.startsWith(`${variant}.run`) && f.endsWith(".report.json")))
+    .sort();
+  const runs = [];
+  for (const f of files) {
+    try {
+      const j = JSON.parse(readFileSync(join(dir, f), "utf8"));
+      if (Array.isArray(j)) runs.push(j);
+    } catch { /* skip unparseable run */ }
+  }
+  return runs;
+}
+
+function aggregateSide(runs, name) {
+  const entries = runs.map(r => r.find(e => e && e.name === name)).filter(Boolean);
+  if (entries.length === 0) return null;
+  const okEntries = entries.filter(e => e.ok);
+  const samples = okEntries
+    .map(e => e.solve_ms)
+    .filter(v => typeof v === "number" && Number.isFinite(v));
+  const ok = samples.length > 0;
+  const mean = ok ? samples.reduce((a, b) => a + b, 0) / samples.length : null;
+  const sd = ok && samples.length > 1
+    ? Math.sqrt(samples.reduce((a, b) => a + (b - mean) ** 2, 0) / (samples.length - 1))
+    : 0;
+  const error = entries.filter(e => !e.ok).map(e => e.error).filter(Boolean).pop() ?? null;
+  return {
+    ok,
+    flaky: ok && okEntries.length < entries.length,
+    mean, sd, n: samples.length, runs: entries.length, error,
+  };
+}
+
+function trajMetrics(trajPath) {
+  if (!existsSync(trajPath)) return null;
+  let raw;
+  try { raw = JSON.parse(readFileSync(trajPath, "utf8")); }
+  catch { return null; }
+  const samples = raw?.trajectory?.samples ?? [];
+  if (samples.length < 2) return null;
+  let len = 0;
+  for (let i = 1; i < samples.length; i++) {
+    len += Math.hypot(samples[i].x - samples[i - 1].x, samples[i].y - samples[i - 1].y);
+  }
+  return { length_m: len, total_s: samples[samples.length - 1].t, sample_count: samples.length };
+}
+
+// ---------- rendering ----------
+
+function renderMarkdown(rows, summary, artifactUrl, commit, rendersUrl) {
+  const L = [];
+  L.push(commit
+    ? `### Choreo trajectory benchmark — commit \`${commit}\``
+    : `### Choreo trajectory benchmark`);
+  L.push("");
+
+  if (summary.comparable > 0) {
+    const overall = ((summary.sumPr - summary.sumBase) / summary.sumBase) * 100;
+    const med = median(summary.pcts);
+    L.push(`**Solve time ${signedPct(overall)} overall** — PR ${fmtTotal(summary.sumPr)} vs base ${fmtTotal(summary.sumBase)} over ${summary.comparable} comparable trajector${summary.comparable === 1 ? "y" : "ies"} (median per-trajectory ${signedPct(med)}).`);
+    L.push("");
+    L.push(`Trajectory duration: median ${signedPct(median(summary.durPcts))} per trajectory across ${summary.dTimeCount} compared.`);
+  } else {
+    L.push(`**No trajectories generated successfully on both PR and base** — nothing to score. See per-variant statuses below.`);
+  }
+  L.push("");
+  L.push(`${summary.comparable} comparable · ${summary.prFailed} failed on PR · ${summary.baseFailed} failed on base · ${summary.flaky} flaky · ${summary.total} total`);
+  L.push("");
+
+  // Overarching cross-dt tables (above the per-variant dropdowns). No-op when
+  // no variant follows the `<family>-<tier>-dt` scheme.
+  L.push(...dtSummaryTables(rows));
+
+  // Group rows by variant (listVariants order is preserved by push order).
+  const byVariant = new Map();
+  for (const r of rows) {
+    if (!byVariant.has(r.variant)) byVariant.set(r.variant, []);
+    byVariant.get(r.variant).push(r);
+  }
+
+  // Auto-expand the single worst-regressed variant so reviewers see detail
+  // without clicking.
+  let worstVariant = null;
+  let worstPct = -Infinity;
+  for (const [v, rs] of byVariant) {
+    const cmp = rs.filter(r => r.status === "OK" || r.status === "FLAKY");
+    if (cmp.length === 0) continue;
+    const sp = cmp.reduce((a, r) => a + r.pr.mean, 0);
+    const sb = cmp.reduce((a, r) => a + r.base.mean, 0);
+    if (sb > 0) {
+      const p = ((sp - sb) / sb) * 100;
+      if (p > worstPct) { worstPct = p; worstVariant = v; }
+    }
+  }
+
+  for (const [variant, rs] of byVariant) {
+    if (rs.length === 1 && rs[0].noReport) {
+      L.push(`<details><summary><b>${variant}</b> — ⚠ no PR report</summary>`);
+      L.push("");
+      L.push(`The PR CLI produced no report for this variant (it crashed or was killed before writing one).`);
+      L.push("");
+      L.push(`</details>`);
+      L.push("");
+      continue;
+    }
+
+    const cmp = rs.filter(r => r.status === "OK" || r.status === "FLAKY");
+    // Denominator is the variant's trajectory count (rs.length), never a
+    // hardcoded 4. comparable = generated on BOTH sides; PR / base = generated
+    // on that side regardless of the other, so a one-sided failure is obvious.
+    const total = rs.length;
+    const prOkN = rs.filter(r => r.prOk).length;
+    const baseOkN = rs.filter(r => r.baseOk).length;
+    const counts = `${cmp.length}/${total} comparable · ${prOkN}/${total} PR · ${baseOkN}/${total} base`;
+    let verdict;
+    if (cmp.length > 0) {
+      const sp = cmp.reduce((a, r) => a + r.pr.mean, 0);
+      const sb = cmp.reduce((a, r) => a + r.base.mean, 0);
+      verdict = `solve ${signedPct(sb > 0 ? ((sp - sb) / sb) * 100 : 0)} (${counts})`;
+    } else {
+      verdict = counts;
+    }
+    const open = variant === worstVariant ? " open" : "";
+    L.push(`<details${open}><summary><b>${variant}</b> — ${verdict}</summary>`);
+    L.push("");
+    L.push(`| Trajectory | Solve (PR) | Solve (base) | Δsolve | Δlength | Δtime | Samples PR/base | Status |`);
+    L.push(`|---|---:|---:|---:|---:|---:|:---:|:---:|`);
+    for (const r of rs) {
+      L.push("| " + [
+        `\`${r.name}\``,
+        fmtSolve(r.pr),
+        fmtSolve(r.base),
+        fmtDeltaSolve(r.dSolve, r.pct),
+        fmtMeters(r.dLen),
+        fmtSeconds(r.dTime),
+        `${r.samplesPr ?? "—"}/${r.samplesBase ?? "—"}`,
+        fmtStatus(r.status),
+      ].join(" | ") + " |");
+    }
+    L.push("");
+
+    if (rendersUrl) {
+      const items = [];
+      for (const r of rs) {
+        const segs = [`${encodeURIComponent(r.variant)}/${encodeURIComponent(r.name)}`];
+        const links = [];
+        if (r.prOk) links.push(`[PR](${rendersUrl}/${segs}.pr.svg)`);
+        if (r.baseOk) links.push(`[base](${rendersUrl}/${segs}.base.svg)`);
+        if (links.length) items.push(`\`${r.name}\` — ${links.join(" · ")}`);
+      }
+      if (items.length) {
+        L.push(`Renders (open in browser): ${items.join(" — ")}`);
+        L.push("");
+      }
+    }
+
+    L.push(`</details>`);
+    L.push("");
+  }
+
+  if (artifactUrl) {
+    L.push(`Trajectory renders can also be found as a workflow artifact:`);
+    L.push(`→ [Download bench-output artifact](${artifactUrl})`);
+    L.push("");
+  }
+  const maxRuns = rows.reduce(
+    (m, r) => Math.max(m, r.pr?.runs ?? 0, r.base?.runs ?? 0), 0);
+  L.push(`<sub>Solve times are whole-process CPU time (user + sys), averaged over up to ${maxRuns} run${maxRuns === 1 ? "" : "s"} per trajectory.</sub>`);
+  return L.join("\n") + "\n";
+}
+
+// ---------- formatting ----------
+
+function unitFor(ms) { return Math.abs(ms) >= 10000 ? "s" : "ms"; }
+function inUnit(ms, u) { return u === "s" ? ms / 1000 : ms; }
+function decimals(u) { return u === "s" ? 2 : 1; }
+
+function fmtTotal(ms) {
+  const u = unitFor(ms);
+  return `${inUnit(ms, u).toFixed(decimals(u))} ${u}`;
+}
+
+function fmtSolve(s) {
+  if (!s || !s.ok || s.mean == null) return "—";
+  const u = unitFor(s.mean);
+  const m = inUnit(s.mean, u).toFixed(decimals(u));
+  const body = s.n > 1
+    ? `${m} ± ${inUnit(s.sd, u).toFixed(decimals(u))} ${u}`
+    : `${m} ${u}`;
+  if (s.flaky) return `${body} ⚠ ${s.n}/${s.runs} ok`;
+  return s.n > 1 ? body : `${body} (1 run)`;
+}
+
+function fmtDeltaSolve(d, pct) {
+  if (d == null) return "—";
+  const u = unitFor(d);
+  const sign = d >= 0 ? "+" : "-";
+  const mag = Math.abs(inUnit(d, u)).toFixed(decimals(u));
+  const p = pct != null ? ` (${signedPct(pct)})` : "";
+  const txt = `${sign}${mag} ${u}${p}`;
+  return pct != null && Math.abs(pct) > SOLVE_PCT_THRESHOLD ? `**${txt}**` : txt;
+}
+
+function fmtMeters(d) {
+  if (d == null) return "—";
+  return `${d >= 0 ? "+" : "-"}${Math.abs(d).toFixed(4)} m`;
+}
+
+function fmtSeconds(d) {
+  if (d == null) return "—";
+  return `${signedFixed(d, 3)} s`;
+}
+
+function fmtStatus(s) {
+  if (s === "OK") return "OK";
+  if (s === "FLAKY") return "⚠ FLAKY";
+  return `**${s}**`;
+}
+
+function signedPct(p) {
+  if (p == null || !Number.isFinite(p)) return "n/a";
+  return `${p >= 0 ? "+" : "-"}${Math.abs(p).toFixed(1)}%`;
+}
+
+function signedFixed(v, dp) {
+  return `${v >= 0 ? "+" : "-"}${Math.abs(v).toFixed(dp)}`;
+}
+
+function median(xs) {
+  if (!xs.length) return null;
+  const s = [...xs].sort((a, b) => a - b);
+  const m = s.length >> 1;
+  return s.length % 2 ? s[m] : (s[m - 1] + s[m]) / 2;
+}
+
+// Variants named `<family>-<tier>-dt` (e.g. swerve-base-extra-low-dt) feed the
+// cross-dt summary tables.
+function parseDt(variant) {
+  if (typeof variant !== "string" || !variant.endsWith("-dt")) return null;
+  const stem = variant.slice(0, -3); // strip trailing "-dt"
+  // Test longest-first so the "-low" suffix can't steal "-extra-low".
+  for (const tier of ["extra-low", "medium", "high", "low"]) {
+    if (stem.endsWith(`-${tier}`)) {
+      return { family: stem.slice(0, -(tier.length + 1)), tier };
+    }
+  }
+  return null;
+}
+
+// Two overarching tables comparing the dt tiers. Returns [] (no-op) when no
+// variant follows the scheme, so non-dt corpora are unaffected.
+function dtSummaryTables(rows) {
+  // Magnitude order — used for COLUMN order so the sweep reads low→high dt
+  // (plain alphabetical would wrongly put "high" 2nd). Local const: this runs
+  // via renderMarkdown at module-eval time, before a top-level const would init.
+  const DT_TIERS = ["extra-low", "low", "medium", "high"];
+  const tiersSeen = new Set();
+  const families = new Set();
+  const trajNames = new Set();
+  const byFamilyTier = new Map(); // `${family}${tier}` -> rows[]
+  const byCell = new Map();       // `${family}${traj}${tier}` -> row
+
+  for (const r of rows) {
+    const d = parseDt(r.variant);
+    if (!d) continue;
+    families.add(d.family);
+    tiersSeen.add(d.tier);
+    if (r.noReport) continue; // counts toward family/tier, but has no rows
+    trajNames.add(r.name);
+    const ft = `${d.family}${d.tier}`;
+    if (!byFamilyTier.has(ft)) byFamilyTier.set(ft, []);
+    byFamilyTier.get(ft).push(r);
+    byCell.set(`${d.family}${r.name}${d.tier}`, r);
+  }
+
+  if (tiersSeen.size === 0) return [];
+
+  const tiers = DT_TIERS.filter(t => tiersSeen.has(t)); // present, magnitude order
+  const fams = [...families].sort();
+  const trajs = [...trajNames].sort();
+  const alignNum = tiers.map(() => "---:").join("|");
+
+  const L = [];
+  L.push(`#### dt sweep`);
+  L.push("");
+
+  // Table 1 — per-family rollup: Σ PR solve over the family's trajectories.
+  L.push(`Total PR solve per family across dt tiers (sum over that family's trajectories; lower = faster).`);
+  L.push("");
+  L.push(`| Family | ${tiers.join(" | ")} |`);
+  L.push(`|---|${alignNum}|`);
+  let anyPartial = false;
+  for (const fam of fams) {
+    const cells = tiers.map(t => {
+      const rs = byFamilyTier.get(`${fam}${t}`);
+      if (!rs || rs.length === 0) return "—";
+      const ok = rs.filter(r => r.prOk && r.pr && Number.isFinite(r.pr.mean));
+      if (ok.length === 0) return "—";
+      const sum = ok.reduce((a, r) => a + r.pr.mean, 0);
+      const partial = ok.length < trajs.length;
+      if (partial) anyPartial = true;
+      return `${fmtTotal(sum)}${partial ? ` \\*${ok.length}/${trajs.length}` : ""}`;
+    });
+    L.push(`| \`${fam}\` | ${cells.join(" | ")} |`);
+  }
+  if (anyPartial) {
+    L.push("");
+    L.push(`<sub>\\* partial — some trajectories failed on PR for that cell, so its total covers fewer trajectories and is not like-for-like across tiers.</sub>`);
+  }
+  L.push("");
+
+  // Table 2 — regression across dt: PR-vs-base Δ% per family × trajectory.
+  L.push(`PR-vs-base solve Δ% per trajectory across dt tiers (is a regression consistent, or dt-dependent?). Bold = |Δ| > ${SOLVE_PCT_THRESHOLD}%.`);
+  L.push("");
+  L.push(`| Family | Trajectory | ${tiers.join(" | ")} |`);
+  L.push(`|---|---|${alignNum}|`);
+  for (const fam of fams) {
+    for (const tj of trajs) {
+      const cells = tiers.map(t => {
+        const r = byCell.get(`${fam}${tj}${t}`);
+        if (!r) return "—";
+        if (!r.prOk) return "PR✗";
+        if (!r.baseOk) return "base✗";
+        if (r.pct == null) return "~";
+        const txt = signedPct(r.pct);
+        return Math.abs(r.pct) > SOLVE_PCT_THRESHOLD ? `**${txt}**` : txt;
+      });
+      L.push(`| \`${fam}\` | \`${tj}\` | ${cells.join(" | ")} |`);
+    }
+  }
+  L.push("");
+  return L;
+}
+
+function parseArgs(args) {
+  const out = {};
+  for (let i = 0; i < args.length; i++) {
+    const a = args[i];
+    if (a.startsWith("--")) {
+      const key = a.slice(2);
+      const next = args[i + 1];
+      if (next === undefined || next.startsWith("--")) { out[key] = true; }
+      else { out[key] = next; i++; }
+    }
+  }
+  return out;
+}
diff --git a/scripts/ci/enumerate-variants.sh b/scripts/ci/enumerate-variants.sh
new file mode 100755
index 0000000000..67ceaca800
--- /dev/null
+++ b/scripts/ci/enumerate-variants.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+# CI glue (resolve job): emit a JSON array of test-projects/* variants that
+# contain a project.chor as a `variants=[...]` line on $GITHUB_OUTPUT — this
+# feeds the dynamic bench matrix. Fails if none are found.
+set -euo pipefail
+
+list=$(for d in test-projects/*/; do
+  v=$(basename "$d")
+  [ -f "$d/project.chor" ] && printf '%s\n' "$v"
+done | jq -R . | jq -cs .)
+
+if [ "$list" = "[]" ]; then
+  echo "no variants with project.chor found under test-projects/" >&2
+  exit 1
+fi
+
+echo "variants=$list" >> "$GITHUB_OUTPUT"
+echo "matrix: $list"
diff --git a/scripts/ci/publish-renders.cjs b/scripts/ci/publish-renders.cjs
new file mode 100644
index 0000000000..2cbe8e5cde
--- /dev/null
+++ b/scripts/ci/publish-renders.cjs
@@ -0,0 +1,61 @@
+// Stash the rendered SVGs as an orphan commit kept alive by a CUSTOM ref
+// (`refs/bench-renders/<run_id>`), NOT a branch. Refs outside refs/heads/* and
+// refs/tags/* don't appear in GitHub's Branches or Tags UI, so per-run pushes
+// don't pollute it — but the commit is still reachable, so it won't be GC'd and
+// its blobs stay viewable in the web UI. Links use the commit SHA directly
+// (GitHub's blob viewer resolves any SHA reachable from any ref), so we never
+// need a branch/tag name in the URL.
+
+const fs = require("fs");
+const path = require("path");
+
+module.exports = async ({ github, context, core }) => {
+  const { owner, repo } = context.repo;
+  const runId = process.env.GITHUB_RUN_ID;
+  const refName = `bench-renders/${runId}`;
+
+  const tree = [];
+  for (const root of ["merged/tp-pr", "merged/tp-base"]) {
+    if (!fs.existsSync(root)) continue;
+    for (const rel of fs.readdirSync(root, { recursive: true })) {
+      if (!rel.endsWith(".svg")) continue;
+      const abs = path.join(root, rel);
+      if (!fs.statSync(abs).isFile()) continue;
+      const blob = await github.rest.git.createBlob({
+        owner,
+        repo,
+        content: fs.readFileSync(abs).toString("base64"),
+        encoding: "base64",
+      });
+      tree.push({
+        path: rel.split(path.sep).join("/"),
+        mode: "100644",
+        type: "blob",
+        sha: blob.data.sha,
+      });
+    }
+  }
+  if (tree.length === 0) {
+    core.info("no SVGs to publish");
+    return;
+  }
+
+  const t = await github.rest.git.createTree({ owner, repo, tree });
+  const c = await github.rest.git.createCommit({
+    owner,
+    repo,
+    tree: t.data.sha,
+    parents: [],
+    message: `bench renders — run ${runId} (${(process.env.HEAD_SHA || "").slice(0, 7)})`,
+  });
+  await github.rest.git.createRef({
+    owner,
+    repo,
+    ref: `refs/${refName}`,
+    sha: c.data.sha,
+  });
+  core.setOutput(
+    "url",
+    `${process.env.GITHUB_SERVER_URL}/${owner}/${repo}/blob/${c.data.sha}`,
+  );
+};
diff --git a/scripts/ci/render-variant.sh b/scripts/ci/render-variant.sh
new file mode 100755
index 0000000000..7d73c4a755
--- /dev/null
+++ b/scripts/ci/render-variant.sh
@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+# CI glue (bench job): render every <variant>/*.traj under the PR and base
+# staging dirs to a per-step linear-acceleration-colored SVG (one per side).
+# VARIANT comes from the job env (the bench matrix entry). A render failure for
+# one trajectory must not fail the job, so each is best-effort.
+set -euo pipefail
+
+: "${VARIANT:?VARIANT must be set}"
+
+render() {
+  local side=$1 root=$2
+  [ -d "$root/$VARIANT" ] || return 0
+  for traj in "$root/$VARIANT"/*.traj; do
+    name=$(basename "$traj" .traj)
+    node scripts/render-traj.mjs --traj "$traj" \
+      --out "${traj%.traj}.${side}.svg" \
+      --title "${side^^}  ${VARIANT} · ${name}" || true
+  done
+}
+
+render pr   tp-pr
+render base tp-base
diff --git a/scripts/render-traj.mjs b/scripts/render-traj.mjs
new file mode 100644
index 0000000000..55ce49880a
--- /dev/null
+++ b/scripts/render-traj.mjs
@@ -0,0 +1,167 @@
+#!/usr/bin/env node
+// Render a Choreo .traj file as an SVG with per-segment color matching the
+// UI's linear-acceleration gradient from
+// src/components/config/robotconfig/PathGradient.tsx (linearAcceleration).
+//
+// Usage:
+//   node scripts/render-traj.mjs --traj <path.traj> --out <path.svg>
+//                                [--field-svg <path>] [--title <str>]
+
+import { readFileSync, writeFileSync } from "node:fs";
+import { fileURLToPath } from "node:url";
+import { dirname, resolve } from "node:path";
+
+const argv = parseArgs(process.argv.slice(2));
+if (!argv.traj || !argv.out) {
+  console.error("usage: render-traj.mjs --traj <path> --out <path> [--field-svg <path>] [--title <str>]");
+  process.exit(2);
+}
+
+// Field dimensions match src/components/field/svg/fields/FieldDimensions.tsx
+const FIELD_W = 16.541;
+const FIELD_H = 8.0692;
+// Match FieldImage2026.svg's viewBox so the inlined background lines up.
+const VB_X = -0.5, VB_Y = -0.5, VB_W = 17.541, VB_H = 9.0692;
+// An SVG with only a viewBox renders at the CSS default 300x150 in GitHub's
+// blob viewer (hence "tiny"). Give it an explicit intrinsic pixel size.
+const PX_PER_M = 150;
+const PX_W = Math.round(VB_W * PX_PER_M);
+const PX_H = Math.round(VB_H * PX_PER_M);
+
+const here = dirname(fileURLToPath(import.meta.url));
+const defaultField = resolve(here, "..", "src", "components", "field", "svg", "fields", "FieldImage2026.svg");
+const fieldPath = argv["field-svg"] ?? defaultField;
+// Inline the field's vector markup rather than embedding it as a
+// `data:image/svg+xml` <image>. GitHub serves raw blobs with CSP
+// `default-src 'none'`, which blocks data: URIs — that's why the field
+// vanished when the SVG was opened directly. FieldImage2026.svg is pure
+// vector (no rasters), and its viewBox already matches ours, so its inner
+// content can be dropped straight in.
+const fieldInner = readFileSync(fieldPath, "utf8")
+  .replace(/^[\s\S]*?<svg\b[^>]*>/i, "")
+  .replace(/<\/svg>\s*$/i, "")
+  .trim();
+
+const traj = JSON.parse(readFileSync(argv.traj, "utf8")).trajectory;
+const samples = traj.samples ?? [];
+
+if (samples.length < 2) {
+  writeFileSync(argv.out, emptySvg(argv.title, fieldInner));
+  process.exit(0);
+}
+
+// Each segment runs from samples[i] -> samples[i+1] and is colored from the
+// START sample's acceleration. Matches FieldGeneratedLines.tsx (i runs over
+// segments, passed as `index: i` to the gradient function) and
+// PathGradient.tsx:linearAcceleration (hsl(100*a/10, 100%, 50%) — NOT clamped;
+// for accel > 10 m/s^2 the hue wraps past green into cyan/blue).
+const segs = [];
+for (let i = 0; i < samples.length - 1; i++) {
+  const s0 = samples[i];
+  const s1 = samples[i + 1];
+  const a = s0.vl !== undefined
+    ? Math.abs(s0.al + s0.ar) / 2
+    : Math.hypot(s0.ax, s0.ay);
+  const hue = (100 * a) / 10;
+  segs.push(
+    `<line x1="${fmt(s0.x)}" y1="${fmt(s0.y)}" x2="${fmt(s1.x)}" y2="${fmt(s1.y)}" stroke="hsl(${hue.toFixed(2)}, 100%, 50%)" stroke-width="0.05"/>`
+  );
+}
+
+// Each entry in traj.waypoints is a timestamp; it sits exactly on a sample
+// boundary (see src-core .../transformers/mod.rs postprocess), so the nearest
+// sample by `t` gives the waypoint's pose (x, y, heading) on the drawn path.
+const cfg = traj.config ?? {};
+const wpTimes = traj.waypoints ?? [];
+const markers = wpTimes.map(t => {
+  let best = samples[0];
+  let bestD = Infinity;
+  for (const s of samples) {
+    const d = Math.abs(s.t - t);
+    if (d < bestD) { bestD = d; best = s; }
+  }
+  return waypointMarker(best, cfg);
+});
+
+// The trajectory <g> uses the same flip transform as FieldImage2026.svg's
+// internal <g id="field"> so we can write raw FRC field coords (origin at
+// bottom-left) directly into <line> elements. Waypoint markers are drawn after
+// the path segments so the bumper box / heading arrow stay visible on top.
+const out = `<svg xmlns="http://www.w3.org/2000/svg" viewBox="${VB_X} ${VB_Y} ${VB_W} ${VB_H}" width="${PX_W}" height="${PX_H}">
+  ${fieldInner}
+  <g transform="scale(1 -1) translate(0 -${FIELD_H})">
+    ${segs.join("\n    ")}
+    ${markers.join("\n    ")}
+  </g>
+  ${titleElement(argv.title)}
+</svg>
+`;
+
+writeFileSync(argv.out, out);
+
+function titleElement(title) {
+  if (!title) return "";
+  return `<text x="-0.4" y="-0.15" font-size="0.32" font-family="monospace" fill="white" stroke="black" stroke-width="0.02" paint-order="stroke fill">${escapeXml(title)}</text>`;
+}
+
+function emptySvg(title, fieldInner) {
+  return `<svg xmlns="http://www.w3.org/2000/svg" viewBox="${VB_X} ${VB_Y} ${VB_W} ${VB_H}" width="${PX_W}" height="${PX_H}">
+  ${fieldInner}
+  <text x="${VB_X + VB_W / 2}" y="${VB_Y + VB_H / 2}" text-anchor="middle" font-size="0.5" font-family="monospace" fill="white" stroke="black" stroke-width="0.04" paint-order="stroke fill">no samples${title ? ` — ${escapeXml(title)}` : ""}</text>
+</svg>
+`;
+}
+
+// A waypoint, drawn as the robot's bumper footprint (from trajectory.config —
+// front/back/side distances from center) rotated to the waypoint heading, plus
+// an arrow showing the facing direction. Coords are computed in raw FRC space
+// (x forward, y left, CCW heading) so they drop straight into the flipped <g>.
+function waypointMarker(s, cfg) {
+  const h = s.heading ?? 0;
+  const c = Math.cos(h);
+  const sn = Math.sin(h);
+  const b = cfg.bumper ?? {};
+  const f = b.front ?? 0.4;
+  const bk = b.back ?? 0.4;
+  const sd = b.side ?? 0.4;
+  // body-frame point (bx forward, by left) -> rotated + translated world point
+  const rot = (bx, by) => [s.x + bx * c - by * sn, s.y + bx * sn + by * c];
+  const pt = ([px, py]) => `${fmt(px)},${fmt(py)}`;
+  const box = [rot(f, sd), rot(f, -sd), rot(-bk, -sd), rot(-bk, sd)].map(pt).join(" ");
+  // Arrow shrunk to ~25% of its original size (75% reduction).
+  const A = 0.25;
+  const tip = rot(f + 0.35 * A, 0);
+  const headL = rot(f + 0.05 * A, 0.14 * A);
+  const headR = rot(f + 0.05 * A, -0.14 * A);
+  return (
+    `<polygon points="${box}" fill="rgba(0,0,0,0.12)" stroke="#000000" stroke-width="0.04"/>` +
+    `<circle cx="${fmt(s.x)}" cy="${fmt(s.y)}" r="0.03" fill="#ffffff" stroke="#000000" stroke-width="0.015"/>` +
+    `<polygon points="${pt(tip)} ${pt(headL)} ${pt(headR)}" fill="#ffffff" stroke="#000000" stroke-width="0.02"/>`
+  );
+}
+
+function fmt(n) {
+  return Number.isFinite(n) ? n.toFixed(4) : "0";
+}
+
+function escapeXml(s) {
+  return String(s).replace(/[<>&"]/g, c => ({ "<": "&lt;", ">": "&gt;", "&": "&amp;", '"': "&quot;" }[c]));
+}
+
+function parseArgs(args) {
+  const out = {};
+  for (let i = 0; i < args.length; i++) {
+    const a = args[i];
+    if (a.startsWith("--")) {
+      const key = a.slice(2);
+      const next = args[i + 1];
+      if (next === undefined || next.startsWith("--")) {
+        out[key] = true;
+      } else {
+        out[key] = next;
+        i++;
+      }
+    }
+  }
+  return out;
+}
diff --git a/scripts/run-bench.sh b/scripts/run-bench.sh
new file mode 100755
index 0000000000..cf751d7f6e
--- /dev/null
+++ b/scripts/run-bench.sh
@@ -0,0 +1,142 @@
+#!/usr/bin/env bash
+# Run choreo-cli generation for one (or every) project variant.
+#
+# Usage: run-bench.sh <cli-binary> <test-projects-dir> <output-dir> [variant] [runs]
+#
+# If [variant] is given, only that one project subdirectory is benched (used by
+# the CI per-variant matrix so each job runs a single variant concurrently).
+# Omit it to bench every variant (local / single-job use). [runs] defaults to 5.
+#
+# Each trajectory is solved by its OWN `choreo-cli --trajectory` process and all
+# of a variant's trajectories for a given run are launched concurrently. The
+# single-element reports are then merged back into the `<variant>.run<N>.report.json`
+# array bench-report.mjs expects.
+#
+# Set BENCH_TRAJ_JOBS=N to cap concurrency (0 / unset = no cap, i.e. all of
+# the variant's trajectories at once).
+
+set -euo pipefail
+
+# C locale: deterministic `%U`/`%S` decimal point for the timing parse below.
+export LC_ALL=C
+# `time` emits only "<user_s> <sys_s>" (no real, no labels) to its stderr.
+TIMEFORMAT='%U %S'
+
+CLI=${1:?missing CLI binary path}
+PROJECTS=${2:?missing test-projects dir}
+OUT=${3:?missing output dir}
+ONLY_VARIANT=${4:-}
+RUNS=${5:-5}
+TRAJ_JOBS=${BENCH_TRAJ_JOBS:-4}   # GHA runners are 4-core
+mkdir -p "$OUT"
+
+# Per-trajectory shards live outside $OUT so they neither bloat the uploaded
+# artifact nor get picked up as extra "runs" by bench-report.mjs's loadRuns.
+SHARD_ROOT=$(mktemp -d)
+trap 'rm -rf "$SHARD_ROOT"' EXIT
+
+shopt -s nullglob
+if [ -n "$ONLY_VARIANT" ]; then
+  project_dirs=("$PROJECTS/$ONLY_VARIANT/")
+  if [ ! -d "${project_dirs[0]}" ]; then
+    echo "variant '$ONLY_VARIANT' not found under $PROJECTS" >&2
+    exit 1
+  fi
+else
+  project_dirs=("$PROJECTS"/*/)
+fi
+if [ "${#project_dirs[@]}" -eq 0 ]; then
+  echo "no project subdirectories found under $PROJECTS" >&2
+  exit 1
+fi
+
+# Merge the single-element shard reports in $1 into the combined run report $2
+# (the array shape bench-report.mjs's loadRuns/aggregateSide consume), while
+# replacing each trajectory's solve_ms with the externally measured process CPU
+# time from its sibling `<traj>.cpu` file (user+sys seconds → ms). Each shard
+# is exactly one trajectory's invocation, so its whole-process CPU maps 1:1 to
+# that one entry. If a `.cpu` is missing/garbled the CLI's own wall solve_ms is
+# kept as a fallback (logged). An empty shard set yields `[]`, which the report
+# treats as "this run produced nothing".
+merge_shards() {
+  local shard_dir=$1 out_file=$2
+  node -e '
+    const fs = require("fs");
+    const path = require("path");
+    const [out, dir] = process.argv.slice(1);
+    const merged = [];
+    for (const f of fs.readdirSync(dir).sort()) {
+      if (!f.endsWith(".report.json")) continue;
+      const base = f.slice(0, -".report.json".length);
+      let arr;
+      try {
+        arr = JSON.parse(fs.readFileSync(path.join(dir, f), "utf8"));
+      } catch (e) {
+        console.error(`merge: skipping ${f}: ${e.message}`);
+        continue;
+      }
+      if (!Array.isArray(arr)) continue;
+      let cpuMs = null;
+      try {
+        const t = fs.readFileSync(path.join(dir, base + ".cpu"), "utf8")
+          .trim().split(/\s+/).map(Number);
+        if (t.length >= 2 && t.every(Number.isFinite)) cpuMs = (t[0] + t[1]) * 1000;
+      } catch { /* fall through to wall fallback */ }
+      if (cpuMs == null) console.error(`merge: no CPU time for ${base}, keeping CLI wall solve_ms`);
+      for (const e of arr) {
+        if (cpuMs != null) e.solve_ms = cpuMs;
+        merged.push(e);
+      }
+    }
+    fs.writeFileSync(out, JSON.stringify(merged, null, 2));
+  ' "$out_file" "$shard_dir"
+}
+
+for proj_dir in "${project_dirs[@]}"; do
+  name=$(basename "$proj_dir")
+  chor="$proj_dir/project.chor"
+  if [ ! -f "$chor" ]; then
+    echo "skipping $name (no project.chor)" >&2
+    continue
+  fi
+  traj_files=("$proj_dir"/*.traj)
+  if [ "${#traj_files[@]}" -eq 0 ]; then
+    echo "skipping $name (no .traj files)" >&2
+    continue
+  fi
+  traj_names=()
+  for tf in "${traj_files[@]}"; do
+    traj_names+=("$(basename "$tf" .traj)")
+  done
+
+  echo "::group::$name"
+  echo "--- $name: $(( ${#traj_names[@]} * RUNS )) jobs (${#traj_names[@]} trajectories × $RUNS runs) fully parallel, concurrency cap $TRAJ_JOBS (0 = unlimited) ---"
+  for run in $(seq 1 "$RUNS"); do
+    mkdir -p "$SHARD_ROOT/$name.run$run"
+  done
+  # Run all trajectories for this variant in parallel across $RUNS runs
+  # with concurrency cap $TRAJ_JOBS.
+  for run in $(seq 1 "$RUNS"); do
+    rs="$SHARD_ROOT/$name.run$run"
+    for tn in "${traj_names[@]}"; do
+      if [ "$TRAJ_JOBS" -gt 0 ]; then
+        while [ "$(jobs -rp | wc -l)" -ge "$TRAJ_JOBS" ]; do wait -n || true; done
+      fi
+      {
+        # fd3 = this shell's stderr (CLI logs flow there as before); the brace
+        # group's own stderr — where the `time` keyword writes "%U %S" — goes
+        # to <traj>.cpu, so the timing is isolated from choreo-cli's ~MBs of
+        # solver/tracing output instead of buried in it.
+        { time "$CLI" --chor "$chor" --trajectory "$tn" --generate \
+            --report-json "$rs/$tn.report.json" 2>&3 ; } \
+          3>&2 2>"$rs/$tn.cpu" \
+          || echo "choreo-cli exited nonzero on $name/$tn run $run/$RUNS" >&2
+      } &
+    done
+  done
+  wait
+  for run in $(seq 1 "$RUNS"); do
+    merge_shards "$SHARD_ROOT/$name.run$run" "$OUT/$name.run$run.report.json"
+  done
+  echo "::endgroup::"
+done
diff --git a/shell.nix b/shell.nix
index b758a6fe8f..292b939a58 100644
--- a/shell.nix
+++ b/shell.nix
@@ -23,6 +23,8 @@ pkgs.mkShell {
     webkitgtk_4_1
   ];
 
+  hardeningDisable = [ "fortify" ];
+
   shellHook = ''
     export XDG_DATA_DIRS="$GSETTINGS_SCHEMAS_PATH" # Needed on Wayland to report the correct display scale
     pipx install wpiformat
diff --git a/src-cli/Cargo.toml b/src-cli/Cargo.toml
index e83279c91c..8ee80bc24e 100644
--- a/src-cli/Cargo.toml
+++ b/src-cli/Cargo.toml
@@ -10,5 +10,7 @@ license = "BSD-3-Clause"
 [dependencies]
 choreo-core = { path = "../src-core" }
 clap = { version = "4.5.53", features = ["derive"] }
+serde = { version = "1.0", features = ["derive"] }
+serde_json = "1.0"
 tracing = "0.1.44"
 tracing-subscriber = { version = "0.3.22", features = ["ansi", "fmt", "std", "json"] }
diff --git a/src-cli/src/main.rs b/src-cli/src/main.rs
index 831f7c8645..a225fdf564 100644
--- a/src-cli/src/main.rs
+++ b/src-cli/src/main.rs
@@ -5,6 +5,7 @@ use std::{
     process::exit,
     sync::{Arc, Mutex},
     thread::{self, JoinHandle},
+    time::Instant,
 };
 
 use choreo_core::{
@@ -15,6 +16,15 @@ use choreo_core::{
     spec::trajectory::TrajectoryFile,
 };
 use clap::Parser;
+use serde::Serialize;
+
+#[derive(Serialize)]
+struct TrajReport {
+    name: String,
+    solve_ms: f64,
+    ok: bool,
+    error: Option<String>,
+}
 
 const FORMATTING_OPTIONS: &str = "Formatting Options";
 const FILE_OPTIONS: &str = "File Options";
@@ -26,6 +36,7 @@ enum CliAction {
     Generate {
         project_path: PathBuf,
         trajectory_names: Vec<String>,
+        report_json: Option<PathBuf>,
     },
     Error(String),
 }
@@ -79,6 +90,14 @@ pub struct Cli {
         required = true,
     )]
     pub generate: bool,
+
+    #[arg(
+        long,
+        value_name = "path/to/report.json",
+        help_heading = FILE_OPTIONS,
+        help = "Write a JSON report with per-trajectory solve_ms timings to this path",
+    )]
+    pub report_json: Option<PathBuf>,
 }
 
 impl Cli {
@@ -104,6 +123,7 @@ impl Cli {
                 return CliAction::Generate {
                     project_path,
                     trajectory_names: self.trajectory,
+                    report_json: self.report_json,
                 };
             }
             CliAction::Error("Choreo file must be provided for generation.".to_string())
@@ -121,6 +141,7 @@ impl Cli {
             CliAction::Generate {
                 project_path,
                 trajectory_names,
+                report_json,
             } => {
                 tracing::info!("CLIAction is Generate");
                 choreo_core::tokio::runtime::Builder::new_current_thread()
@@ -131,6 +152,7 @@ impl Cli {
                         resources,
                         project_path,
                         trajectory_names,
+                        report_json,
                     ));
             }
             CliAction::Error(e) => {
@@ -145,6 +167,7 @@ impl Cli {
         resources: WritingResources,
         project_path: PathBuf,
         mut trajectory_names: Vec<String>,
+        report_json: Option<PathBuf>,
     ) {
         let deploy_root = project_path
             .parent()
@@ -176,6 +199,7 @@ impl Cli {
 
         let mut thread_handles: Vec<JoinHandle<()>> = Vec::new();
         let trajectories = Arc::new(Mutex::new(Vec::<TrajectoryFile>::new()));
+        let reports = Arc::new(Mutex::new(Vec::<TrajReport>::new()));
 
         // generate trajectories
         for (i, trajectory_name) in trajectory_names.iter().enumerate() {
@@ -186,6 +210,7 @@ impl Cli {
             );
 
             let trajectories_window = Arc::clone(&trajectories);
+            let reports_window = Arc::clone(&reports);
             let trajectory =
                 file_management::read_trajectory_file(&resources, trajectory_name.to_string())
                     .await
@@ -194,51 +219,71 @@ impl Cli {
             let cln_project = project.clone();
             let cln_resources = resources.clone();
             let cln_trajectory_name = trajectory_name.clone();
-            let handle =
-                thread::spawn(
-                    move || match generate(cln_project.clone(), trajectory, i as i64) {
-                        Ok(new_trajectory) => {
-                            let runtime =
-                                choreo_core::tokio::runtime::Builder::new_current_thread()
-                                    .enable_all()
-                                    .build()
-                                    .expect("Failed to build tokio runtime");
-                            let write_result =
-                                runtime.block_on(file_management::write_trajectory_file(
-                                    &cln_resources,
-                                    &new_trajectory,
-                                ));
-                            match write_result {
-                                Ok(_) => {
-                                    tracing::info!(
-                                        "Successfully generated trajectory {:} for {:}",
-                                        cln_trajectory_name,
-                                        cln_project.name
-                                    );
-                                }
-                                Err(e) => {
-                                    tracing::error!(
-                                        "Failed to write trajectory {:} for {:}: {:}",
-                                        cln_trajectory_name,
-                                        cln_project.name,
-                                        e
-                                    );
-                                }
+            let handle = thread::spawn(move || {
+                let solve_start = Instant::now();
+                let result = generate(cln_project.clone(), trajectory, i as i64);
+                let solve_ms = solve_start.elapsed().as_secs_f64() * 1000.0;
+                match result {
+                    Ok(new_trajectory) => {
+                        let runtime = choreo_core::tokio::runtime::Builder::new_current_thread()
+                            .enable_all()
+                            .build()
+                            .expect("Failed to build tokio runtime");
+                        let write_result =
+                            runtime.block_on(file_management::write_trajectory_file(
+                                &cln_resources,
+                                &new_trajectory,
+                            ));
+                        match write_result {
+                            Ok(_) => {
+                                tracing::info!(
+                                    "Successfully generated trajectory {:} for {:} in {:.1} ms",
+                                    cln_trajectory_name,
+                                    cln_project.name,
+                                    solve_ms
+                                );
+                            }
+                            Err(e) => {
+                                tracing::error!(
+                                    "Failed to write trajectory {:} for {:}: {:}",
+                                    cln_trajectory_name,
+                                    cln_project.name,
+                                    e
+                                );
                             }
-                            trajectories_window
-                                .lock()
-                                .expect("Internal Choreo Thread has panicked; see stack trace.")
-                                .push(new_trajectory);
-                        }
-                        Err(e) => {
-                            tracing::error!(
-                                "Failed to generate trajectory {:}: {:}",
-                                cln_trajectory_name,
-                                e
-                            );
                         }
-                    },
-                );
+                        trajectories_window
+                            .lock()
+                            .expect("Internal Choreo Thread has panicked; see stack trace.")
+                            .push(new_trajectory);
+                        reports_window
+                            .lock()
+                            .expect("Internal Choreo Thread has panicked; see stack trace.")
+                            .push(TrajReport {
+                                name: cln_trajectory_name,
+                                solve_ms,
+                                ok: true,
+                                error: None,
+                            });
+                    }
+                    Err(e) => {
+                        tracing::error!(
+                            "Failed to generate trajectory {:}: {:}",
+                            cln_trajectory_name,
+                            e
+                        );
+                        reports_window
+                            .lock()
+                            .expect("Internal Choreo Thread has panicked; see stack trace.")
+                            .push(TrajReport {
+                                name: cln_trajectory_name,
+                                solve_ms,
+                                ok: false,
+                                error: Some(e.to_string()),
+                            });
+                    }
+                }
+            });
 
             thread_handles.push(handle);
         }
@@ -251,6 +296,28 @@ impl Cli {
                 }
             }
         }
+
+        if let Some(report_path) = report_json {
+            let reports_vec = reports
+                .lock()
+                .expect("Report mutex was poisoned by a panicked generation thread.");
+            match serde_json::to_string_pretty(&*reports_vec) {
+                Ok(json) => {
+                    if let Err(e) = fs::write(&report_path, json) {
+                        tracing::error!(
+                            "Failed to write report JSON to {}: {}",
+                            report_path.display(),
+                            e
+                        );
+                    } else {
+                        tracing::info!("Wrote report JSON to {}", report_path.display());
+                    }
+                }
+                Err(e) => {
+                    tracing::error!("Failed to serialize report JSON: {}", e);
+                }
+            }
+        }
         if let Some(codegen_root) = project.codegen.get_root()
             && let Some(deploy_root_str) = deploy_root.to_str()
             && let Some(pkg_name) = java::codegen_package_name(&project)
diff --git a/src-core/src/generation/intervals.rs b/src-core/src/generation/intervals.rs
index ae69046c47..9ae7d064ea 100644
--- a/src-core/src/generation/intervals.rs
+++ b/src-core/src/generation/intervals.rs
@@ -8,9 +8,9 @@ pub fn guess_control_interval_counts(
     config: &RobotConfig<f64>,
     params: &Parameters<f64>,
 ) -> ChoreoResult<Vec<usize>> {
-    if config.wheel_max_torque() <= 0.0 {
+    if config.motor_config.snapshot().stall_torque <= 0.0 {
         return Err(ChoreoError::sign("Wheel max torque", "positive"));
-    } else if config.wheel_max_velocity() <= 0.0 {
+    } else if config.motor_config.snapshot().free_speed <= 0.0 {
         return Err(ChoreoError::sign("Wheel max velocity", "positive"));
     } else if config.mass <= 0.0 {
         return Err(ChoreoError::sign("Robot mass", "positive"));
@@ -45,10 +45,11 @@ pub fn guess_control_interval_count(
             let dy = next.y - this.y;
             let distance = dx.hypot(dy);
             let mut dtheta = angle_modulus(next.heading - this.heading).abs();
-            let max_force = config.wheel_max_torque() / config.radius;
+            let motor_config = config.motor_config.snapshot();
+            let max_force = motor_config.kT * motor_config.stator_limit * config.gearing / config.radius;
 
             // Default to robotConfig's max velocity and acceleration
-            let mut max_linear_vel = config.wheel_max_velocity() * config.radius;
+            let mut max_linear_vel = motor_config.free_speed * config.radius / config.gearing;
             let mut max_linear_accel = (max_force * 4.0) / config.mass; // times 4 for 4 modules
 
             // find max wheel position radius for calculating max angular velocity
@@ -105,9 +106,9 @@ pub fn guess_control_interval_count(
                 let mod_b = translations
                     .get(mod_b_idx)
                     .expect("Module expected when finding minimum width.");
-                min_width = min_width.min(mod_a.x - mod_b.x).hypot(mod_a.y - mod_b.y);
+                min_width = min_width.min((mod_a.x - mod_b.x).hypot(mod_a.y - mod_b.y));
             }
-            let dt_ceiling = min_width / (config.wheel_max_velocity() * config.radius);
+            let dt_ceiling = min_width * config.gearing / (motor_config.free_speed * config.radius);
             let dt = dt_ceiling.min(params.target_dt);
             let linear_time =
                 calculate_trapezoidal_time(distance, max_linear_vel, max_linear_accel);
diff --git a/src-core/src/generation/transformers/drivetrain_and_bumpers.rs b/src-core/src/generation/transformers/drivetrain_and_bumpers.rs
index e85f18be52..9afdf62a22 100644
--- a/src-core/src/generation/transformers/drivetrain_and_bumpers.rs
+++ b/src-core/src/generation/transformers/drivetrain_and_bumpers.rs
@@ -1,4 +1,4 @@
-use trajoptlib::{DifferentialDrivetrain, SwerveDrivetrain};
+use trajoptlib::{DifferentialDrivetrain, MotorConfig, SwerveDrivetrain};
 
 use crate::spec::project::RobotConfig;
 
@@ -20,15 +20,21 @@ impl SwerveGenerationTransformer for DrivetrainAndBumpersSetter {
 
     fn transform(&self, generator: &mut trajoptlib::SwerveTrajectoryGenerator) {
         let config = &self.config;
+        let motor_config = config.motor_config;
         let drivetrain = SwerveDrivetrain {
             mass: config.mass,
             moi: config.inertia,
             wheel_radius: config.radius,
-            // rad per sec
-            wheel_max_angular_velocity: config.vmax / config.gearing,
-            wheel_max_torque: config.tmax * config.gearing,
             wheel_cof: config.cof,
             modules: config.module_translations(),
+            motor_config: MotorConfig {
+                free_speed: motor_config.free_speed / config.gearing,
+                stall_torque: motor_config.stall_torque * config.gearing,
+                kT: motor_config.kT * config.gearing,
+                kV: motor_config.kV * config.gearing,
+                supply_limit: motor_config.supply_limit,
+                stator_limit: motor_config.stator_limit,
+            },
         };
 
         generator.set_drivetrain(&drivetrain);
diff --git a/src-core/src/spec/project.rs b/src-core/src/spec/project.rs
index c94e407292..29625e2482 100644
--- a/src-core/src/spec/project.rs
+++ b/src-core/src/spec/project.rs
@@ -1,4 +1,4 @@
-use std::collections::BTreeMap;
+use std::{collections::BTreeMap, f64::consts::PI};
 
 use serde::{Deserialize, Serialize};
 use trajoptlib::Translation2d;
@@ -42,6 +42,30 @@ pub struct Bumper<T: SnapshottableType> {
     pub back: T,
 }
 
+#[allow(non_snake_case)]
+#[derive(Debug, Serialize, Deserialize, Clone, Copy, PartialEq)]
+pub struct MotorConfig<T: SnapshottableType> {
+    pub free_speed: T,
+    pub stall_torque: T,
+    pub kT: T,
+    pub kV: T,
+    pub supply_limit: T,
+    pub stator_limit: T,
+}
+
+impl<T: SnapshottableType> MotorConfig<T> {
+    pub fn snapshot(&self) -> MotorConfig<f64> {
+        MotorConfig {
+            free_speed: self.free_speed.snapshot(),
+            stall_torque: self.stall_torque.snapshot(),
+            kT: self.kT.snapshot(),
+            kV: self.kV.snapshot(),
+            supply_limit: self.supply_limit.snapshot(),
+            stator_limit: self.stator_limit.snapshot(),
+        }
+    }
+}
+
 impl<T: SnapshottableType> Bumper<T> {
     pub fn snapshot(&self) -> Bumper<f64> {
         Bumper {
@@ -96,6 +120,7 @@ pub struct RobotConfig<T: SnapshottableType> {
     pub cof: T,
     pub bumper: Bumper<T>,
     pub differential_track_width: T,
+    pub motor_config: MotorConfig<T>,
 }
 
 impl<T: SnapshottableType> RobotConfig<T> {
@@ -112,6 +137,7 @@ impl<T: SnapshottableType> RobotConfig<T> {
             cof: self.cof.snapshot(),
             bumper: self.bumper.snapshot(),
             differential_track_width: self.differential_track_width.snapshot(),
+            motor_config: self.motor_config.snapshot(),
         }
     }
 }
@@ -220,6 +246,14 @@ impl Default for ProjectFile {
                     back: Expr::new("16 in", 0.4064),
                 },
                 differential_track_width: Expr::new("22 in", 0.2794 * 2.0),
+                motor_config: MotorConfig {
+                    free_speed: Expr::new("5800 RPM", (5800.0 / 60.0) * std::f64::consts::TAU),
+                    stall_torque: Expr::new("9.36 N * m", 9.36),
+                    kT: Expr::new("0.0197 N * m/A", 0.0197),
+                    kV: Expr::new("0.00206896552 V/rpm", 0.00206896552 * 60.0 / (2.0 * PI)),
+                    supply_limit: Expr::new("60 A", 60.0),
+                    stator_limit: Expr::new("120 A", 120.0),
+                },
             },
             generation_features: Vec::new(),
             codegen: CodeGenConfig {
diff --git a/src-core/src/spec/project_schema_version.rs b/src-core/src/spec/project_schema_version.rs
index e66ef6974f..cf01a57a9f 100644
--- a/src-core/src/spec/project_schema_version.rs
+++ b/src-core/src/spec/project_schema_version.rs
@@ -1,2 +1,2 @@
 // Auto-generated by update_project_schema.py
-pub const PROJECT_SCHEMA_VERSION: u32 = 2;
+pub const PROJECT_SCHEMA_VERSION: u32 = 3;
diff --git a/src-core/src/spec/trajectory.rs b/src-core/src/spec/trajectory.rs
index 2e0383a2f7..32d6f7f19f 100644
--- a/src-core/src/spec/trajectory.rs
+++ b/src-core/src/spec/trajectory.rs
@@ -550,7 +550,7 @@ mod tests {
                 is_initial_guess: false,
             }],
             constraints: vec![],
-            target_dt: Expr::fill_in_value(0.05, "s"),
+            target_dt: Expr::fill_in_value(0.02, "s"),
         };
         TrajectoryFile {
             name: "Test".to_string(),
diff --git a/src-core/src/spec/upgraders.rs b/src-core/src/spec/upgraders.rs
index d07ecfcab3..8d48658de0 100644
--- a/src-core/src/spec/upgraders.rs
+++ b/src-core/src/spec/upgraders.rs
@@ -174,6 +174,7 @@ mod project_file {
         let mut upgrader = Upgrader::new(PROJECT_SCHEMA_VERSION);
         upgrader.add_version_action(up_0_1);
         upgrader.add_version_action(up_1_2);
+        upgrader.add_version_action(up_2_3);
         upgrader
     }
     // Naming convention: up_[old version]_[new_version]
@@ -188,6 +189,9 @@ mod project_file {
         editor.set_path("codegen.useChoreoLib", true)?;
         Ok(())
     }
+    fn up_2_3(_editor: &mut Editor) -> ChoreoResult<()> {
+        Ok(())
+    }
 
     #[cfg(test)]
     mod tests {
diff --git a/src/components/config/robotconfig/ModuleConfigPanel.tsx b/src/components/config/robotconfig/ModuleConfigPanel.tsx
index d42726cc8f..01b8c30843 100644
--- a/src/components/config/robotconfig/ModuleConfigPanel.tsx
+++ b/src/components/config/robotconfig/ModuleConfigPanel.tsx
@@ -54,6 +54,60 @@ class RobotConfigPanel extends Component<Props, State> {
           maxWidthCharacters={8}
           titleTooltip="Motor torque as current-limited"
         />
+
+        <ExpressionInput
+          title="Motor Stall Torque"
+          enabled={true}
+          roundingPrecision={3}
+          number={config.motorConfig.stall_torque}
+          maxWidthCharacters={8}
+          titleTooltip="Motor stall torque as described by the datasheet or dyno values."
+        />
+
+        <ExpressionInput
+          title="Free Speed"
+          enabled={true}
+          roundingPrecision={3}
+          number={config.motorConfig.free_speed}
+          maxWidthCharacters={8}
+          titleTooltip="Motor free speed as described by the datasheet or dyno values."
+        />
+
+        <ExpressionInput
+          title="kT"
+          enabled={true}
+          roundingPrecision={6}
+          number={config.motorConfig.kT}
+          maxWidthCharacters={8}
+          titleTooltip="Motor kT as described by the datasheet or dyno values."
+        />
+
+        <ExpressionInput
+          title="kV"
+          enabled={true}
+          roundingPrecision={6}
+          number={config.motorConfig.kV}
+          maxWidthCharacters={8}
+          titleTooltip="Motor kV as described by the datasheet or dyno values. (well not really on datasheet write a proper tooltip later)"
+        />
+
+        <ExpressionInput
+          title="Supply Limit"
+          enabled={true}
+          roundingPrecision={0}
+          number={config.motorConfig.supply_limit}
+          maxWidthCharacters={8}
+          titleTooltip="The supply limit applied to the motor."
+        />
+
+        <ExpressionInput
+          title="Stator Limit"
+          enabled={true}
+          roundingPrecision={0}
+          number={config.motorConfig.stator_limit}
+          maxWidthCharacters={8}
+          titleTooltip="The stator limit applied to the motor."
+        />
       </ExpressionInputList>
     );
   }
diff --git a/src/document/DocumentManager.ts b/src/document/DocumentManager.ts
index 8a1783506d..d8b63cc588 100644
--- a/src/document/DocumentManager.ts
+++ b/src/document/DocumentManager.ts
@@ -165,6 +165,14 @@ function getConstructors(vars: () => IVariables): EnvConstructors {
           x: vars().createExpression(config.backLeft.x, "Length"),
           y: vars().createExpression(config.backLeft.y, "Length")
         },
+        motorConfig: {
+          free_speed: vars().createExpression(config.motorConfig.free_speed, "AngVel"),
+          stall_torque: vars().createExpression(config.motorConfig.stall_torque, "Torque"),
+          kT: vars().createExpression(config.motorConfig.kT, "TorquePerCurrent"),
+          kV: vars().createExpression(config.motorConfig.kV, "VoltagePerAngVel"),
+          supply_limit: vars().createExpression(config.motorConfig.supply_limit, "Current"),
+          stator_limit: vars().createExpression(config.motorConfig.stator_limit, "Current"),
+        },
         differentialTrackWidth: vars().createExpression(
           config.differentialTrackWidth,
           "Length"
diff --git a/src/document/ExpressionStore.tsx b/src/document/ExpressionStore.tsx
index 2c4b8eb93e..c1cac4188c 100644
--- a/src/document/ExpressionStore.tsx
+++ b/src/document/ExpressionStore.tsx
@@ -83,7 +83,12 @@ export const Units = {
   Newton: math.unit("N"),
   NewtonMeter: math.unit("N*m"),
   Kg: math.unit("kg"),
-  RPM: math.createUnit("RPM", "1 cycle/min", { aliases: ["rpm"] })
+  RPM: math.createUnit("RPM", "1 cycle/min", { aliases: ["rpm"] }),
+  Amp: math.unit("A"),
+  NewtonMeterPerAmp: math.unit("N*m/A"),
+  Volt: math.unit("V"),
+  VoltPerRPM: math.unit("V/RPM"),
+  VoltPerRadPerSec: math.unit("V / (rad / s)"),
 };
 // not sure why the alias above doesn't work
 math.createUnit("rpm", "1 RPM");
@@ -106,7 +111,11 @@ export const DimensionNames = [
   "Time",
   "Mass",
   "Torque",
-  "MoI"
+  "MoI",
+  "Current",
+  "TorquePerCurrent",
+  "Voltage",
+  "VoltagePerAngVel"
 ] as const;
 export type DimensionName = (typeof DimensionNames)[number];
 export type Dimension<T> = {
@@ -181,7 +190,31 @@ export const Dimensions = {
     unit: Units.NewtonMeter,
     icon: () => <Torque></Torque>,
     type: "Torque"
-  }
+  },
+  Current: {
+    type: "Current",
+    name: "Electric Current",
+    unit: Units.Amp,
+    icon: () => <Straighten></Straighten>
+  },
+  TorquePerCurrent: {
+    type: "TorquePerCurrent",
+    name: "Torque Per Current",
+    unit: Units.NewtonMeterPerAmp,
+    icon: () => <Straighten></Straighten>
+  },
+  Voltage: {
+    type: "Voltage",
+    name: "Electric Voltage",
+    unit: Units.Volt,
+    icon: () => <Straighten></Straighten>
+  },
+  VoltagePerAngVel: {
+    type: "VoltagePerAngVel",
+    name: "Voltage per angular velocity",
+    unit: Units.VoltPerRadPerSec,
+    icon: () => <Straighten></Straighten>
+  },
 } as const satisfies {
   [key in DimensionName]: Dimension<key>;
 };
diff --git a/src/document/PathListStore.ts b/src/document/PathListStore.ts
index 49b3f39ac6..d6da650b80 100644
--- a/src/document/PathListStore.ts
+++ b/src/document/PathListStore.ts
@@ -80,7 +80,7 @@ export const PathListStore = types
           params: {
             constraints: [],
             waypoints: [],
-            targetDt: env.vars().createExpression("0.05 s", "Time")
+            targetDt: env.vars().createExpression("0.02 s", "Time")
           },
           ui: {
             visibleWaypointsEnd: 0,
@@ -90,7 +90,7 @@ export const PathListStore = types
           snapshot: {
             waypoints: [],
             constraints: [],
-            targetDt: 0.05
+            targetDt: 0.02
           },
           trajectory: {
             waypoints: [],
@@ -119,7 +119,7 @@ export const PathListStore = types
               params: {
                 constraints: [],
                 waypoints: [],
-                targetDt: env.vars().createExpression("0.05 s", "Time")
+                targetDt: env.vars().createExpression("0.02 s", "Time")
               },
               ui: {
                 visibleWaypointsEnd: 0,
@@ -129,7 +129,7 @@ export const PathListStore = types
               snapshot: {
                 waypoints: [],
                 constraints: [],
-                targetDt: 0.05
+                targetDt: 0.02
               },
               trajectory: {
                 waypoints: [],
diff --git a/src/document/RobotConfigStore.ts b/src/document/RobotConfigStore.ts
index c5d4be02b3..b3810d766b 100644
--- a/src/document/RobotConfigStore.ts
+++ b/src/document/RobotConfigStore.ts
@@ -43,7 +43,15 @@ export const EXPR_DEFAULTS: RobotConfig<Expr> = {
   differentialTrackWidth: {
     exp: `${MToIn(DEFAULT_WHEELBASE)} in`,
     val: DEFAULT_WHEELBASE
-  }
+  },
+  motorConfig: {
+    stall_torque: { exp: "9.36 N * m", val: 9.36 },
+    free_speed: { exp: "5800 RPM", val: (5800.0 / 60.0) * 2 * Math.PI },
+    kT: { exp: "0.0197 N * m / A", val: 0.0197 },
+    kV: { exp: "0.00206896552 V / RPM", val: 0.00206896552 * 60 / (2 * Math.PI) },
+    supply_limit: { exp: "60 A", val: 60.0 },
+    stator_limit: { exp: "120 A", val: 120.0 }
+  },
 };
 
 // When adding new fields, consult
@@ -85,6 +93,53 @@ export const BumperStore = types
     }
   }));
 
+// When adding new fields, consult
+// https://choreo.autos/contributing/schema-upgrade/
+// to see all the places that change with every schema upgrade.
+export const MotorConfigStore = types
+  .model("MotorConfig", {
+    free_speed: ExpressionStore,
+    stall_torque: ExpressionStore,
+    kT: ExpressionStore,
+    kV: ExpressionStore,
+    supply_limit: ExpressionStore,
+    stator_limit: ExpressionStore,
+  })
+  .views((self) => ({
+    get serialize(): MotorConfig<Expr> {
+      return {
+        free_speed: self.free_speed.serialize,
+        stall_torque: self.stall_torque.serialize,
+        kT: self.kT.serialize,
+        kV: self.kV.serialize,
+        supply_limit: self.supply_limit.serialize,
+        stator_limit: self.stator_limit.serialize
+      };
+    },
+    get snapshot(): MotorConfig<number> {
+      return {
+        free_speed: self.free_speed.value,
+        stall_torque: self.stall_torque.value,
+        kT: self.kT.value,
+        kV: self.kV.value,
+        supply_limit: self.supply_limit.value,
+        stator_limit: self.stator_limit.value
+      };
+    },
+  }))
+  .actions((self) => ({
+    deserialize(ser: MotorConfig<Expr>) {
+      self.free_speed.deserialize(ser.free_speed);
+      self.stall_torque.deserialize(ser.stall_torque);
+      self.kT.deserialize(ser.kT);
+      self.kV.deserialize(ser.kV);
+      self.supply_limit.deserialize(ser.supply_limit);
+      self.stator_limit.deserialize(ser.stator_limit);
+    }
+  }));
+
+
+
 // When adding new fields, consult
 // https://choreo.autos/contributing/schema-upgrade/
 // to see all the places that change with every schema upgrade.
@@ -130,6 +185,7 @@ export const RobotConfigStore = types
     frontLeft: ModuleStore,
     backLeft: ModuleStore,
     differentialTrackWidth: ExpressionStore,
+    motorConfig: MotorConfigStore,
     identifier: types.identifier
   })
   .views((self) => {
@@ -152,6 +208,7 @@ export const RobotConfigStore = types
           bumper: self.bumper.serialize,
           frontLeft: self.frontLeft.serialize,
           backLeft: self.backLeft.serialize,
+          motorConfig: self.motorConfig.serialize,
           differentialTrackWidth: self.differentialTrackWidth.serialize
         };
       },
@@ -185,6 +242,7 @@ export const RobotConfigStore = types
           bumper: self.bumper.snapshot,
           frontLeft: self.frontLeft.snapshot,
           backLeft: self.backLeft.snapshot,
+          motorConfig: self.motorConfig.snapshot,
           differentialTrackWidth: self.differentialTrackWidth.value
         };
       }
@@ -203,6 +261,7 @@ export const RobotConfigStore = types
         self.bumper.deserialize(config.bumper);
         self.frontLeft.deserialize(config.frontLeft);
         self.backLeft.deserialize(config.backLeft);
+        self.motorConfig.deserialize(config.motorConfig);
         self.differentialTrackWidth.deserialize(config.differentialTrackWidth);
       }
     };
diff --git a/src/document/schema/DocumentTypes.ts b/src/document/schema/DocumentTypes.ts
index ae6cd47484..cdbb78499b 100644
--- a/src/document/schema/DocumentTypes.ts
+++ b/src/document/schema/DocumentTypes.ts
@@ -37,6 +37,15 @@ export interface Bumper<T extends ExprOrNumber> {
   side: T;
 }
 
+export interface MotorConfig<T extends ExprOrNumber> {
+    free_speed: T;
+    stall_torque: T;
+    kT: T;
+    kV: T;
+    supply_limit: T;
+    stator_limit: T;
+}
+
 export interface Module<T extends ExprOrNumber> {
   x: T;
   y: T;
@@ -56,6 +65,7 @@ export interface RobotConfig<T extends ExprOrNumber> {
   cof: T;
   bumper: Bumper<T>;
   differentialTrackWidth: T;
+  motorConfig: MotorConfig<T>;
 }
 
 export interface CodeGenConfig {
diff --git a/src/document/schema/ProjectSchemaVersion.ts b/src/document/schema/ProjectSchemaVersion.ts
index 35290c5a1d..2eb29a2a12 100644
--- a/src/document/schema/ProjectSchemaVersion.ts
+++ b/src/document/schema/ProjectSchemaVersion.ts
@@ -1,2 +1,2 @@
 // Auto-generated by update_project_schema.py
-export const PROJECT_SCHEMA_VERSION = 2;
+export const PROJECT_SCHEMA_VERSION = 3;
diff --git a/test-projects/swerve-base-extra-low-dt/full_field_sweeper.traj b/test-projects/swerve-base-extra-low-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..ec4011c503
--- /dev/null
+++ b/test-projects/swerve-base-extra-low-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-extra-low-dt/project.chor b/test-projects/swerve-base-extra-low-dt/project.chor
new file mode 100755
index 0000000000..1a831c724e
--- /dev/null
+++ b/test-projects/swerve-base-extra-low-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-base-extra-low-dt/small_curve.traj b/test-projects/swerve-base-extra-low-dt/small_curve.traj
new file mode 100644
index 0000000000..751ff3756b
--- /dev/null
+++ b/test-projects/swerve-base-extra-low-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-extra-low-dt/straight_line.traj b/test-projects/swerve-base-extra-low-dt/straight_line.traj
new file mode 100644
index 0000000000..08ce6a1d0d
--- /dev/null
+++ b/test-projects/swerve-base-extra-low-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-extra-low-dt/sweep_auto.traj b/test-projects/swerve-base-extra-low-dt/sweep_auto.traj
new file mode 100644
index 0000000000..0cd6636286
--- /dev/null
+++ b/test-projects/swerve-base-extra-low-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-high-dt/full_field_sweeper.traj b/test-projects/swerve-base-high-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..d772fc87d1
--- /dev/null
+++ b/test-projects/swerve-base-high-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-high-dt/project.chor b/test-projects/swerve-base-high-dt/project.chor
new file mode 100755
index 0000000000..1a831c724e
--- /dev/null
+++ b/test-projects/swerve-base-high-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-base-high-dt/small_curve.traj b/test-projects/swerve-base-high-dt/small_curve.traj
new file mode 100644
index 0000000000..9ffc61a53b
--- /dev/null
+++ b/test-projects/swerve-base-high-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-high-dt/straight_line.traj b/test-projects/swerve-base-high-dt/straight_line.traj
new file mode 100644
index 0000000000..41e4360d5c
--- /dev/null
+++ b/test-projects/swerve-base-high-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-high-dt/sweep_auto.traj b/test-projects/swerve-base-high-dt/sweep_auto.traj
new file mode 100644
index 0000000000..2942f1ac8b
--- /dev/null
+++ b/test-projects/swerve-base-high-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-low-dt/full_field_sweeper.traj b/test-projects/swerve-base-low-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..b21c0ce67b
--- /dev/null
+++ b/test-projects/swerve-base-low-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-low-dt/project.chor b/test-projects/swerve-base-low-dt/project.chor
new file mode 100755
index 0000000000..1a831c724e
--- /dev/null
+++ b/test-projects/swerve-base-low-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-base-low-dt/small_curve.traj b/test-projects/swerve-base-low-dt/small_curve.traj
new file mode 100644
index 0000000000..d1c246e26d
--- /dev/null
+++ b/test-projects/swerve-base-low-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-low-dt/straight_line.traj b/test-projects/swerve-base-low-dt/straight_line.traj
new file mode 100644
index 0000000000..3e3a97ff66
--- /dev/null
+++ b/test-projects/swerve-base-low-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-low-dt/sweep_auto.traj b/test-projects/swerve-base-low-dt/sweep_auto.traj
new file mode 100644
index 0000000000..60f3cc0689
--- /dev/null
+++ b/test-projects/swerve-base-low-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-medium-dt/full_field_sweeper.traj b/test-projects/swerve-base-medium-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..66abecb972
--- /dev/null
+++ b/test-projects/swerve-base-medium-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-medium-dt/project.chor b/test-projects/swerve-base-medium-dt/project.chor
new file mode 100755
index 0000000000..1a831c724e
--- /dev/null
+++ b/test-projects/swerve-base-medium-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-base-medium-dt/small_curve.traj b/test-projects/swerve-base-medium-dt/small_curve.traj
new file mode 100644
index 0000000000..b80bf50d68
--- /dev/null
+++ b/test-projects/swerve-base-medium-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-medium-dt/straight_line.traj b/test-projects/swerve-base-medium-dt/straight_line.traj
new file mode 100644
index 0000000000..47955d6da4
--- /dev/null
+++ b/test-projects/swerve-base-medium-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-base-medium-dt/sweep_auto.traj b/test-projects/swerve-base-medium-dt/sweep_auto.traj
new file mode 100644
index 0000000000..59bb291fed
--- /dev/null
+++ b/test-projects/swerve-base-medium-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-extra-low-dt/full_field_sweeper.traj b/test-projects/swerve-fast-extra-low-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..ec4011c503
--- /dev/null
+++ b/test-projects/swerve-fast-extra-low-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-extra-low-dt/project.chor b/test-projects/swerve-fast-extra-low-dt/project.chor
new file mode 100755
index 0000000000..1efc6d2281
--- /dev/null
+++ b/test-projects/swerve-fast-extra-low-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"5.27",
+   "val":5.27
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-fast-extra-low-dt/small_curve.traj b/test-projects/swerve-fast-extra-low-dt/small_curve.traj
new file mode 100644
index 0000000000..751ff3756b
--- /dev/null
+++ b/test-projects/swerve-fast-extra-low-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-extra-low-dt/straight_line.traj b/test-projects/swerve-fast-extra-low-dt/straight_line.traj
new file mode 100644
index 0000000000..08ce6a1d0d
--- /dev/null
+++ b/test-projects/swerve-fast-extra-low-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-extra-low-dt/sweep_auto.traj b/test-projects/swerve-fast-extra-low-dt/sweep_auto.traj
new file mode 100644
index 0000000000..0cd6636286
--- /dev/null
+++ b/test-projects/swerve-fast-extra-low-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-high-dt/full_field_sweeper.traj b/test-projects/swerve-fast-high-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..d772fc87d1
--- /dev/null
+++ b/test-projects/swerve-fast-high-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-high-dt/project.chor b/test-projects/swerve-fast-high-dt/project.chor
new file mode 100755
index 0000000000..1efc6d2281
--- /dev/null
+++ b/test-projects/swerve-fast-high-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"5.27",
+   "val":5.27
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-fast-high-dt/small_curve.traj b/test-projects/swerve-fast-high-dt/small_curve.traj
new file mode 100644
index 0000000000..9ffc61a53b
--- /dev/null
+++ b/test-projects/swerve-fast-high-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-high-dt/straight_line.traj b/test-projects/swerve-fast-high-dt/straight_line.traj
new file mode 100644
index 0000000000..41e4360d5c
--- /dev/null
+++ b/test-projects/swerve-fast-high-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-high-dt/sweep_auto.traj b/test-projects/swerve-fast-high-dt/sweep_auto.traj
new file mode 100644
index 0000000000..2942f1ac8b
--- /dev/null
+++ b/test-projects/swerve-fast-high-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-low-dt/full_field_sweeper.traj b/test-projects/swerve-fast-low-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..b21c0ce67b
--- /dev/null
+++ b/test-projects/swerve-fast-low-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-low-dt/project.chor b/test-projects/swerve-fast-low-dt/project.chor
new file mode 100755
index 0000000000..1efc6d2281
--- /dev/null
+++ b/test-projects/swerve-fast-low-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"5.27",
+   "val":5.27
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-fast-low-dt/small_curve.traj b/test-projects/swerve-fast-low-dt/small_curve.traj
new file mode 100644
index 0000000000..d1c246e26d
--- /dev/null
+++ b/test-projects/swerve-fast-low-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-low-dt/straight_line.traj b/test-projects/swerve-fast-low-dt/straight_line.traj
new file mode 100644
index 0000000000..3e3a97ff66
--- /dev/null
+++ b/test-projects/swerve-fast-low-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-low-dt/sweep_auto.traj b/test-projects/swerve-fast-low-dt/sweep_auto.traj
new file mode 100644
index 0000000000..60f3cc0689
--- /dev/null
+++ b/test-projects/swerve-fast-low-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-medium-dt/full_field_sweeper.traj b/test-projects/swerve-fast-medium-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..66abecb972
--- /dev/null
+++ b/test-projects/swerve-fast-medium-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-medium-dt/project.chor b/test-projects/swerve-fast-medium-dt/project.chor
new file mode 100755
index 0000000000..1efc6d2281
--- /dev/null
+++ b/test-projects/swerve-fast-medium-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"5.27",
+   "val":5.27
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-fast-medium-dt/small_curve.traj b/test-projects/swerve-fast-medium-dt/small_curve.traj
new file mode 100644
index 0000000000..b80bf50d68
--- /dev/null
+++ b/test-projects/swerve-fast-medium-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-medium-dt/straight_line.traj b/test-projects/swerve-fast-medium-dt/straight_line.traj
new file mode 100644
index 0000000000..47955d6da4
--- /dev/null
+++ b/test-projects/swerve-fast-medium-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-fast-medium-dt/sweep_auto.traj b/test-projects/swerve-fast-medium-dt/sweep_auto.traj
new file mode 100644
index 0000000000..59bb291fed
--- /dev/null
+++ b/test-projects/swerve-fast-medium-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-extra-low-dt/full_field_sweeper.traj b/test-projects/swerve-heavy-extra-low-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..ec4011c503
--- /dev/null
+++ b/test-projects/swerve-heavy-extra-low-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-extra-low-dt/project.chor b/test-projects/swerve-heavy-extra-low-dt/project.chor
new file mode 100755
index 0000000000..723e3c00d2
--- /dev/null
+++ b/test-projects/swerve-heavy-extra-low-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-heavy-extra-low-dt/small_curve.traj b/test-projects/swerve-heavy-extra-low-dt/small_curve.traj
new file mode 100644
index 0000000000..751ff3756b
--- /dev/null
+++ b/test-projects/swerve-heavy-extra-low-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-extra-low-dt/straight_line.traj b/test-projects/swerve-heavy-extra-low-dt/straight_line.traj
new file mode 100644
index 0000000000..08ce6a1d0d
--- /dev/null
+++ b/test-projects/swerve-heavy-extra-low-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-extra-low-dt/sweep_auto.traj b/test-projects/swerve-heavy-extra-low-dt/sweep_auto.traj
new file mode 100644
index 0000000000..0cd6636286
--- /dev/null
+++ b/test-projects/swerve-heavy-extra-low-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-high-dt/full_field_sweeper.traj b/test-projects/swerve-heavy-high-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..d772fc87d1
--- /dev/null
+++ b/test-projects/swerve-heavy-high-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-high-dt/project.chor b/test-projects/swerve-heavy-high-dt/project.chor
new file mode 100755
index 0000000000..723e3c00d2
--- /dev/null
+++ b/test-projects/swerve-heavy-high-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-heavy-high-dt/small_curve.traj b/test-projects/swerve-heavy-high-dt/small_curve.traj
new file mode 100644
index 0000000000..9ffc61a53b
--- /dev/null
+++ b/test-projects/swerve-heavy-high-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-high-dt/straight_line.traj b/test-projects/swerve-heavy-high-dt/straight_line.traj
new file mode 100644
index 0000000000..41e4360d5c
--- /dev/null
+++ b/test-projects/swerve-heavy-high-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-high-dt/sweep_auto.traj b/test-projects/swerve-heavy-high-dt/sweep_auto.traj
new file mode 100644
index 0000000000..2942f1ac8b
--- /dev/null
+++ b/test-projects/swerve-heavy-high-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-low-dt/full_field_sweeper.traj b/test-projects/swerve-heavy-low-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..b21c0ce67b
--- /dev/null
+++ b/test-projects/swerve-heavy-low-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-low-dt/project.chor b/test-projects/swerve-heavy-low-dt/project.chor
new file mode 100755
index 0000000000..723e3c00d2
--- /dev/null
+++ b/test-projects/swerve-heavy-low-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-heavy-low-dt/small_curve.traj b/test-projects/swerve-heavy-low-dt/small_curve.traj
new file mode 100644
index 0000000000..d1c246e26d
--- /dev/null
+++ b/test-projects/swerve-heavy-low-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-low-dt/straight_line.traj b/test-projects/swerve-heavy-low-dt/straight_line.traj
new file mode 100644
index 0000000000..3e3a97ff66
--- /dev/null
+++ b/test-projects/swerve-heavy-low-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-low-dt/sweep_auto.traj b/test-projects/swerve-heavy-low-dt/sweep_auto.traj
new file mode 100644
index 0000000000..60f3cc0689
--- /dev/null
+++ b/test-projects/swerve-heavy-low-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-medium-dt/full_field_sweeper.traj b/test-projects/swerve-heavy-medium-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..66abecb972
--- /dev/null
+++ b/test-projects/swerve-heavy-medium-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-medium-dt/project.chor b/test-projects/swerve-heavy-medium-dt/project.chor
new file mode 100755
index 0000000000..723e3c00d2
--- /dev/null
+++ b/test-projects/swerve-heavy-medium-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5784 RPM",
+   "val":605.6990636121121
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"2",
+   "val":2.0
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5784 RPM",
+    "val":605.6990636121121
+   },
+   "stall_torque":{
+    "exp":"9.36 N * m",
+    "val":9.36
+   },
+   "kT":{
+    "exp":"0.0197 N * m / A",
+    "val":0.0197
+   },
+   "kV":{
+    "exp":"0.0020593 V / rpm",
+    "val":0.019664866458548407
+   },
+   "supply_limit":{
+    "exp":"60 A",
+    "val":60.0
+   },
+   "stator_limit":{
+    "exp":"120 A",
+    "val":120.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-heavy-medium-dt/small_curve.traj b/test-projects/swerve-heavy-medium-dt/small_curve.traj
new file mode 100644
index 0000000000..b80bf50d68
--- /dev/null
+++ b/test-projects/swerve-heavy-medium-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-medium-dt/straight_line.traj b/test-projects/swerve-heavy-medium-dt/straight_line.traj
new file mode 100644
index 0000000000..47955d6da4
--- /dev/null
+++ b/test-projects/swerve-heavy-medium-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-heavy-medium-dt/sweep_auto.traj b/test-projects/swerve-heavy-medium-dt/sweep_auto.traj
new file mode 100644
index 0000000000..59bb291fed
--- /dev/null
+++ b/test-projects/swerve-heavy-medium-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-extra-low-dt/full_field_sweeper.traj b/test-projects/swerve-weak-extra-low-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..ec4011c503
--- /dev/null
+++ b/test-projects/swerve-weak-extra-low-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-extra-low-dt/project.chor b/test-projects/swerve-weak-extra-low-dt/project.chor
new file mode 100755
index 0000000000..14e63be164
--- /dev/null
+++ b/test-projects/swerve-weak-extra-low-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5906 RPM",
+   "val":618.4748737367106
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5906 RPM",
+    "val":618.4748737367106
+   },
+   "stall_torque":{
+    "exp":"4.2 N * m",
+    "val":4.2
+   },
+   "kT":{
+    "exp":"0.0194 N * m / A",
+    "val":0.0194
+   },
+   "kV":{
+    "exp":"0.002014 V / RPM",
+    "val":0.019232283323224637
+   },
+   "supply_limit":{
+    "exp":"40 A",
+    "val":40.0
+   },
+   "stator_limit":{
+    "exp":"40 A",
+    "val":40.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-weak-extra-low-dt/small_curve.traj b/test-projects/swerve-weak-extra-low-dt/small_curve.traj
new file mode 100644
index 0000000000..751ff3756b
--- /dev/null
+++ b/test-projects/swerve-weak-extra-low-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-extra-low-dt/straight_line.traj b/test-projects/swerve-weak-extra-low-dt/straight_line.traj
new file mode 100644
index 0000000000..08ce6a1d0d
--- /dev/null
+++ b/test-projects/swerve-weak-extra-low-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-extra-low-dt/sweep_auto.traj b/test-projects/swerve-weak-extra-low-dt/sweep_auto.traj
new file mode 100644
index 0000000000..0cd6636286
--- /dev/null
+++ b/test-projects/swerve-weak-extra-low-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.01
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.01 s",
+   "val":0.01
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-high-dt/full_field_sweeper.traj b/test-projects/swerve-weak-high-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..d772fc87d1
--- /dev/null
+++ b/test-projects/swerve-weak-high-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-high-dt/project.chor b/test-projects/swerve-weak-high-dt/project.chor
new file mode 100755
index 0000000000..14e63be164
--- /dev/null
+++ b/test-projects/swerve-weak-high-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5906 RPM",
+   "val":618.4748737367106
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5906 RPM",
+    "val":618.4748737367106
+   },
+   "stall_torque":{
+    "exp":"4.2 N * m",
+    "val":4.2
+   },
+   "kT":{
+    "exp":"0.0194 N * m / A",
+    "val":0.0194
+   },
+   "kV":{
+    "exp":"0.002014 V / RPM",
+    "val":0.019232283323224637
+   },
+   "supply_limit":{
+    "exp":"40 A",
+    "val":40.0
+   },
+   "stator_limit":{
+    "exp":"40 A",
+    "val":40.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-weak-high-dt/small_curve.traj b/test-projects/swerve-weak-high-dt/small_curve.traj
new file mode 100644
index 0000000000..9ffc61a53b
--- /dev/null
+++ b/test-projects/swerve-weak-high-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-high-dt/straight_line.traj b/test-projects/swerve-weak-high-dt/straight_line.traj
new file mode 100644
index 0000000000..41e4360d5c
--- /dev/null
+++ b/test-projects/swerve-weak-high-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-high-dt/sweep_auto.traj b/test-projects/swerve-weak-high-dt/sweep_auto.traj
new file mode 100644
index 0000000000..2942f1ac8b
--- /dev/null
+++ b/test-projects/swerve-weak-high-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.1
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.1 s",
+   "val":0.1
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-low-dt/full_field_sweeper.traj b/test-projects/swerve-weak-low-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..b21c0ce67b
--- /dev/null
+++ b/test-projects/swerve-weak-low-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-low-dt/project.chor b/test-projects/swerve-weak-low-dt/project.chor
new file mode 100755
index 0000000000..14e63be164
--- /dev/null
+++ b/test-projects/swerve-weak-low-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5906 RPM",
+   "val":618.4748737367106
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5906 RPM",
+    "val":618.4748737367106
+   },
+   "stall_torque":{
+    "exp":"4.2 N * m",
+    "val":4.2
+   },
+   "kT":{
+    "exp":"0.0194 N * m / A",
+    "val":0.0194
+   },
+   "kV":{
+    "exp":"0.002014 V / RPM",
+    "val":0.019232283323224637
+   },
+   "supply_limit":{
+    "exp":"40 A",
+    "val":40.0
+   },
+   "stator_limit":{
+    "exp":"40 A",
+    "val":40.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-weak-low-dt/small_curve.traj b/test-projects/swerve-weak-low-dt/small_curve.traj
new file mode 100644
index 0000000000..d1c246e26d
--- /dev/null
+++ b/test-projects/swerve-weak-low-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-low-dt/straight_line.traj b/test-projects/swerve-weak-low-dt/straight_line.traj
new file mode 100644
index 0000000000..3e3a97ff66
--- /dev/null
+++ b/test-projects/swerve-weak-low-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-low-dt/sweep_auto.traj b/test-projects/swerve-weak-low-dt/sweep_auto.traj
new file mode 100644
index 0000000000..60f3cc0689
--- /dev/null
+++ b/test-projects/swerve-weak-low-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.02
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.02 s",
+   "val":0.02
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-medium-dt/full_field_sweeper.traj b/test-projects/swerve-weak-medium-dt/full_field_sweeper.traj
new file mode 100644
index 0000000000..66abecb972
--- /dev/null
+++ b/test-projects/swerve-weak-medium-dt/full_field_sweeper.traj
@@ -0,0 +1,184 @@
+{
+ "name":"full_field_sweeper",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.42465028166770935, "y":1.369949221611023, "heading":-0.7429850162326409, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":15.383139610290527, "y":1.4184211492538452, "heading":1.764755735877346, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":12.818838119506836, "y":3.626879930496216, "heading":-2.173634786129365, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.896666526794434, "y":5.656417369842529, "heading":-1.144169013902648, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.8366799354553223, "y":2.8109304904937744, "heading":1.6672699934650728, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.575202941894531, "y":2.5033862590789795, "heading":1.6567910528072471, "intervals":947, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.42465028166770935 m", "val":0.42465028166770935}, "y":{"exp":"1.369949221611023 m", "val":1.369949221611023}, "heading":{"exp":"-0.7429850162326409 rad", "val":-0.7429850162326409}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"15.383139610290527 m", "val":15.383139610290527}, "y":{"exp":"1.4184211492538452 m", "val":1.4184211492538452}, "heading":{"exp":"1.764755735877346 rad", "val":1.764755735877346}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"12.818838119506836 m", "val":12.818838119506836}, "y":{"exp":"3.626879930496216 m", "val":3.626879930496216}, "heading":{"exp":"-2.173634786129365 rad", "val":-2.173634786129365}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.896666526794434 m", "val":5.896666526794434}, "y":{"exp":"5.656417369842529 m", "val":5.656417369842529}, "heading":{"exp":"-1.144169013902648 rad", "val":-1.144169013902648}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.8366799354553223 m", "val":2.8366799354553223}, "y":{"exp":"2.8109304904937744 m", "val":2.8109304904937744}, "heading":{"exp":"1.6672699934650728 rad", "val":1.6672699934650728}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.575202941894531 m", "val":9.575202941894531}, "y":{"exp":"2.5033862590789795 m", "val":2.5033862590789795}, "heading":{"exp":"1.6567910528072471 rad", "val":1.6567910528072471}, "intervals":947, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.65936,4.62129,6.24967,7.43568,9.24825],
+  "samples":[
+    {"t":0.0, "x":0.42465, "y":1.36995, "heading":-0.74299, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.076, "ay":-0.3201, "alpha":8.05674, "fx":[240.12241,249.21901,237.64177,230.73199], "fy":[69.22141,-17.55823,-71.17241,-2.26969]},
+    {"t":0.09383, "x":0.48661, "y":1.36854, "heading":-0.70752, "vx":1.32075, "vy":-0.03003, "omega":0.75596, "ax":10.65696, "ay":-0.39055, "alpha":4.0205, "fx":[180.4522,211.20154,169.37586,164.05777], "fy":[51.36281,-21.6037,-56.20552,-0.12641]},
+    {"t":0.18766, "x":0.65745, "y":1.364, "heading":-0.61889, "vx":2.32069, "vy":-0.06668, "omega":1.1332, "ax":8.5826, "ay":-0.28734, "alpha":1.70482, "fx":[149.51048,168.50606,136.14002,129.7934], "fy":[30.33199,-17.78569,-33.63111,1.53469]},
+    {"t":0.28149, "x":0.91298, "y":1.35648, "heading":-0.50506, "vx":3.12599, "vy":-0.09364, "omega":1.29317, "ax":7.04821, "ay":-0.24103, "alpha":-1.51848, "fx":[129.16586,137.76546,116.72217,95.89846], "fy":[6.1508,-9.51842,-12.66842,-0.36339]},
+    {"t":0.37532, "x":1.23732, "y":1.34663, "heading":-0.3904, "vx":3.78732, "vy":-0.11626, "omega":1.15069, "ax":4.67976, "ay":-0.0785, "alpha":-5.18286, "fx":[113.23046,116.69098,56.20294,32.28141], "fy":[11.15199,-9.93744,-7.30915,0.75354]},
+    {"t":0.46915, "x":1.61328, "y":1.33538, "heading":-0.30525, "vx":4.22642, "vy":-0.12362, "omega":0.66438, "ax":2.12022, "ay":-0.10853, "alpha":-2.66069, "fx":[54.62744,67.59591,16.95702,5.07668], "fy":[19.93274,-23.53672,-4.18395,0.40389]},
+    {"t":0.56298, "x":2.01918, "y":1.3233, "heading":-0.25462, "vx":4.42536, "vy":-0.13381, "omega":0.41473, "ax":0.93662, "ay":-0.03826, "alpha":-1.825, "fx":[27.6959,34.01237,4.16874,-2.1504], "fy":[9.83394,-11.76184,-0.94364,0.26852]},
+    {"t":0.65681, "x":2.43853, "y":1.31058, "heading":-0.22374, "vx":4.51325, "vy":-0.1374, "omega":0.24349, "ax":0.41007, "ay":-0.00955, "alpha":-1.09072, "fx":[14.00352,17.07629,0.17705,-3.35591], "fy":[5.24426,-6.32897,-0.03905,0.47371]},
+    {"t":0.75064, "x":2.86382, "y":1.29765, "heading":-0.2057, "vx":4.55172, "vy":-0.13829, "omega":0.14115, "ax":0.16726, "ay":-0.00853, "alpha":-0.5513, "fx":[7.30589,8.52114,-1.01547,-3.4315], "fy":[3.75389,-4.71642,-0.18301,0.56489]},
+    {"t":0.84447, "x":3.29164, "y":1.28463, "heading":-0.19488, "vx":4.56742, "vy":-0.13909, "omega":0.08942, "ax":0.06889, "ay":-0.00635, "alpha":-0.30521, "fx":[4.28952,4.58317,-1.22969,-2.95611], "fy":[2.73902,-3.45746,-0.24617,0.53223]},
+    {"t":0.9383, "x":3.7205, "y":1.27155, "heading":-0.18783, "vx":4.57388, "vy":-0.13969, "omega":0.06078, "ax":0.03382, "ay":-0.00309, "alpha":-0.19781, "fx":[2.78786,2.77793,-1.06608,-2.1989], "fy":[1.90072,-2.30315,-0.21878,0.41063]},
+    {"t":1.03213, "x":4.14982, "y":1.25843, "heading":-0.183, "vx":4.57705, "vy":-0.13998, "omega":0.04222, "ax":0.02064, "ay":-0.00023, "alpha":-0.13822, "fx":[1.87725,1.7782,-0.7601,-1.49082], "fy":[1.23865,-1.3816,-0.15351,0.28093]},
+    {"t":1.12596, "x":4.57937, "y":1.2453, "heading":-0.17965, "vx":4.57899, "vy":-0.14, "omega":0.02925, "ax":0.01357, "ay":0.00141, "alpha":-0.09558, "fx":[1.2589,1.10359,-0.48847,-0.95092], "fy":[0.76234,-0.74909,-0.09489,0.1778]},
+    {"t":1.21979, "x":5.00908, "y":1.23217, "heading":-0.17732, "vx":4.58026, "vy":-0.13987, "omega":0.02028, "ax":0.00911, "ay":0.00192, "alpha":-0.06407, "fx":[0.83746,0.64868,-0.28826,-0.57793], "fy":[0.44392,-0.36628,-0.05252,0.10539]},
+    {"t":1.31362, "x":5.43888, "y":1.21905, "heading":-0.1757, "vx":4.58112, "vy":-0.13969, "omega":0.01427, "ax":-0.00219, "ay":0.00149, "alpha":-0.00612, "fx":[0.75096,-0.34672,-0.17128,-0.38213], "fy":[0.31616,-0.25291,-0.02748,0.06565]},
+    {"t":1.40745, "x":5.86872, "y":1.20595, "heading":-0.17439, "vx":4.58091, "vy":-0.13955, "omega":0.0137, "ax":0.00649, "ay":0.00209, "alpha":-0.0332, "fx":[0.53599,0.29854,-0.11129,-0.2818], "fy":[0.25951,-0.14838,-0.01928,0.05069]},
+    {"t":1.50128, "x":6.29857, "y":1.19287, "heading":-0.17325, "vx":4.58152, "vy":-0.13935, "omega":0.01058, "ax":-0.00135, "ay":0.00109, "alpha":0.00113, "fx":[0.51185,-0.30621,-0.07663,-0.22061], "fy":[0.20243,-0.15364,-0.01189,0.03752]},
+    {"t":1.59511, "x":6.72845, "y":1.1798, "heading":-0.17225, "vx":4.5814, "vy":-0.13925, "omega":0.01069, "ax":-0.00074, "ay":0.00115, "alpha":0.00263, "fx":[0.53625,-0.31454,-0.06259,-0.20943], "fy":[0.21523,-0.16304,-0.00982,0.0359]},
+    {"t":1.68894, "x":7.15832, "y":1.16674, "heading":-0.17124, "vx":4.58133, "vy":-0.13914, "omega":0.01094, "ax":-0.00153, "ay":0.00062, "alpha":0.00806, "fx":[0.57357,-0.39018,-0.06617,-0.2214], "fy":[0.23716,-0.22312,-0.01046,0.03842]},
+    {"t":1.78277, "x":7.58818, "y":1.15368, "heading":-0.17018, "vx":4.58118, "vy":-0.13908, "omega":0.01169, "ax":-0.00516, "ay":-0.002, "alpha":0.02576, "fx":[0.67078,-0.63901,-0.09958,-0.28303], "fy":[0.29059,-0.46082,-0.01577,0.04997]},
+    {"t":1.8766, "x":8.01801, "y":1.14062, "heading":-0.16897, "vx":4.5807, "vy":-0.13927, "omega":0.01411, "ax":0.00616, "ay":0.00308, "alpha":-0.02571, "fx":[0.54652,0.24286,-0.09876,-0.27161], "fy":[0.32876,-0.1534,-0.01844,0.05255]},
+    {"t":1.97043, "x":8.44784, "y":1.12757, "heading":-0.16776, "vx":4.58128, "vy":-0.13898, "omega":0.0117, "ax":0.00431, "ay":0.00289, "alpha":-0.01797, "fx":[0.42731,0.12872,-0.06299,-0.20009], "fy":[0.24792,-0.07793,-0.01176,0.03848]},
+    {"t":2.06426, "x":8.87772, "y":1.11454, "heading":-0.16674, "vx":4.58168, "vy":-0.13871, "omega":0.01001, "ax":-0.02046, "ay":0.02811, "alpha":0.1126, "fx":[-1.44997,0.69456,-0.18691,-0.44978], "fy":[2.09761,-0.23456,-0.02568,0.07549]},
+    {"t":2.15808, "x":9.30753, "y":1.10165, "heading":-0.1653, "vx":4.57976, "vy":-0.13607, "omega":0.02057, "ax":0.01211, "ay":0.00281, "alpha":-0.04026, "fx":[0.89281,0.63795,-0.2155,-0.49152], "fy":[0.6718,-0.53736,-0.04292,0.09968]},
+    {"t":2.25191, "x":9.7373, "y":1.0889, "heading":-0.16355, "vx":4.5809, "vy":-0.13581, "omega":0.0168, "ax":-0.02504, "ay":0.04653, "alpha":0.15159, "fx":[-1.96121,1.5298,-0.40767,-0.8645], "fy":[3.58786,-0.51124,-0.05508,0.14457]},
+    {"t":2.34574, "x":10.16701, "y":1.07636, "heading":-0.16131, "vx":4.57855, "vy":-0.13144, "omega":0.03102, "ax":-0.02366, "ay":0.0704, "alpha":0.17304, "fx":[-2.43361,3.12599,-0.77173,-1.53053], "fy":[5.66914,-1.03158,-0.1024,0.25458]},
+    {"t":2.43957, "x":10.59651, "y":1.06433, "heading":-0.15763, "vx":4.57633, "vy":-0.12484, "omega":0.04726, "ax":-0.02638, "ay":0.0994, "alpha":0.20275, "fx":[-3.08785,4.88831,-1.2546,-2.34041], "fy":[8.11539,-1.5764,-0.16241,0.38666]},
+    {"t":2.5334, "x":11.02579, "y":1.05306, "heading":-0.15231, "vx":4.57385, "vy":-0.11551, "omega":0.06628, "ax":-0.03133, "ay":0.13535, "alpha":0.24101, "fx":[-3.94401,6.95832,-1.84937,-3.29631], "fy":[11.05119,-2.15159,-0.23044,0.54001]},
+    {"t":2.62723, "x":11.45482, "y":1.04282, "heading":-0.14503, "vx":4.57091, "vy":-0.10281, "omega":0.0889, "ax":-0.03861, "ay":0.18131, "alpha":0.29077, "fx":[-5.08095,9.45842,-2.58015,-4.42404], "fy":[14.65263,-2.73042,-0.30361,0.7175]},
+    {"t":2.72106, "x":11.88353, "y":1.03397, "heading":-0.13541, "vx":4.56729, "vy":-0.0858, "omega":0.11618, "ax":-0.04923, "ay":0.24208, "alpha":0.35714, "fx":[-6.63626,12.5427,-3.49057,-5.76558], "fy":[19.17697,-3.25228,-0.37746,0.92392]},
+    {"t":2.81489, "x":12.31187, "y":1.02698, "heading":-0.12293, "vx":4.56267, "vy":-0.06308, "omega":0.14969, "ax":-0.0652, "ay":0.32526, "alpha":0.4481, "fx":[-8.83327,16.42428,-4.64629,-7.38088], "fy":[25.00807,-3.60038,-0.44301,1.16542]},
+    {"t":2.90872, "x":12.73969, "y":1.0225, "heading":-0.10691, "vx":4.55655, "vy":-0.03256, "omega":0.19173, "ax":-0.08989, "ay":0.4427, "alpha":0.57483, "fx":[-12.02083,21.39729,-6.14214,-9.35026], "fy":[32.70645,-3.55309,-0.48141,1.44885]},
+    {"t":3.00255, "x":13.16684, "y":1.02139, "heading":-0.08639, "vx":4.54812, "vy":0.00897, "omega":0.24567, "ax":-0.12733, "ay":0.61117, "alpha":0.74352, "fx":[-16.64085,27.82905,-8.09875,-11.75303], "fy":[42.94343,-2.68855,-0.45129,1.77994]},
+    {"t":3.09638, "x":13.59303, "y":1.02492, "heading":-0.06007, "vx":4.53617, "vy":0.06632, "omega":0.31543, "ax":-0.17112, "ay":0.84105, "alpha":0.89393, "fx":[-22.54917,35.96763,-10.55891,-14.50261], "fy":[55.57593,-0.25175,-0.26362,2.16362]},
+    {"t":3.19021, "x":14.0179, "y":1.03485, "heading":-0.02654, "vx":4.52012, "vy":0.14524, "omega":0.39931, "ax":-2.14997, "ay":2.83918, "alpha":9.17789, "fx":[-129.28559,44.06108,-26.03904,-35.01807], "fy":[181.70761,7.98102,2.16089,1.32475]},
+    {"t":3.28404, "x":14.43256, "y":1.06097, "heading":0.05133, "vx":4.31838, "vy":0.41164, "omega":1.26047, "ax":-7.5758, "ay":2.44524, "alpha":23.89803, "fx":[-174.26961,-243.163,-57.64935,-40.36685], "fy":[178.2324,-21.99425,1.98247,8.15045]},
+    {"t":3.37787, "x":14.8044, "y":1.11036, "heading":0.2748, "vx":3.60755, "vy":0.64107, "omega":3.50282, "ax":-10.51365, "ay":2.72834, "alpha":20.38802, "fx":[-221.69273,-248.78932,-62.27108,-182.58346], "fy":[114.59431,-18.4419,8.82615,80.65482]},
+    {"t":3.4717, "x":15.09662, "y":1.18252, "heading":0.69322, "vx":2.62105, "vy":0.89707, "omega":5.41582, "ax":-11.36371, "ay":4.38917, "alpha":6.23098, "fx":[-225.59535,-249.75934,-222.40629,-75.41256], "fy":[107.48616,1.19641,112.57164,77.38017]},
+    {"t":3.56553, "x":15.29253, "y":1.28601, "heading":1.22881, "vx":1.5548, "vy":1.30891, "omega":6.00047, "ax":-12.55633, "ay":2.17907, "alpha":-6.15146, "fx":[-247.93578,-237.9725,-248.85511,-119.55484], "fy":[21.57567,76.11115,19.92715,30.64742]},
+    {"t":3.65936, "x":15.38314, "y":1.41842, "heading":1.76476, "vx":0.37664, "vy":1.51337, "omega":5.42328, "ax":-12.12545, "ay":1.76011, "alpha":-11.14981, "fx":[-249.42385,-234.85447,-235.85174,-104.87154], "fy":[14.36944,84.91287,-77.45957,97.93327]},
+    {"t":3.72349, "x":15.38236, "y":1.51909, "heading":2.08962, "vx":-0.40094, "vy":1.62624, "omega":4.70826, "ax":-10.08476, "ay":3.33067, "alpha":-0.15548, "fx":[-248.84478,-243.35392,-70.71452,-123.24254], "fy":[21.76117,55.84152,89.88448,59.12763]},
+    {"t":3.78762, "x":15.33591, "y":1.63023, "heading":2.39123, "vx":-1.04767, "vy":1.83983, "omega":4.69829, "ax":-10.12325, "ay":1.16098, "alpha":-6.55326, "fx":[-246.75714,-240.2619,-78.0571,-123.69804], "fy":[38.21719,-66.72889,64.95324,42.5501]},
+    {"t":3.85175, "x":15.24791, "y":1.7506, "heading":2.67905, "vx":-1.69686, "vy":1.91428, "omega":4.27804, "ax":-6.6578, "ay":3.14715, "alpha":-5.87841, "fx":[-217.85905,-98.12319,-13.63512,-123.37201], "fy":[78.61535,89.00816,10.00053,36.50427]},
+    {"t":3.91588, "x":15.1254, "y":1.87983, "heading":2.94131, "vx":-2.12381, "vy":2.11611, "omega":3.90106, "ax":-5.38348, "ay":2.78159, "alpha":-8.75196, "fx":[-174.22421,-85.4983,16.62916,-123.19241], "fy":[84.8562,89.55647,-21.2395,36.0828]},
+    {"t":3.98, "x":14.97814, "y":2.02126, "heading":-3.1097, "vx":-2.46905, "vy":2.29449, "omega":3.33981, "ax":-4.6265, "ay":2.37863, "alpha":-9.49293, "fx":[-143.08064,-81.33573,30.57531,-120.94046], "fy":[78.09821,80.03741,-33.13398,36.83791]},
+    {"t":4.04413, "x":14.81029, "y":2.17329, "heading":-2.91505, "vx":-2.76574, "vy":2.44702, "omega":2.73105, "ax":-3.90888, "ay":1.68146, "alpha":-9.29256, "fx":[-124.16777,-57.78666,32.24881,-116.25024], "fy":[65.37306,49.7984,-34.6096,33.84287]},
+    {"t":4.10826, "x":14.62489, "y":2.33367, "heading":-2.75902, "vx":-3.01641, "vy":2.55485, "omega":2.13513, "ax":-3.09767, "ay":1.0704, "alpha":-8.04096, "fx":[-109.72958,-23.9793,32.61231,-109.66536], "fy":[63.12822,28.37607,-32.98897,14.3132]},
+    {"t":4.17239, "x":14.42508, "y":2.49971, "heading":-2.63863, "vx":-3.21506, "vy":2.6235, "omega":1.61947, "ax":-2.43368, "ay":0.85647, "alpha":-6.97988, "fx":[-86.96093,-7.78368,29.17354,-100.01377], "fy":[78.7127,9.60222,-29.29215,-0.74923]},
+    {"t":4.23652, "x":14.2139, "y":2.66971, "heading":-2.54912, "vx":-3.37113, "vy":2.67842, "omega":1.17186, "ax":-1.31228, "ay":0.69207, "alpha":-3.90263, "fx":[-42.65786,2.33647,24.65002,-73.6144], "fy":[90.74296,-1.50842,-25.78467,-16.36229]},
+    {"t":4.30065, "x":13.99501, "y":2.8429, "heading":-2.482, "vx":-3.45528, "vy":2.7228, "omega":0.92159, "ax":-1.38469, "ay":-1.5441, "alpha":0.56321, "fx":[-90.0206,7.63395,27.71076,-39.537], "fy":[66.13985,-6.21107,-26.65439,-138.33291]},
+    {"t":4.36478, "x":13.77058, "y":3.01433, "heading":-2.42174, "vx":-3.54408, "vy":2.62378, "omega":0.95771, "ax":-1.32155, "ay":-1.6448, "alpha":0.08772, "fx":[-93.49181,11.20888,29.03767,-36.67158], "fy":[60.21876,-9.07285,-27.504,-135.55253]},
+    {"t":4.4289, "x":13.54059, "y":3.17921, "heading":-2.36014, "vx":-3.62883, "vy":2.5183, "omega":0.96333, "ax":-1.28522, "ay":-1.87071, "alpha":0.11443, "fx":[-97.37902,13.55388,29.51744,-33.1371], "fy":[51.9268,-11.19898,-28.04404,-139.96445]},
+    {"t":4.49303, "x":13.30524, "y":3.33686, "heading":-2.29813, "vx":-3.71125, "vy":2.39834, "omega":0.97067, "ax":-1.26745, "ay":-2.09884, "alpha":0.07746, "fx":[-100.87934,14.90525,29.48589,-29.74764], "fy":[41.83894,-12.91127,-28.78545,-142.9451]},
+    {"t":4.55716, "x":13.06463, "y":3.48635, "heading":-2.23572, "vx":-3.79253, "vy":2.26374, "omega":0.97564, "ax":-1.2569, "ay":-2.25481, "alpha":-0.2316, "fx":[-103.07555,15.28774,29.02311,-26.75334], "fy":[31.20569,-14.28926,-29.7792,-140.55211]},
+    {"t":4.62129, "x":12.81884, "y":3.62688, "heading":-2.17363, "vx":-3.87313, "vy":2.11914, "omega":0.96079, "ax":-1.20651, "ay":-2.27042, "alpha":-0.38807, "fx":[-103.24676,16.07131,27.60652,-22.5203], "fy":[24.26894,-14.31727,-27.72468,-136.70404]},
+    {"t":4.69883, "x":12.51488, "y":3.78438, "heading":-2.1003, "vx":-3.96669, "vy":1.94309, "omega":0.9307, "ax":-1.08118, "ay":-1.91741, "alpha":-0.80918, "fx":[-95.62839,17.64848,25.64637,-21.22896], "fy":[23.79131,-12.68762,-22.14835,-119.41392]},
+    {"t":4.77637, "x":12.20404, "y":3.92928, "heading":-2.03056, "vx":-4.05052, "vy":1.79441, "omega":0.86795, "ax":-0.91028, "ay":-1.35759, "alpha":-1.436, "fx":[-80.55692,18.52522,23.23193,-23.13462], "fy":[26.34346,-10.62483,-17.3884,-90.69914]},
+    {"t":4.85392, "x":11.88722, "y":4.06434, "heading":-1.96758, "vx":-4.12111, "vy":1.68914, "omega":0.7566, "ax":-0.72026, "ay":-0.97277, "alpha":-1.52003, "fx":[-64.62999,18.7377,19.67123,-22.78447], "fy":[25.88653,-9.11537,-13.68235,-69.27525]},
+    {"t":4.93146, "x":11.5655, "y":4.1924, "heading":-1.91348, "vx":-4.17696, "vy":1.61371, "omega":0.63873, "ax":-0.51573, "ay":-0.13988, "alpha":-2.30612, "fx":[-33.73471,18.56294,15.88197,-35.79999], "fy":[30.76591,-6.25563,-10.88101,-23.14665]},
+    {"t":5.009, "x":11.24006, "y":4.31711, "heading":-1.87089, "vx":-4.21695, "vy":1.60286, "omega":0.45991, "ax":-0.35991, "ay":-0.47262, "alpha":-0.70304, "fx":[-34.34633,15.14175,10.94304,-16.22663], "fy":[20.73609,-5.33884,-7.16704,-40.38652]},
+    {"t":5.08654, "x":10.91198, "y":4.43998, "heading":-1.83734, "vx":-4.24486, "vy":1.56621, "omega":0.4054, "ax":-0.26901, "ay":-0.4799, "alpha":-0.38575, "fx":[-30.34421,15.10804,10.03223,-13.09927], "fy":[18.9442,-4.97619,-6.34857,-40.27161]},
+    {"t":5.16408, "x":10.58202, "y":4.55998, "heading":-1.80706, "vx":-4.26572, "vy":1.529, "omega":0.37548, "ax":-0.21801, "ay":-0.47329, "alpha":-0.2207, "fx":[-27.77167,15.15011,9.32627,-11.53788], "fy":[17.94398,-4.69536,-5.7604,-39.69007]},
+    {"t":5.24163, "x":10.25059, "y":4.67712, "heading":-1.77861, "vx":-4.28262, "vy":1.4923, "omega":0.35837, "ax":-0.18747, "ay":-0.47764, "alpha":-0.1048, "fx":[-26.35844,15.29736,8.74312,-10.43721], "fy":[17.1888,-4.53434,-5.30177,-39.85052]},
+    {"t":5.31917, "x":9.91795, "y":4.7914, "heading":-1.75113, "vx":-4.29716, "vy":1.45527, "omega":0.35024, "ax":-0.16861, "ay":-0.49838, "alpha":-0.00578, "fx":[-25.87624,15.61119,8.27244,-9.47932], "fy":[16.55959,-4.50089,-4.9445,-41.02324]},
+    {"t":5.39671, "x":9.58423, "y":4.90275, "heading":-1.72399, "vx":-4.31023, "vy":1.41662, "omega":0.3498, "ax":-0.15689, "ay":-0.53873, "alpha":0.09224, "fx":[-26.19631,16.14795,7.90113,-8.5272], "fy":[15.99208,-4.6018,-4.6684,-43.37614]},
+    {"t":5.47425, "x":9.24953, "y":5.01098, "heading":-1.69659, "vx":-4.3224, "vy":1.37485, "omega":0.35695, "ax":-0.14917, "ay":-0.60469, "alpha":0.20513, "fx":[-27.29907,16.97801,7.61196,-7.44027], "fy":[15.4116,-4.85841,-4.4549,-47.24098]},
+    {"t":5.55179, "x":8.91392, "y":5.11577, "heading":-1.6683, "vx":-4.33397, "vy":1.32796, "omega":0.37286, "ax":-0.14163, "ay":-0.7093, "alpha":0.36068, "fx":[-29.30694,18.23232,7.38764,-5.94966], "fy":[14.71829,-5.32682,-4.28615,-53.36538]},
+    {"t":5.62934, "x":8.57743, "y":5.21661, "heading":-1.6383, "vx":-4.34495, "vy":1.27296, "omega":0.40082, "ax":-0.12679, "ay":-0.88042, "alpha":0.61719, "fx":[-32.54188,20.19552,7.20911,-3.48932], "fy":[13.76141,-6.13968,-4.1416,-63.38321]},
+    {"t":5.70688, "x":8.24013, "y":5.31267, "heading":-1.60536, "vx":-4.35478, "vy":1.20469, "omega":0.44868, "ax":-0.08583, "ay":-1.18118, "alpha":1.11067, "fx":[-37.68977,23.53125,7.04356,1.27486], "fy":[12.26505,-7.62021,-3.98738,-81.02389]},
+    {"t":5.78442, "x":7.90219, "y":5.40253, "heading":-1.56723, "vx":-4.36144, "vy":1.11309, "omega":0.53481, "ax":-0.03607, "ay":-1.64025, "alpha":1.73186, "fx":[-46.18424,28.79663,6.81614,8.11699], "fy":[9.88513,-10.15817,-3.79037,-107.53708]},
+    {"t":5.86196, "x":7.56389, "y":5.48391, "heading":-1.52056, "vx":-4.36423, "vy":0.98591, "omega":0.6691, "ax":-0.17782, "ay":-1.9443, "alpha":1.13815, "fx":[-58.17889,33.17647,6.41821,6.48574], "fy":[6.04986,-12.76504,-3.6257,-121.94678]},
+    {"t":5.93951, "x":7.22494, "y":5.55451, "heading":-1.46525, "vx":-4.37802, "vy":0.83514, "omega":0.75735, "ax":-0.20944, "ay":-2.21413, "alpha":0.67581, "fx":[-64.19374,36.24786,5.59708,8.09889], "fy":[-0.10204,-15.13878,-3.34582,-132.06014]},
+    {"t":6.01705, "x":6.88483, "y":5.61262, "heading":-1.40449, "vx":-4.39426, "vy":0.66345, "omega":0.80976, "ax":-0.10271, "ay":-2.51034, "alpha":0.67143, "fx":[-66.43469,39.20142,3.62159,16.62346], "fy":[-6.9793,-17.8358,-2.37273,-143.6128]},
+    {"t":6.09459, "x":6.54378, "y":5.65651, "heading":-1.33968, "vx":-4.40223, "vy":0.4688, "omega":0.86182, "ax":1.64523, "ay":-4.70185, "alpha":5.76429, "fx":[-65.64134,54.96467,41.05737,81.55906], "fy":[-19.08986,-37.43174,-56.7381,-206.6488]},
+    {"t":6.17213, "x":6.20737, "y":5.67873, "heading":-1.25553, "vx":-4.27465, "vy":0.10421, "omega":1.30879, "ax":6.90505, "ay":-10.10952, "alpha":3.28375, "fx":[91.50878,76.01835,159.72117,142.56339], "fy":[-228.77797,-70.06989,-184.54257,-204.44967]},
+    {"t":6.24967, "x":5.89667, "y":5.65642, "heading":-1.14417, "vx":-3.73922, "vy":-0.67971, "omega":1.56342, "ax":3.76567, "ay":-7.79918, "alpha":6.97339, "fx":[112.30018,25.30289,-58.23373,176.84284], "fy":[-222.18694,-57.47539,-75.55349,-175.43147]},
+    {"t":6.31944, "x":5.64496, "y":5.59002, "heading":-1.01813, "vx":-3.47651, "vy":-1.22382, "omega":2.04992, "ax":3.97321, "ay":-6.4108, "alpha":8.50703, "fx":[123.94678,-9.12699,-43.62392,199.13684], "fy":[-215.66451,-8.83864,-68.62764,-143.05257]},
+    {"t":6.3892, "x":5.41209, "y":5.48904, "heading":-0.85441, "vx":-3.19931, "vy":-1.67107, "omega":2.64342, "ax":-1.80924, "ay":-3.98604, "alpha":-5.91435, "fx":[-75.05018,27.48257,-34.56242,-40.96828], "fy":[-87.90439,1.4383,-60.43995,-124.29968]},
+    {"t":6.45897, "x":5.18449, "y":5.36275, "heading":-0.68439, "vx":-3.32554, "vy":-1.94915, "omega":2.2308, "ax":-1.6224, "ay":-3.35341, "alpha":-6.97295, "fx":[-85.13743,39.14792,-28.64688,-35.74983], "fy":[-75.64736,10.38475,-50.80781,-112.09207]},
+    {"t":6.52873, "x":4.94854, "y":5.21861, "heading":-0.54572, "vx":-3.43872, "vy":-2.18311, "omega":1.74433, "ax":-1.29221, "ay":-2.74951, "alpha":-6.51996, "fx":[-85.06971,40.48491,-20.24381,-23.09221], "fy":[-63.15861,15.84778,-37.77266,-101.9898]},
+    {"t":6.5985, "x":4.70549, "y":5.05961, "heading":-0.4399, "vx":-3.52887, "vy":-2.37493, "omega":1.28947, "ax":2.04175, "ay":-2.63888, "alpha":4.26158, "fx":[-86.85284,62.58331,-21.38295,184.57101], "fy":[-58.82332,33.39351,-36.42687,-117.68948]},
+    {"t":6.66826, "x":4.46426, "y":4.88751, "heading":-0.33956, "vx":-3.38643, "vy":-2.55903, "omega":1.58678, "ax":0.34226, "ay":-1.89119, "alpha":-2.5291, "fx":[-70.14696,59.20569,-18.35344,52.58158], "fy":[-35.14703,37.55331,-37.24657,-93.8339]},
+    {"t":6.73803, "x":4.22884, "y":4.70437, "heading":-0.23502, "vx":-3.36255, "vy":-2.69097, "omega":1.41034, "ax":1.05655, "ay":-1.73318, "alpha":-0.76537, "fx":[-57.91529,56.75258,-18.28739,91.33656], "fy":[-28.45949,41.25091,-38.07958,-92.63538]},
+    {"t":6.80779, "x":3.99682, "y":4.51242, "heading":-0.13849, "vx":-3.28884, "vy":-2.81188, "omega":1.35694, "ax":1.43399, "ay":-1.65562, "alpha":-0.04879, "fx":[-50.63539,54.59955,-18.11527,111.71833], "fy":[-23.30669,44.32924,-42.8093,-90.85982]},
+    {"t":6.87756, "x":3.77087, "y":4.31222, "heading":-0.04394, "vx":-3.1888, "vy":-2.92739, "omega":1.35354, "ax":1.71337, "ay":-1.63856, "alpha":0.29951, "fx":[-45.05047,52.52007,-17.57681,126.68288], "fy":[-20.31414,46.73836,-50.24293,-87.66728]},
+    {"t":6.94732, "x":3.55257, "y":4.104, "heading":0.05122, "vx":-3.06927, "vy":-3.0417, "omega":1.37443, "ax":2.55499, "ay":-1.54263, "alpha":1.80847, "fx":[-45.02989,49.78823,191.74863,-22.66837], "fy":[-19.6304,49.93354,-36.013,-99.24882]},
+    {"t":7.01709, "x":3.34466, "y":3.88804, "heading":0.15151, "vx":-2.89102, "vy":-3.14932, "omega":1.5006, "ax":5.65352, "ay":-0.96428, "alpha":10.04074, "fx":[-45.4275,55.05081,141.4602,233.57565], "fy":[-23.07785,68.05229,-38.4464,-72.13623]},
+    {"t":7.08685, "x":3.15673, "y":3.66598, "heading":0.28063, "vx":-2.4966, "vy":-3.21659, "omega":2.20109, "ax":6.98038, "ay":2.77806, "alpha":20.5179, "fx":[-64.02752,63.86514,242.72792,232.37153], "fy":[-31.65241,91.85075,40.82585,87.99154]},
+    {"t":7.15662, "x":2.99954, "y":3.44834, "heading":0.48412, "vx":-2.00961, "vy":-3.02278, "omega":3.63253, "ax":7.62319, "ay":4.35173, "alpha":18.13268, "fx":[-46.04818,122.17257,225.07174,217.47722], "fy":[-25.52065,93.5042,106.10464,121.99867]},
+    {"t":7.22639, "x":2.87789, "y":3.24804, "heading":0.78167, "vx":-1.47778, "vy":-2.71918, "omega":4.89755, "ax":12.55912, "ay":6.02162, "alpha":-3.78139, "fx":[247.54592,214.70065,182.4243,209.83698], "fy":[-21.92334,126.82097,169.553,135.25376]},
+    {"t":7.29615, "x":2.80536, "y":3.07299, "heading":1.11415, "vx":-0.60159, "vy":-2.29909, "omega":4.63375, "ax":11.88032, "ay":6.18205, "alpha":-7.29916, "fx":[242.36845,190.50784,161.70808,213.73917], "fy":[59.99695,161.24277,70.10927,129.27039]},
+    {"t":7.36592, "x":2.7923, "y":2.92764, "heading":1.41966, "vx":0.22724, "vy":-1.86779, "omega":4.12452, "ax":11.7231, "ay":5.58661, "alpha":-16.49331, "fx":[234.01143,131.08971,196.52403,236.0009], "fy":[87.54892,212.46302,-1.97578,82.07071]},
+    {"t":7.43568, "x":2.83668, "y":2.81093, "heading":1.66727, "vx":1.0451, "vy":-1.47804, "omega":2.97386, "ax":7.75685, "ay":7.78551, "alpha":-23.00972, "fx":[86.69423,47.65743,190.70423,202.71118], "fy":[233.77073,241.52887,26.2424,28.17519]},
+    {"t":7.53638, "x":2.98125, "y":2.70157, "heading":1.85007, "vx":1.82621, "vy":-0.69405, "omega":0.65682, "ax":8.77614, "ay":1.72279, "alpha":-3.9474, "fx":[144.87264,131.88799,157.28308,163.07462], "fy":[38.73714,50.29192,15.1762,13.01162]},
+    {"t":7.63708, "x":3.20964, "y":2.64041, "heading":1.8962, "vx":2.70995, "vy":-0.52057, "omega":0.25932, "ax":7.46574, "ay":1.2515, "alpha":-2.23112, "fx":[123.92365,120.56679,131.58519,131.885], "fy":[29.4065,34.00008,10.28968,11.45423]},
+    {"t":7.73778, "x":3.52038, "y":2.59434, "heading":1.911, "vx":3.46174, "vy":-0.39455, "omega":0.03465, "ax":6.29891, "ay":1.41199, "alpha":-1.23063, "fx":[104.66335,104.11216,110.49104,109.3042], "fy":[29.05464,31.91577,17.67545,17.42424]},
+    {"t":7.83847, "x":3.90091, "y":2.56176, "heading":1.90825, "vx":4.09603, "vy":-0.25236, "omega":-0.08927, "ax":2.67412, "ay":1.20527, "alpha":-0.32487, "fx":[40.83904,44.76879,54.89015,41.44625], "fy":[20.49494,34.51634,16.48226,10.51156]},
+    {"t":7.93917, "x":4.32693, "y":2.54246, "heading":1.89761, "vx":4.36531, "vy":-0.131, "omega":-0.12198, "ax":1.23508, "ay":0.46489, "alpha":0.35304, "fx":[17.53236,24.33776,26.3267,15.8365], "fy":[7.54619,14.53007,6.19824,3.35605]},
+    {"t":8.03987, "x":4.77277, "y":2.53163, "heading":1.88712, "vx":4.48968, "vy":-0.08418, "omega":-0.08643, "ax":0.54659, "ay":0.18158, "alpha":0.3467, "fx":[7.22128,12.11305,12.12625,5.7286], "fy":[2.77114,6.14482,2.38126,1.05728]},
+    {"t":8.14057, "x":5.22764, "y":2.52407, "heading":1.88017, "vx":4.54472, "vy":-0.0659, "omega":-0.05152, "ax":0.23623, "ay":0.07026, "alpha":0.22904, "fx":[2.89785,5.7989,5.44684,1.92901], "fy":[1.00462,2.56758,0.89655,0.3117]},
+    {"t":8.24127, "x":5.68649, "y":2.51779, "heading":1.87615, "vx":4.56851, "vy":-0.05882, "omega":-0.02846, "ax":0.09942, "ay":0.02602, "alpha":0.13054, "fx":[1.13167,2.69897,2.38984,0.54403], "fy":[0.35286,1.05597,0.2905,0.07109]},
+    {"t":8.34197, "x":6.14703, "y":2.512, "heading":1.87394, "vx":4.57852, "vy":-0.0562, "omega":-0.01531, "ax":0.03966, "ay":0.00878, "alpha":0.06919, "fx":[0.42591,1.21215,1.00418,0.05592], "fy":[0.11726,0.41557,0.05913,0.00509]},
+    {"t":8.44266, "x":6.60828, "y":2.50639, "heading":1.87275, "vx":4.58251, "vy":-0.05532, "omega":-0.00835, "ax":0.01423, "ay":0.00274, "alpha":0.03468, "fx":[0.15269,0.50285,0.38833,-0.07584], "fy":[0.03632,0.14349,0.00103,0.00579]},
+    {"t":8.54336, "x":7.06981, "y":2.50083, "heading":1.87209, "vx":4.58394, "vy":-0.05504, "omega":-0.00485, "ax":0.0044, "ay":0.00074, "alpha":0.01466, "fx":[0.05708,0.17706,0.13458,-0.06938], "fy":[0.01178,0.04013,-0.00463,0.00334]},
+    {"t":8.64406, "x":7.53142, "y":2.49529, "heading":1.87167, "vx":4.58439, "vy":-0.05497, "omega":-0.00338, "ax":0.00073, "ay":0.00014, "alpha":0.00432, "fx":[0.02733,0.02897,0.04163,-0.04849], "fy":[0.0053,0.00587,-0.00306,0.00107]},
+    {"t":8.74476, "x":7.99307, "y":2.48976, "heading":1.87135, "vx":4.58446, "vy":-0.05495, "omega":-0.00294, "ax":-0.00318, "ay":0.00046, "alpha":-0.00733, "fx":[-0.0004,-0.15893,-0.00067,-0.05629], "fy":[0.00366,0.03082,-0.00288,-0.0005]},
+    {"t":8.84546, "x":8.4547, "y":2.48423, "heading":1.87102, "vx":4.58414, "vy":-0.05491, "omega":-0.00368, "ax":-1.62162, "ay":1.54925, "alpha":-7.11959, "fx":[-1.51174,-85.40677,-2.07881,-21.33569], "fy":[0.37856,106.69438,-0.71566,-0.94824]},
+    {"t":8.94616, "x":8.90809, "y":2.48655, "heading":1.83455, "vx":4.42084, "vy":0.1011, "omega":-0.72061, "ax":-14.66328, "ay":-0.24243, "alpha":-1.66151, "fx":[-249.50469,-249.62041,-249.19127,-249.35655], "fy":[6.91477,2.09653,-14.66682,-10.83899]},
+    {"t":9.04685, "x":9.27892, "y":2.4955, "heading":1.75357, "vx":2.94428, "vy":0.07669, "omega":-0.88792, "ax":-14.63916, "ay":-0.36492, "alpha":3.68282, "fx":[-248.39121,-248.68827,-249.22442,-249.72768], "fy":[-27.19552,-24.03119,17.70149,8.69682]},
+    {"t":9.14755, "x":9.50118, "y":2.50138, "heading":1.68283, "vx":1.47014, "vy":0.03994, "omega":-0.51707, "ax":-14.59941, "ay":-0.39664, "alpha":5.13483, "fx":[-247.72024,-247.51855,-248.61275,-249.47545], "fy":[-33.24459,-34.53478,25.51885,15.27329]},
+    {"t":9.24825, "x":9.5752, "y":2.50339, "heading":1.65679, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.02218, "ay":-0.00101, "alpha":-0.00002, "fx":[0.37718,0.37732,0.37728,0.37715], "fy":[-0.01703,-0.01708,-0.0174,-0.01735]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-medium-dt/project.chor b/test-projects/swerve-weak-medium-dt/project.chor
new file mode 100755
index 0000000000..14e63be164
--- /dev/null
+++ b/test-projects/swerve-weak-medium-dt/project.chor
@@ -0,0 +1,110 @@
+{
+ "name":"project",
+ "version":3,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"125 lbs",
+   "val":56.69904625
+  },
+  "inertia":{
+   "exp":"5 kg m ^ 2",
+   "val":5.0
+  },
+  "gearing":{
+   "exp":"6.03",
+   "val":6.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5906 RPM",
+   "val":618.4748737367106
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  },
+  "motorConfig":{
+   "free_speed":{
+    "exp":"5906 RPM",
+    "val":618.4748737367106
+   },
+   "stall_torque":{
+    "exp":"4.2 N * m",
+    "val":4.2
+   },
+   "kT":{
+    "exp":"0.0194 N * m / A",
+    "val":0.0194
+   },
+   "kV":{
+    "exp":"0.002014 V / RPM",
+    "val":0.019232283323224637
+   },
+   "supply_limit":{
+    "exp":"40 A",
+    "val":40.0
+   },
+   "stator_limit":{
+    "exp":"40 A",
+    "val":40.0
+   }
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/test-projects/swerve-weak-medium-dt/small_curve.traj b/test-projects/swerve-weak-medium-dt/small_curve.traj
new file mode 100644
index 0000000000..b80bf50d68
--- /dev/null
+++ b/test-projects/swerve-weak-medium-dt/small_curve.traj
@@ -0,0 +1,108 @@
+{
+ "name":"small_curve",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6358277797698977, "y":5.847504615783691, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.0072877407073975, "y":3.0705108642578125, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.673925399780273, "y":5.577029705047607, "heading":0.0, "intervals":272, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6358277797698975 m", "val":1.6358277797698977}, "y":{"exp":"5.847504615783691 m", "val":5.847504615783691}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.0072877407073975 m", "val":3.0072877407073975}, "y":{"exp":"3.0705108642578125 m", "val":3.0705108642578125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.673925399780273 m", "val":5.673925399780273}, "y":{"exp":"5.577029705047607 m", "val":5.577029705047607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":272, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.96196,2.08546],
+  "samples":[
+    {"t":0.0, "x":1.63583, "y":5.8475, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.05713, "ay":-14.11526, "alpha":0.0, "fx":[69.01069,69.01069,69.0107,69.0107], "fy":[-240.09648,-240.09648,-240.09648,-240.09648]},
+    {"t":0.05063, "x":1.64103, "y":5.82941, "heading":0.0, "vx":0.20541, "vy":-0.71465, "omega":0.0, "ax":4.08231, "ay":-13.62972, "alpha":0.0, "fx":[69.43889,69.43889,69.43889,69.43889], "fy":[-231.8376,-231.83759,-231.83759,-231.83759]},
+    {"t":0.10126, "x":1.65666, "y":5.77576, "heading":0.0, "vx":0.41209, "vy":-1.40471, "omega":0.0, "ax":3.50786, "ay":-11.29489, "alpha":0.0, "fx":[59.6677,59.6677,59.6677,59.6677], "fy":[-192.12285,-192.12285,-192.12285,-192.12285]},
+    {"t":0.15189, "x":1.68202, "y":5.69017, "heading":0.0, "vx":0.5897, "vy":-1.97656, "omega":0.0, "ax":3.12326, "ay":-9.66636, "alpha":0.0, "fx":[53.12578,53.12578,53.12578,53.12578], "fy":[-164.42202,-164.42202,-164.42202,-164.42202]},
+    {"t":0.20252, "x":1.71588, "y":5.57771, "heading":0.0, "vx":0.74782, "vy":-2.46596, "omega":0.0, "ax":2.86749, "ay":-8.46051, "alpha":0.0, "fx":[48.77518,48.77518,48.77518,48.77518], "fy":[-143.91078,-143.91078,-143.91078,-143.91078]},
+    {"t":0.25315, "x":1.75742, "y":5.44201, "heading":0.0, "vx":0.893, "vy":-2.89431, "omega":0.0, "ax":2.71387, "ay":-7.51777, "alpha":0.0, "fx":[46.16212,46.16212,46.16212,46.16212], "fy":[-127.87516,-127.87516,-127.87516,-127.87516]},
+    {"t":0.30378, "x":1.80611, "y":5.28584, "heading":0.0, "vx":1.0304, "vy":-3.27493, "omega":0.0, "ax":2.66534, "ay":-6.73264, "alpha":0.0, "fx":[45.33672,45.33672,45.33672,45.33672], "fy":[-114.5202,-114.5202,-114.5202,-114.5202]},
+    {"t":0.35441, "x":1.86169, "y":5.1114, "heading":0.0, "vx":1.16535, "vy":-3.6158, "omega":0.0, "ax":2.76942, "ay":-5.985, "alpha":0.0, "fx":[47.10701,47.10701,47.10701,47.10701], "fy":[-101.80317,-101.80317,-101.80317,-101.80317]},
+    {"t":0.40503, "x":1.92424, "y":4.92067, "heading":0.0, "vx":1.30556, "vy":-3.91882, "omega":0.0, "ax":1.92495, "ay":-3.32146, "alpha":0.0, "fx":[32.74287,32.74287,32.74287,32.74287], "fy":[-56.49706,-56.49706,-56.49706,-56.49706]},
+    {"t":0.45566, "x":1.99281, "y":4.718, "heading":0.0, "vx":1.40302, "vy":-4.08698, "omega":0.0, "ax":1.22617, "ay":-1.85609, "alpha":0.0, "fx":[20.85687,20.85687,20.85687,20.85687], "fy":[-31.57157,-31.57157,-31.57157,-31.57157]},
+    {"t":0.50629, "x":2.06541, "y":4.5087, "heading":0.0, "vx":1.4651, "vy":-4.18096, "omega":0.0, "ax":0.78667, "ay":-1.03457, "alpha":0.0, "fx":[13.38097,13.38097,13.38097,13.38097], "fy":[-17.59766,-17.59766,-17.59766,-17.59766]},
+    {"t":0.55692, "x":2.1406, "y":4.2957, "heading":0.0, "vx":1.50493, "vy":-4.23334, "omega":0.0, "ax":0.50909, "ay":-0.5756, "alpha":0.0, "fx":[8.65951,8.65951,8.65951,8.65951], "fy":[-9.79076,-9.79076,-9.79076,-9.79076]},
+    {"t":0.60755, "x":2.21745, "y":4.08063, "heading":0.0, "vx":1.53071, "vy":-4.26248, "omega":0.0, "ax":0.33222, "ay":-0.32069, "alpha":0.0, "fx":[5.65097,5.65097,5.65097,5.65097], "fy":[-5.45484,-5.45484,-5.45484,-5.45484]},
+    {"t":0.65818, "x":2.29537, "y":3.86441, "heading":0.0, "vx":1.54753, "vy":-4.27871, "omega":0.0, "ax":4.09739, "ay":6.02444, "alpha":0.0, "fx":[69.6953,69.69527,69.69599,69.69543], "fy":[102.47376,102.47371,102.47488,102.47397]},
+    {"t":0.70881, "x":2.37897, "y":3.6555, "heading":0.0, "vx":1.75497, "vy":-3.9737, "omega":0.0, "ax":8.24757, "ay":11.96408, "alpha":0.0, "fx":[140.28874,140.28874,140.28874,140.28874], "fy":[203.50551,203.50551,203.50551,203.50551]},
+    {"t":0.75944, "x":2.4784, "y":3.46965, "heading":0.0, "vx":2.17254, "vy":-3.36797, "omega":0.0, "ax":6.41544, "ay":13.15948, "alpha":0.0, "fx":[109.12479,109.12479,109.12479,109.12479], "fy":[223.83903,223.83903,223.83903,223.83903]},
+    {"t":0.81007, "x":2.59661, "y":3.316, "heading":0.0, "vx":2.49735, "vy":-2.70171, "omega":0.0, "ax":4.19375, "ay":14.0523, "alpha":0.0, "fx":[71.33456,71.33456,71.33456,71.33456], "fy":[239.02563,239.02563,239.02563,239.02563]},
+    {"t":0.8607, "x":2.72843, "y":3.19722, "heading":0.0, "vx":2.70968, "vy":-1.99025, "omega":0.0, "ax":1.61012, "ay":14.58573, "alpha":0.0, "fx":[27.38767,27.38767,27.38767,27.38767], "fy":[248.09916,248.09916,248.09916,248.09916]},
+    {"t":0.91133, "x":2.86768, "y":3.11515, "heading":0.0, "vx":2.7912, "vy":-1.25179, "omega":0.0, "ax":-1.33281, "ay":14.61771, "alpha":0.0, "fx":[-22.67073,-22.67073,-22.67073,-22.67073], "fy":[248.64302,248.64302,248.64302,248.64302]},
+    {"t":0.96196, "x":3.00729, "y":3.07051, "heading":0.0, "vx":2.72372, "vy":-0.5117, "omega":0.0, "ax":-4.75002, "ay":13.88433, "alpha":0.0, "fx":[-80.79643,-80.79643,-80.79643,-80.79643], "fy":[236.16844,236.16844,236.16844,236.16844]},
+    {"t":1.01546, "x":3.14621, "y":3.06301, "heading":0.0, "vx":2.46959, "vy":0.23111, "omega":0.0, "ax":-8.28152, "ay":12.08213, "alpha":0.0, "fx":[-140.86624,-140.86624,-140.86624,-140.86624], "fy":[205.51353,205.51353,205.51353,205.51353]},
+    {"t":1.06896, "x":3.26648, "y":3.09266, "heading":0.0, "vx":2.02653, "vy":0.87751, "omega":0.0, "ax":3.38591, "ay":8.11649, "alpha":0.0, "fx":[57.59334,57.59334,57.59334,57.59334], "fy":[138.05921,138.05921,138.05921,138.05921]},
+    {"t":1.12246, "x":3.37975, "y":3.15122, "heading":0.0, "vx":2.20768, "vy":1.31174, "omega":0.0, "ax":3.65522, "ay":7.41688, "alpha":0.0, "fx":[62.1742,62.1742,62.17421,62.17421], "fy":[126.15899,126.15899,126.15899,126.15899]},
+    {"t":1.17596, "x":3.50309, "y":3.23202, "heading":0.0, "vx":2.40323, "vy":1.70855, "omega":0.0, "ax":3.44039, "ay":6.81606, "alpha":0.0, "fx":[58.52005,58.52005,58.52005,58.52005], "fy":[115.9393,115.9393,115.9393,115.9393]},
+    {"t":1.22946, "x":3.63659, "y":3.33318, "heading":0.0, "vx":2.58729, "vy":2.07321, "omega":0.0, "ax":3.01205, "ay":6.33254, "alpha":0.0, "fx":[51.23405,51.23405,51.23405,51.23405], "fy":[107.71465,107.71465,107.71465,107.71465]},
+    {"t":1.28296, "x":3.77932, "y":3.45316, "heading":0.0, "vx":2.74844, "vy":2.412, "omega":0.0, "ax":2.35543, "ay":5.95941, "alpha":0.0, "fx":[40.06521,40.06521,40.06521,40.06521], "fy":[101.36779,101.36779,101.36779,101.36779]},
+    {"t":1.33646, "x":3.92973, "y":3.59073, "heading":0.0, "vx":2.87445, "vy":2.73083, "omega":0.0, "ax":0.97164, "ay":5.04183, "alpha":0.0, "fx":[16.5274,16.5274,16.5274,16.5274], "fy":[85.76005,85.76005,85.76005,85.76005]},
+    {"t":1.38996, "x":4.0849, "y":3.74405, "heading":0.0, "vx":2.92644, "vy":3.00057, "omega":0.0, "ax":0.88472, "ay":3.12158, "alpha":0.0, "fx":[15.04889,15.04889,15.04889,15.04889], "fy":[53.09718,53.09718,53.09718,53.09718]},
+    {"t":1.44346, "x":4.24274, "y":3.90904, "heading":0.0, "vx":2.97377, "vy":3.16757, "omega":0.0, "ax":0.67762, "ay":1.85862, "alpha":0.0, "fx":[11.52604,11.52604,11.52604,11.52604], "fy":[31.61456,31.61456,31.61456,31.61456]},
+    {"t":1.49696, "x":4.4028, "y":4.08117, "heading":0.0, "vx":3.01002, "vy":3.26701, "omega":0.0, "ax":0.46744, "ay":1.07748, "alpha":0.0, "fx":[7.95109,7.95109,7.95109,7.95109], "fy":[18.32763,18.32763,18.32763,18.32763]},
+    {"t":1.55046, "x":4.56451, "y":4.2575, "heading":0.0, "vx":3.03503, "vy":3.32466, "omega":0.0, "ax":0.30399, "ay":0.61154, "alpha":0.0, "fx":[5.17085,5.17085,5.17085,5.17085], "fy":[10.40216,10.40216,10.40216,10.40216]},
+    {"t":1.60396, "x":4.72732, "y":4.43624, "heading":0.0, "vx":3.05129, "vy":3.35737, "omega":0.0, "ax":0.18882, "ay":0.3388, "alpha":0.0, "fx":[3.21173,3.21173,3.21173,3.21173], "fy":[5.76289,5.76289,5.76289,5.76289]},
+    {"t":1.65746, "x":4.89083, "y":4.61635, "heading":0.0, "vx":3.0614, "vy":3.3755, "omega":0.0, "ax":0.10896, "ay":0.17757, "alpha":0.0, "fx":[1.8533,1.8533,1.8533,1.8533], "fy":[3.02046,3.02046,3.02046,3.02046]},
+    {"t":1.71096, "x":5.05477, "y":4.79719, "heading":0.0, "vx":3.06723, "vy":3.385, "omega":0.0, "ax":0.03896, "ay":0.0602, "alpha":0.0, "fx":[0.66277,0.66277,0.66277,0.66277], "fy":[1.02392,1.02392,1.02392,1.02392]},
+    {"t":1.76446, "x":5.21893, "y":4.97837, "heading":0.0, "vx":3.06931, "vy":3.38822, "omega":0.0, "ax":-13.39068, "ay":-4.63488, "alpha":0.0, "fx":[-227.77156,-227.77156,-227.77159,-227.77159], "fy":[-78.83805,-78.83806,-78.83796,-78.83795]},
+    {"t":1.81796, "x":5.36397, "y":5.15301, "heading":0.0, "vx":2.35291, "vy":3.14025, "omega":0.0, "ax":-9.27364, "ay":-11.33049, "alpha":0.0, "fx":[-157.74198,-157.74198,-157.74197,-157.74197], "fy":[-192.72839,-192.7284,-192.72841,-192.7284]},
+    {"t":1.87146, "x":5.47658, "y":5.3048, "heading":0.0, "vx":1.85677, "vy":2.53407, "omega":0.0, "ax":-8.84463, "ay":-11.7038, "alpha":0.0, "fx":[-150.44467,-150.44467,-150.44467,-150.44467], "fy":[-199.07826,-199.07826,-199.07826,-199.07826]},
+    {"t":1.92496, "x":5.56326, "y":5.42362, "heading":0.0, "vx":1.38358, "vy":1.90791, "omega":0.0, "ax":-8.68973, "ay":-11.83146, "alpha":0.0, "fx":[-147.80976,-147.80976,-147.80976,-147.80976], "fy":[-201.24983,-201.24983,-201.24983,-201.24983]},
+    {"t":1.97846, "x":5.62485, "y":5.50877, "heading":0.0, "vx":0.91867, "vy":1.27493, "omega":0.0, "ax":-8.61001, "ay":-11.89577, "alpha":0.0, "fx":[-146.45383,-146.45383,-146.45383,-146.45383], "fy":[-202.34363,-202.34363,-202.34363,-202.34363]},
+    {"t":2.03196, "x":5.66167, "y":5.55995, "heading":0.0, "vx":0.45804, "vy":0.6385, "omega":0.0, "ax":-8.56141, "ay":-11.93458, "alpha":0.0, "fx":[-145.62711,-145.62711,-145.62711,-145.62711], "fy":[-203.00385,-203.00385,-203.00385,-203.00385]},
+    {"t":2.08546, "x":5.67393, "y":5.57703, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00012, "ay":0.00011, "alpha":0.0, "fx":[0.00201,0.00201,0.00201,0.00201], "fy":[0.00189,0.00189,0.00189,0.00189]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-medium-dt/straight_line.traj b/test-projects/swerve-weak-medium-dt/straight_line.traj
new file mode 100644
index 0000000000..47955d6da4
--- /dev/null
+++ b/test-projects/swerve-weak-medium-dt/straight_line.traj
@@ -0,0 +1,102 @@
+{
+ "name":"straight_line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.3901887238025666, "y":0.8238424062728882, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":16.214420318603516, "y":0.7539268136024475, "heading":0.0, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.39018872380256653 m", "val":0.3901887238025666}, "y":{"exp":"0.8238424062728882 m", "val":0.8238424062728882}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"16.214420318603516 m", "val":16.214420318603516}, "y":{"exp":"0.7539268136024475 m", "val":0.7539268136024475}, "heading":{"exp":"0 deg", "val":0.0}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,3.82304],
+  "samples":[
+    {"t":0.0, "x":0.39019, "y":0.82384, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.09192, "ay":-0.06226, "alpha":0.0, "fx":[239.6996,239.6996,239.69961,239.69961], "fy":[-1.05906,-1.05905,-1.05905,-1.05906]},
+    {"t":0.1062, "x":0.46965, "y":0.82349, "heading":0.0, "vx":1.4965, "vy":-0.00661, "omega":0.0, "ax":10.17037, "ay":-0.04494, "alpha":0.0, "fx":[172.99506,172.99506,172.99506,172.99506], "fy":[-0.76434,-0.76434,-0.76434,-0.76434]},
+    {"t":0.21239, "x":0.68592, "y":0.82254, "heading":0.0, "vx":2.57654, "vy":-0.01138, "omega":0.0, "ax":8.02261, "ay":-0.03545, "alpha":0.0, "fx":[136.46231,136.46231,136.46231,136.46231], "fy":[-0.60293,-0.60293,-0.60293,-0.60293]},
+    {"t":0.31859, "x":1.00477, "y":0.82113, "heading":0.0, "vx":3.42851, "vy":-0.01515, "omega":0.0, "ax":6.66135, "ay":-0.02943, "alpha":0.0, "fx":[113.30764,113.30764,113.30764,113.30764], "fy":[-0.50062,-0.50062,-0.50062,-0.50062]},
+    {"t":0.42478, "x":1.40643, "y":0.81935, "heading":0.0, "vx":4.13591, "vy":-0.01827, "omega":0.0, "ax":2.59737, "ay":-0.01148, "alpha":0.0, "fx":[44.1805,44.1805,44.1805,44.1805], "fy":[-0.1952,-0.1952,-0.1952,-0.1952]},
+    {"t":0.53098, "x":1.86029, "y":0.81735, "heading":0.0, "vx":4.41174, "vy":-0.01949, "omega":0.0, "ax":1.00831, "ay":-0.00445, "alpha":0.0, "fx":[17.15108,17.15108,17.15108,17.15108], "fy":[-0.07578,-0.07578,-0.07578,-0.07578]},
+    {"t":0.63717, "x":2.33448, "y":0.81525, "heading":0.0, "vx":4.51882, "vy":-0.01997, "omega":0.0, "ax":0.39091, "ay":-0.00173, "alpha":0.0, "fx":[6.64923,6.64923,6.64923,6.64923], "fy":[-0.02938,-0.02938,-0.02938,-0.02938]},
+    {"t":0.74337, "x":2.81656, "y":0.81312, "heading":0.0, "vx":4.56033, "vy":-0.02015, "omega":0.0, "ax":0.15058, "ay":-0.00067, "alpha":0.0, "fx":[2.56137,2.56137,2.56137,2.56137], "fy":[-0.01132,-0.01132,-0.01132,-0.01132]},
+    {"t":0.84956, "x":3.3017, "y":0.81098, "heading":0.0, "vx":4.57633, "vy":-0.02022, "omega":0.0, "ax":0.05649, "ay":-0.00025, "alpha":0.0, "fx":[0.96087,0.96087,0.96087,0.96087], "fy":[-0.00425,-0.00425,-0.00425,-0.00425]},
+    {"t":0.95576, "x":3.788, "y":0.80883, "heading":0.0, "vx":4.58232, "vy":-0.02025, "omega":0.0, "ax":0.01952, "ay":-0.00009, "alpha":0.0, "fx":[0.33204,0.33204,0.33204,0.33204], "fy":[-0.00147,-0.00147,-0.00147,-0.00147]},
+    {"t":1.06195, "x":4.27473, "y":0.80668, "heading":0.0, "vx":4.5844, "vy":-0.02026, "omega":0.0, "ax":0.00578, "ay":-0.00003, "alpha":0.0, "fx":[0.09837,0.09837,0.09837,0.09837], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]},
+    {"t":1.16815, "x":4.76161, "y":0.80453, "heading":0.0, "vx":4.58501, "vy":-0.02026, "omega":0.0, "ax":0.00149, "ay":-0.00001, "alpha":0.0, "fx":[0.02533,0.02533,0.02533,0.02533], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":1.27435, "x":5.24852, "y":0.80238, "heading":0.0, "vx":4.58517, "vy":-0.02026, "omega":0.0, "ax":0.00036, "ay":0.0, "alpha":0.0, "fx":[0.00612,0.00612,0.00612,0.00612], "fy":[-0.00003,-0.00003,-0.00003,-0.00003]},
+    {"t":1.38054, "x":5.73545, "y":0.80023, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":0.00009, "ay":0.0, "alpha":0.0, "fx":[0.00145,0.00145,0.00145,0.00145], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":1.48674, "x":6.22238, "y":0.79807, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00034,0.00034,0.00034,0.00034], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59293, "x":6.70931, "y":0.79592, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00008,0.00008,0.00008,0.00008], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.69913, "x":7.19624, "y":0.79377, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.80532, "x":7.68317, "y":0.79162, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91152, "x":8.1701, "y":0.78947, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01771, "x":8.65703, "y":0.78732, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.12391, "x":9.14396, "y":0.78517, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.2301, "x":9.63089, "y":0.78301, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.3363, "x":10.11781, "y":0.78086, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.4425, "x":10.60474, "y":0.77871, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.54869, "x":11.09167, "y":0.77656, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.65489, "x":11.5786, "y":0.77441, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.76108, "x":12.06553, "y":0.77226, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.86728, "x":12.55246, "y":0.77011, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00003,-0.00003,-0.00003,-0.00003], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.97347, "x":13.03939, "y":0.76795, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00014,-0.00014,-0.00014,-0.00014], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.07967, "x":13.52632, "y":0.7658, "heading":0.0, "vx":4.58522, "vy":-0.02026, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00058,-0.00058,-0.00058,-0.00058], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":3.18586, "x":14.01325, "y":0.76365, "heading":0.0, "vx":4.58521, "vy":-0.02026, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.0025,-0.0025,-0.0025,-0.0025], "fy":[0.00001,0.00001,0.00001,0.00001]},
+    {"t":3.29206, "x":14.50018, "y":0.7615, "heading":0.0, "vx":4.5852, "vy":-0.02026, "omega":0.0, "ax":-0.00065, "ay":0.0, "alpha":0.0, "fx":[-0.01107,-0.01107,-0.01107,-0.01107], "fy":[0.00005,0.00005,0.00005,0.00005]},
+    {"t":3.39825, "x":14.9871, "y":0.75935, "heading":0.0, "vx":4.58513, "vy":-0.02026, "omega":0.0, "ax":-0.00334, "ay":0.00001, "alpha":0.0, "fx":[-0.05688,-0.05688,-0.05688,-0.05688], "fy":[0.00025,0.00025,0.00025,0.00025]},
+    {"t":3.50445, "x":15.474, "y":0.7572, "heading":0.0, "vx":4.58477, "vy":-0.02026, "omega":0.0, "ax":-13.79683, "ay":0.06096, "alpha":0.0, "fx":[-234.68005,-234.68004,-234.68012,-234.68011], "fy":[1.03695,1.04003,1.03369,1.03693]},
+    {"t":3.61065, "x":15.88309, "y":0.75539, "heading":0.0, "vx":3.11961, "vy":-0.01378, "omega":0.0, "ax":-14.68418, "ay":0.06488, "alpha":0.0, "fx":[-249.77366,-249.77366,-249.77366,-249.77366], "fy":[1.10355,1.10355,1.10355,1.10355]},
+    {"t":3.71684, "x":16.13158, "y":0.75429, "heading":0.0, "vx":1.56022, "vy":-0.00689, "omega":0.0, "ax":-14.69198, "ay":0.06491, "alpha":0.0, "fx":[-249.90645,-249.90645,-249.90645,-249.90645], "fy":[1.10415,1.10415,1.10415,1.10415]},
+    {"t":3.82304, "x":16.21442, "y":0.75393, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00011, "ay":0.0, "alpha":0.0, "fx":[0.00188,0.00188,0.00188,0.00188], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/test-projects/swerve-weak-medium-dt/sweep_auto.traj b/test-projects/swerve-weak-medium-dt/sweep_auto.traj
new file mode 100644
index 0000000000..59bb291fed
--- /dev/null
+++ b/test-projects/swerve-weak-medium-dt/sweep_auto.traj
@@ -0,0 +1,157 @@
+{
+ "name":"sweep_auto",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.428445816040039, "y":0.5943955779075623, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65521240234375, "y":0.5362290740013123, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.693989753723145, "y":6.314103126525879, "heading":1.540953960441231, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.522439956665039, "y":6.643713474273682, "heading":-2.1061292676810126, "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":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.428445816040039 m", "val":4.428445816040039}, "y":{"exp":"0.5943955779075623 m", "val":0.5943955779075623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.65521240234375 m", "val":8.65521240234375}, "y":{"exp":"0.5362290740013123 m", "val":0.5362290740013123}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.693989753723145 m", "val":8.693989753723145}, "y":{"exp":"6.314103126525879 m", "val":6.314103126525879}, "heading":{"exp":"1.540953960441231 rad", "val":1.540953960441231}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.522439956665039 m", "val":6.522439956665039}, "y":{"exp":"6.643713474273682 m", "val":6.643713474273682}, "heading":{"exp":"-2.1061292676810126 rad", "val":-2.1061292676810126}, "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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588,
+   "motorConfig":{
+    "free_speed":607.3745796940267,
+    "stall_torque":9.36,
+    "kT":0.02,
+    "kV":0.01975716537568162,
+    "supply_limit":60.0,
+    "stator_limit":120.0
+   }
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.21564,2.66087,3.46297],
+  "samples":[
+    {"t":0.0, "x":4.42845, "y":0.5944, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.76244, "ay":-2.50922, "alpha":14.64713, "fx":[246.89752,206.36174,234.13418,248.98753], "fy":[36.7298,-140.56369,-87.13767,20.24743]},
+    {"t":0.03921, "x":4.43903, "y":0.59247, "heading":0.01126, "vx":0.53968, "vy":-0.0984, "omega":0.57438, "ax":13.75332, "ay":-2.41865, "alpha":12.82178, "fx":[247.94095,211.75588,227.76447,248.29879], "fy":[28.13967,-132.15982,-79.69258,19.15054]},
+    {"t":0.07843, "x":4.47077, "y":0.58675, "heading":0.04364, "vx":1.07901, "vy":-0.19324, "omega":1.07717, "ax":12.43109, "ay":-1.97263, "alpha":9.83486, "fx":[245.36853,205.23477,187.75049,207.44344], "fy":[44.7894,-137.00661,-63.71607,21.71783]},
+    {"t":0.11764, "x":4.52264, "y":0.57765, "heading":0.09345, "vx":1.56649, "vy":-0.2706, "omega":1.46284, "ax":11.15688, "ay":-1.72289, "alpha":6.61268, "fx":[239.29626,179.20406,160.76248,179.83852], "fy":[31.23356,-118.60623,-51.28291,21.43206]},
+    {"t":0.15686, "x":4.59264, "y":0.56572, "heading":0.15589, "vx":2.00399, "vy":-0.33816, "omega":1.72215, "ax":10.05279, "ay":-1.53333, "alpha":4.19205, "fx":[218.73319,162.4703,141.99224,160.78473], "fy":[15.22933,-97.44886,-40.66552,18.55888]},
+    {"t":0.19607, "x":4.67896, "y":0.55128, "heading":0.22665, "vx":2.39821, "vy":-0.39829, "omega":1.88654, "ax":9.17295, "ay":-1.38394, "alpha":2.34866, "fx":[200.1595,149.01737,128.05821,146.88191], "fy":[1.73791,-78.91506,-32.29106,15.30674]},
+    {"t":0.23529, "x":4.78005, "y":0.5346, "heading":0.30244, "vx":2.75792, "vy":-0.45256, "omega":1.97864, "ax":8.44832, "ay":-1.24854, "alpha":0.89356, "fx":[183.03393,138.09709,117.35389,136.32914], "fy":[-8.57651,-62.00678,-25.44302,11.07675]},
+    {"t":0.2745, "x":4.8947, "y":0.51589, "heading":0.38071, "vx":3.08921, "vy":-0.50152, "omega":2.01368, "ax":7.65472, "ay":-1.06915, "alpha":-1.28945, "fx":[166.93361,129.56117,96.04538,128.27835], "fy":[-15.32815,-44.84799,-17.09851,4.53074]},
+    {"t":0.31371, "x":5.02173, "y":0.4954, "heading":0.45869, "vx":3.38939, "vy":-0.54344, "omega":1.96311, "ax":6.46266, "ay":-0.82524, "alpha":-3.68143, "fx":[152.90344,119.39283,45.37919,122.03622], "fy":[-13.98312,-42.3401,-7.34019,7.51531]},
+    {"t":0.35293, "x":5.15961, "y":0.47345, "heading":0.53284, "vx":3.64281, "vy":-0.57581, "omega":1.81875, "ax":5.55276, "ay":-0.6208, "alpha":-5.07185, "fx":[140.54522,111.15563,9.79199,116.31042], "fy":[-11.46391,-40.93114,-1.39547,11.5517]},
+    {"t":0.39214, "x":5.30673, "y":0.4504, "heading":0.60026, "vx":3.86056, "vy":-0.60015, "omega":1.61986, "ax":4.80352, "ay":-0.39404, "alpha":-5.77465, "fx":[129.52306,102.40136,-15.00313,109.90482], "fy":[-7.2502,-39.02596,2.71632,16.74984]},
+    {"t":0.43136, "x":5.46181, "y":0.42656, "heading":0.65934, "vx":4.04893, "vy":-0.6156, "omega":1.39341, "ax":3.63517, "ay":-0.08546, "alpha":-6.46929, "fx":[119.6738,67.98959,-25.18232,84.85146], "fy":[-2.17609,-26.51326,4.80487,18.06998]},
+    {"t":0.47057, "x":5.62338, "y":0.40235, "heading":0.70901, "vx":4.19148, "vy":-0.61895, "omega":1.13972, "ax":2.75622, "ay":0.14032, "alpha":-6.55212, "fx":[109.77049,43.84972,-26.52118,60.43085], "fy":[4.40781,-17.81045,5.44235,17.50757]},
+    {"t":0.50979, "x":5.78986, "y":0.37819, "heading":0.74866, "vx":4.29956, "vy":-0.61345, "omega":0.88279, "ax":1.91009, "ay":0.38604, "alpha":-5.35634, "fx":[86.11942,28.29448,-26.12999,41.67673], "fy":[16.53967,-12.94428,5.6476,17.02305]},
+    {"t":0.549, "x":5.95994, "y":0.35443, "heading":0.77916, "vx":4.37446, "vy":-0.59831, "omega":0.67274, "ax":1.24193, "ay":0.46756, "alpha":-3.80968, "fx":[57.83966,19.70607,-23.33028,30.28376], "fy":[20.78225,-8.72359,5.31987,14.43357]},
+    {"t":0.58821, "x":6.13243, "y":0.33133, "heading":0.80262, "vx":4.42316, "vy":-0.57998, "omega":0.52335, "ax":0.80972, "ay":0.47973, "alpha":-2.62298, "fx":[37.67703,14.50669,-20.08077,22.98919], "fy":[21.60429,-6.06952,4.81732,12.28799]},
+    {"t":0.62743, "x":6.30651, "y":0.30895, "heading":0.82112, "vx":4.45492, "vy":-0.56117, "omega":0.42049, "ax":0.54641, "ay":0.47133, "alpha":-1.85056, "fx":[25.0004,11.2236,-17.26369,18.21683], "fy":[21.51596,-4.39398,4.33079,10.61588]},
+    {"t":0.66664, "x":6.48162, "y":0.28731, "heading":0.83619, "vx":4.47634, "vy":-0.54268, "omega":0.34792, "ax":0.13066, "ay":0.97406, "alpha":-0.05529, "fx":[-5.27157,10.84599,-15.44403,18.75986], "fy":[56.3281,-3.22219,3.99559,9.17218]},
+    {"t":0.70586, "x":6.65726, "y":0.26678, "heading":0.84979, "vx":4.48147, "vy":-0.50449, "omega":0.34575, "ax":0.10672, "ay":1.04794, "alpha":-0.01588, "fx":[-7.22385,10.91432,-15.36925,18.93997], "fy":[60.77902,-2.79341,4.02767,9.28719]},
+    {"t":0.74507, "x":6.83308, "y":0.2478, "heading":0.86334, "vx":4.48565, "vy":-0.46339, "omega":0.34513, "ax":-1.09181, "ay":2.85773, "alpha":7.22633, "fx":[48.69637,12.0365,-29.77344,-105.24473], "fy":[9.86697,-1.22845,7.46365,178.33452]},
+    {"t":0.78428, "x":7.00814, "y":0.23183, "heading":0.88243, "vx":4.44284, "vy":-0.35133, "omega":0.62851, "ax":-0.38382, "ay":2.8069, "alpha":3.07126, "fx":[84.38944,19.08674,-36.94585,-92.64511], "fy":[23.47704,-0.48041,9.81508,158.16637]},
+    {"t":0.8235, "x":7.18207, "y":0.22021, "heading":0.90943, "vx":4.42779, "vy":-0.24126, "omega":0.74894, "ax":-0.72702, "ay":3.46385, "alpha":3.9022, "fx":[94.35331,21.52693,-45.34649,-119.99954], "fy":[35.31098,1.39204,13.03621,185.93709]},
+    {"t":0.86271, "x":7.35514, "y":0.21341, "heading":0.9418, "vx":4.39928, "vy":-0.10543, "omega":0.90197, "ax":-0.82606, "ay":3.78343, "alpha":1.88384, "fx":[-84.94128,26.46766,-45.14399,47.41346], "fy":[217.97755,1.37831,11.69081,26.37324]},
+    {"t":0.90193, "x":7.52702, "y":0.21219, "heading":0.97862, "vx":4.36688, "vy":0.04294, "omega":0.97584, "ax":-0.79186, "ay":3.93588, "alpha":1.86521, "fx":[-93.36828,31.76304,-46.71265,54.4405], "fy":[218.48696,5.10649,12.06067,32.13837]},
+    {"t":0.94114, "x":7.69766, "y":0.2169, "heading":1.01832, "vx":4.33583, "vy":0.19728, "omega":1.04898, "ax":-4.11035, "ay":6.42703, "alpha":13.16686, "fx":[-103.58138,34.2524,-68.94039,-141.39383], "fy":[222.2478,9.91084,17.46094,187.66839]},
+    {"t":0.98036, "x":7.86452, "y":0.22957, "heading":1.06958, "vx":4.17465, "vy":0.44931, "omega":1.56531, "ax":-4.67999, "ay":6.51717, "alpha":11.55487, "fx":[-110.84692,50.83951,-90.59857,-167.81523], "fy":[221.478,20.47583,24.8968,176.57033]},
+    {"t":1.01957, "x":8.02463, "y":0.2522, "heading":1.13985, "vx":3.99113, "vy":0.70488, "omega":2.01843, "ax":-5.54812, "ay":6.81776, "alpha":8.74812, "fx":[-118.78001,62.41642,-132.17892,-188.94534], "fy":[218.38774,35.02008,51.76129,158.70376]},
+    {"t":1.05878, "x":8.17687, "y":0.28509, "heading":1.22573, "vx":3.77356, "vy":0.97223, "omega":2.36148, "ax":-7.0985, "ay":7.45386, "alpha":4.49688, "fx":[-131.09549,68.74899,-214.08849,-206.53891], "fy":[211.73105,56.50971,101.8694,137.04173]},
+    {"t":1.098, "x":8.31939, "y":0.32894, "heading":1.32179, "vx":3.4952, "vy":1.26453, "omega":2.53782, "ax":-10.63488, "ay":8.83749, "alpha":-7.19699, "fx":[-159.01888,-122.25958,-221.88693,-220.41982], "fy":[192.08224,187.234,106.48275,115.49366]},
+    {"t":1.13721, "x":8.44828, "y":0.38533, "heading":1.41577, "vx":3.07816, "vy":1.61108, "omega":2.25559, "ax":-11.77217, "ay":8.19891, "alpha":-5.57198, "fx":[-186.84491,-167.27244,-213.51512,-233.33266], "fy":[165.28775,182.44103,123.33581,86.77994]},
+    {"t":1.17643, "x":8.55993, "y":0.45481, "heading":1.49994, "vx":2.61652, "vy":1.9326, "omega":2.03709, "ax":-9.52768, "ay":7.33077, "alpha":-11.7382, "fx":[-213.13676,-196.75039,-226.85553,-11.51003], "fy":[129.68095,152.45068,100.00736,116.63805]},
+    {"t":1.21564, "x":8.65521, "y":0.53623, "heading":1.5708, "vx":2.2429, "vy":2.22007, "omega":1.57679, "ax":-10.42315, "ay":5.64656, "alpha":-10.13488, "fx":[-234.80313,-223.73354,-238.35389,-12.28843], "fy":[84.04491,109.37122,68.75027,122.01927]},
+    {"t":1.26226, "x":8.74845, "y":0.64587, "heading":1.63329, "vx":1.75697, "vy":2.48331, "omega":1.1043, "ax":-7.80605, "ay":5.02611, "alpha":-21.16433, "fx":[-28.61356,-243.52966,-243.04293,-15.92849], "fy":[126.63727,45.33769,41.35182,128.64367]},
+    {"t":1.30888, "x":8.82188, "y":0.7671, "heading":1.66178, "vx":1.39305, "vy":2.71763, "omega":0.11761, "ax":-4.51992, "ay":5.68507, "alpha":-14.78535, "fx":[-20.94065,-18.29731,-247.18626,-21.10618], "fy":[118.4632,128.38048,13.46911,126.49318]},
+    {"t":1.3555, "x":8.88191, "y":0.89997, "heading":1.65119, "vx":1.18233, "vy":2.98267, "omega":-0.57168, "ax":-1.41163, "ay":6.91326, "alpha":0.49529, "fx":[-21.46811,-24.30368,-26.3495,-23.92408], "fy":[111.27484,116.61118,124.5976,117.88675]},
+    {"t":1.40212, "x":8.9355, "y":1.04654, "heading":1.62508, "vx":1.11652, "vy":3.30497, "omega":-0.54859, "ax":-1.52395, "ay":6.42281, "alpha":0.60196, "fx":[-24.58625,-25.7774,-27.14152,-26.18239], "fy":[103.25986,108.0612,115.74593,109.93381]},
+    {"t":1.44874, "x":8.98589, "y":1.2076, "heading":1.60016, "vx":1.04548, "vy":3.6044, "omega":-0.52053, "ax":-1.84911, "ay":5.78677, "alpha":0.90116, "fx":[-30.97754,-30.75262,-31.31576,-32.76549], "fy":[89.92754,98.33847,105.73206,99.72727]},
+    {"t":1.49536, "x":9.03262, "y":1.38192, "heading":1.57687, "vx":0.95927, "vy":3.87418, "omega":-0.47851, "ax":-4.52027, "ay":3.61161, "alpha":11.63902, "fx":[-191.97393,-35.17496,-48.84527,-31.56006], "fy":[-26.9804,94.50373,81.19808,97.00855]},
+    {"t":1.54198, "x":9.07243, "y":1.56646, "heading":1.56721, "vx":0.74854, "vy":4.04255, "omega":0.0641, "ax":-5.5062, "ay":2.20314, "alpha":0.01163, "fx":[-42.41495,-47.41071,-50.10417,-234.70589], "fy":[85.33039,78.70302,64.36264,-78.4971]},
+    {"t":1.5886, "x":9.10135, "y":1.75732, "heading":1.57021, "vx":0.49184, "vy":4.14526, "omega":0.06464, "ax":-3.84406, "ay":1.94092, "alpha":-7.75382, "fx":[-33.70439,-26.33125,-161.92161,-39.58793], "fy":[39.34141,52.45099,-37.79938,78.06483]},
+    {"t":1.63522, "x":9.1201, "y":1.95268, "heading":1.5648, "vx":0.31263, "vy":4.23575, "omega":-0.29684, "ax":-1.61686, "ay":2.43284, "alpha":1.56358, "fx":[-17.7255,-19.796,-37.88463,-34.60298], "fy":[31.78323,31.41696,50.30741,52.0201]},
+    {"t":1.68184, "x":9.13292, "y":2.1528, "heading":1.55266, "vx":0.23725, "vy":4.34917, "omega":-0.22395, "ax":-1.02907, "ay":1.68908, "alpha":1.21663, "fx":[-10.45903,-11.92103,-25.17093,-22.46609], "fy":[21.44249,20.66853,35.26921,37.54258]},
+    {"t":1.72846, "x":9.14286, "y":2.35739, "heading":1.54354, "vx":0.18927, "vy":4.42791, "omega":-0.16723, "ax":-0.65216, "ay":1.14322, "alpha":0.92268, "fx":[-6.00392,-7.0509,-16.77791,-14.53959], "fy":[13.95451,13.17593,24.20803,26.4449]},
+    {"t":1.77508, "x":9.15097, "y":2.56507, "heading":1.53675, "vx":0.15887, "vy":4.48121, "omega":-0.12421, "ax":-0.41084, "ay":0.76099, "alpha":0.68298, "fx":[-3.27692,-4.06471,-11.29325,-9.31843], "fy":[8.82134,8.16859,16.35379,18.43293]},
+    {"t":1.8217, "x":9.15793, "y":2.77481, "heading":1.5317, "vx":0.13971, "vy":4.51669, "omega":-0.09237, "ax":-0.87439, "ay":0.12133, "alpha":-0.74948, "fx":[-11.50254,-2.08429,-38.41747,-7.48813], "fy":[-4.23721,5.48851,-13.06222,20.06638]},
+    {"t":1.86832, "x":9.1635, "y":2.98551, "heading":1.52658, "vx":0.09895, "vy":4.52234, "omega":-0.12731, "ax":-0.78898, "ay":0.11529, "alpha":-0.66044, "fx":[-6.97283,-0.90118,-37.73694,-8.07063], "fy":[-3.31421,2.31534,-12.34395,21.18707]},
+    {"t":1.91494, "x":9.16725, "y":3.19646, "heading":1.51992, "vx":0.06217, "vy":4.52772, "omega":-0.1581, "ax":-0.79217, "ay":0.13611, "alpha":0.86637, "fx":[-0.56573,-36.11512,-10.86034,-6.35728], "fy":[3.35847,-26.68162,13.79604,18.78762]},
+    {"t":1.96156, "x":9.16929, "y":3.4077, "heading":1.51349, "vx":0.02524, "vy":4.53407, "omega":-0.11771, "ax":-0.59306, "ay":0.10702, "alpha":-0.85731, "fx":[-0.33337,-0.75625,-32.30201,-6.95975], "fy":[0.97765,-1.17279,-11.24449,18.72133]},
+    {"t":2.00818, "x":9.16982, "y":3.61919, "heading":1.50707, "vx":-0.00241, "vy":4.53905, "omega":-0.15768, "ax":-0.66883, "ay":0.02028, "alpha":-0.66395, "fx":[-0.81194,-2.74241,-34.52264,-7.42974], "fy":[-1.78358,-4.96865,-12.38263,20.51443]},
+    {"t":2.0548, "x":9.16898, "y":3.83082, "heading":1.499, "vx":-0.03359, "vy":4.54, "omega":-0.18863, "ax":-0.7512, "ay":-0.03626, "alpha":-0.55809, "fx":[-1.47301,-4.04817,-37.3123,-8.2773], "fy":[-3.33363,-7.67396,-13.9162,22.45665]},
+    {"t":2.10142, "x":9.1666, "y":4.04244, "heading":1.4896, "vx":-0.06861, "vy":4.53831, "omega":-0.21465, "ax":-0.83804, "ay":-0.07987, "alpha":-0.53895, "fx":[-1.87276,-5.05281,-40.74963,-9.34408], "fy":[-4.2319,-9.8489,-15.96527,24.6118]},
+    {"t":2.14804, "x":9.16249, "y":4.25393, "heading":1.47901, "vx":-0.10768, "vy":4.53459, "omega":-0.23978, "ax":-0.93681, "ay":-0.11917, "alpha":-0.5541, "fx":[-2.21312,-6.14159,-44.66067,-10.72428], "fy":[-4.76895,-11.98422,-18.39523,27.04022]},
+    {"t":2.19466, "x":9.15645, "y":4.4652, "heading":1.46723, "vx":-0.15136, "vy":4.52903, "omega":-0.26561, "ax":-1.05391, "ay":-0.16066, "alpha":-0.55931, "fx":[-2.6903,-7.73836,-48.78258,-12.49528], "fy":[-5.13739,-14.47672,-21.04485,29.72767]},
+    {"t":2.24128, "x":9.14825, "y":4.67617, "heading":1.45424, "vx":-0.20049, "vy":4.52154, "omega":-0.29169, "ax":-1.21434, "ay":-0.22348, "alpha":-0.48219, "fx":[-4.15032,-10.8458,-52.94266,-14.68353], "fy":[-5.95922,-17.98027,-23.86146,32.59546]},
+    {"t":2.2879, "x":9.13758, "y":4.88672, "heading":1.44011, "vx":-0.2571, "vy":4.51112, "omega":-0.31417, "ax":-1.53849, "ay":-0.40174, "alpha":-0.24263, "fx":[-13.30155,-12.42413,-62.0207,-16.93069], "fy":[-12.57622,-19.21001,-31.41209,35.86472]},
+    {"t":2.33452, "x":9.12393, "y":5.0966, "heading":1.4252, "vx":-0.32883, "vy":4.49239, "omega":-0.32548, "ax":-3.33088, "ay":-1.8308, "alpha":4.01168, "fx":[-98.23671,-10.39162,-98.35762,-19.64344], "fy":[-83.64209,-15.59615,-65.10919,39.78215]},
+    {"t":2.38114, "x":9.10498, "y":5.30404, "heading":1.41439, "vx":-0.48411, "vy":4.40704, "omega":-0.13845, "ax":-3.33305, "ay":-0.81833, "alpha":-1.5143, "fx":[-15.33519,-11.64083,-20.01317,-179.78751], "fy":[24.0657,19.32042,37.45251,-136.5166]},
+    {"t":2.42777, "x":9.07878, "y":5.50861, "heading":1.40629, "vx":-0.6395, "vy":4.36889, "omega":-0.20905, "ax":-10.07705, "ay":-8.55244, "alpha":-0.19129, "fx":[-161.82207,-158.02586,-181.29112,-184.49193], "fy":[-138.09423,-149.11527,-153.71136,-140.97716]},
+    {"t":2.47439, "x":9.03802, "y":5.703, "heading":1.39634, "vx":-1.1093, "vy":3.97017, "omega":-0.21797, "ax":-8.4208, "ay":-5.98899, "alpha":11.84077, "fx":[-152.55182,-176.64266,-73.92256,-169.82429], "fy":[-142.97411,-165.69786,71.27552,-170.08788]},
+    {"t":2.52101, "x":8.97715, "y":5.88158, "heading":1.39904, "vx":-1.50187, "vy":3.69097, "omega":0.33405, "ax":-7.93017, "ay":-8.17507, "alpha":10.7038, "fx":[-138.92599,-163.39073,-88.56792,-148.67507], "fy":[-205.72718,-187.39954,35.1622,-198.25781]},
+    {"t":2.56763, "x":8.89852, "y":6.04477, "heading":1.42625, "vx":-1.87158, "vy":3.30984, "omega":0.83306, "ax":-7.20748, "ay":-8.8247, "alpha":8.61039, "fx":[-101.50776,-141.60307,-156.73114,-90.54651], "fy":[-227.55242,-205.23865,-193.14282,25.51138]},
+    {"t":2.61425, "x":8.80343, "y":6.18948, "heading":1.47444, "vx":-2.20759, "vy":2.89843, "omega":1.23448, "ax":-6.00284, "ay":-9.66585, "alpha":8.24549, "fx":[-58.87306,-115.32312,-141.30905,-92.92107], "fy":[-242.32435,-221.33159,-205.13965,11.14239]},
+    {"t":2.66087, "x":8.69399, "y":6.3141, "heading":1.54095, "vx":-2.48745, "vy":2.44781, "omega":1.61889, "ax":-5.07744, "ay":-10.05797, "alpha":8.13939, "fx":[-27.06912,-94.03188,-129.19102,-95.17115], "fy":[-247.58571,-231.01644,-212.67641,6.94599]},
+    {"t":2.69295, "x":8.61157, "y":6.38746, "heading":1.59708, "vx":-2.65035, "vy":2.12511, "omega":1.88003, "ax":-4.11796, "ay":-10.28738, "alpha":8.14865, "fx":[5.42017,-71.79616,-117.11468,-96.69079], "fy":[-248.49347,-238.72608,-219.335,6.61271]},
+    {"t":2.72503, "x":8.52442, "y":6.45035, "heading":1.6616, "vx":-2.78247, "vy":1.79505, "omega":2.14148, "ax":-3.10448, "ay":-10.41502, "alpha":7.95631, "fx":[37.51906,-48.15493,-104.53853,-96.05119], "fy":[-244.5926,-244.43544,-225.19346,5.59576]},
+    {"t":2.75712, "x":8.43354, "y":6.50258, "heading":1.7344, "vx":-2.88208, "vy":1.46089, "omega":2.39675, "ax":-4.47669, "ay":-7.62727, "alpha":3.27158, "fx":[-111.03453,-25.58186,-86.43235,-81.53992], "fy":[-40.93871,-247.64408,-232.16447,1.79663]},
+    {"t":2.7892, "x":8.33877, "y":6.54553, "heading":1.81298, "vx":-3.02571, "vy":1.21618, "omega":2.50171, "ax":-3.71665, "ay":-7.73465, "alpha":2.66248, "fx":[-112.26475,-4.38793,-68.0562,-68.16802], "fy":[-42.35905,-248.52177,-236.10266,0.72684]},
+    {"t":2.82129, "x":8.23978, "y":6.58057, "heading":1.89462, "vx":-3.14495, "vy":0.96802, "omega":2.58714, "ax":-3.60087, "ay":-4.14811, "alpha":11.40494, "fx":[-110.96977,2.33143,-121.78075,-14.5798], "fy":[-46.23379,-248.14111,12.31094,-0.1687]},
+    {"t":2.85337, "x":8.13702, "y":6.60949, "heading":1.98349, "vx":-3.26049, "vy":0.83493, "omega":2.95305, "ax":-2.86927, "ay":-4.22485, "alpha":8.51155, "fx":[-108.65323,5.58969,-119.95753,27.79908], "fy":[-49.448,-247.78057,25.05203,-15.27752]},
+    {"t":2.88545, "x":8.03094, "y":6.6341, "heading":2.08262, "vx":-3.35254, "vy":0.69938, "omega":3.22614, "ax":-2.30229, "ay":-4.35206, "alpha":5.79081, "fx":[-106.19342,7.03732,-116.69544,59.20626], "fy":[-54.02504,-247.33805,29.9418,-24.6876]},
+    {"t":2.91754, "x":7.92219, "y":6.6543, "heading":2.18911, "vx":-3.42641, "vy":0.55975, "omega":3.41193, "ax":-1.88644, "ay":-4.39433, "alpha":3.53189, "fx":[-103.81075,7.63148,-113.32769,81.15577], "fy":[-59.60534,-246.8477,32.502,-25.03439]},
+    {"t":2.94962, "x":7.81128, "y":6.67, "heading":2.3004, "vx":-3.48694, "vy":0.41876, "omega":3.52525, "ax":-1.58733, "ay":-4.41035, "alpha":1.61359, "fx":[-101.22264,8.52203,-110.12694,94.8273], "fy":[-65.9619,-246.20177,32.78499,-20.69615]},
+    {"t":2.98171, "x":7.69859, "y":6.68116, "heading":2.41433, "vx":-3.53786, "vy":0.27725, "omega":3.57702, "ax":-1.34855, "ay":-4.43762, "alpha":0.06197, "fx":[-97.96986,11.56998,-106.92571,101.57194], "fy":[-72.93688,-245.18086,30.90007,-14.71319]},
+    {"t":3.01379, "x":7.58439, "y":6.68778, "heading":2.52913, "vx":-3.58113, "vy":0.13488, "omega":3.57901, "ax":-0.86353, "ay":-4.53355, "alpha":-1.0903, "fx":[-92.89959,20.16768,-87.4707,101.44914], "fy":[-80.84954,-243.3168,25.38549,-9.67655]},
+    {"t":3.04588, "x":7.46905, "y":6.68977, "heading":2.6434, "vx":-3.60884, "vy":-0.01058, "omega":3.54403, "ax":0.03573, "ay":-4.4709, "alpha":-0.27742, "fx":[-85.97444,56.06761,-66.86151,99.19956], "fy":[-89.35549,-232.12102,22.15205,-4.8702]},
+    {"t":3.07796, "x":7.35328, "y":6.68713, "heading":2.75696, "vx":-3.60769, "vy":-0.15402, "omega":3.53513, "ax":1.17292, "ay":-2.0038, "alpha":5.0191, "fx":[-79.84358,106.73323,-39.59668,92.51134], "fy":[-97.1396,-54.47027,12.65327,2.62064]},
+    {"t":3.11004, "x":7.23813, "y":6.68116, "heading":2.87297, "vx":-3.57006, "vy":-0.21831, "omega":3.69616, "ax":2.76274, "ay":0.87453, "alpha":13.13135, "fx":[-71.02887,167.16248,2.36863,89.47173], "fy":[-107.39356,159.69998,-0.44234,7.63827]},
+    {"t":3.14213, "x":7.12501, "y":6.6746, "heading":2.99831, "vx":-3.48142, "vy":-0.19025, "omega":4.11747, "ax":3.82401, "ay":0.64719, "alpha":13.46353, "fx":[-47.2058,175.36769,43.1609,88.85872], "fy":[-123.65164,167.63736,-7.22226,7.2706]},
+    {"t":3.17421, "x":7.01528, "y":6.66883, "heading":3.13735, "vx":-3.35873, "vy":-0.16949, "omega":4.54944, "ax":8.16693, "ay":-0.17067, "alpha":23.55416, "fx":[198.36397,202.10644,81.88231,73.31585], "fy":[-142.3442,136.27366,-11.83296,6.29109]},
+    {"t":3.2063, "x":6.91172, "y":6.66331, "heading":-2.98775, "vx":-3.0967, "vy":-0.17497, "omega":5.30515, "ax":12.22789, "ay":-1.40746, "alpha":17.02739, "fx":[232.0784,238.81643,140.64377,220.43318], "fy":[-80.83432,55.36634,17.71716,-88.01147]},
+    {"t":3.23838, "x":6.81866, "y":6.65697, "heading":-2.80877, "vx":-2.70438, "vy":-0.22012, "omega":5.85146, "ax":13.74838, "ay":0.12535, "alpha":-15.68953, "fx":[233.14657,220.74469,245.69033,235.84255], "fy":[79.31189,-111.64791,-36.3006,77.16545]},
+    {"t":3.27046, "x":6.73897, "y":6.64997, "heading":-2.62911, "vx":-2.26327, "vy":-0.2161, "omega":5.34808, "ax":12.21801, "ay":1.84635, "alpha":-26.45149, "fx":[181.48108,192.61595,248.48367,208.71874], "fy":[166.80174,-157.37518,-19.78979,135.98663]},
+    {"t":3.30255, "x":6.67264, "y":6.64399, "heading":-2.47114, "vx":-1.87127, "vy":-0.15686, "omega":4.4994, "ax":11.14466, "ay":3.06416, "alpha":-30.62644, "fx":[133.03716,188.6766,249.54828,187.00759], "fy":[206.77704,-162.8797,-0.44033,165.02475]},
+    {"t":3.33463, "x":6.61834, "y":6.64053, "heading":-2.34254, "vx":-1.5137, "vy":-0.05855, "omega":3.51678, "ax":11.70334, "ay":2.69827, "alpha":-26.63281, "fx":[183.273,193.11491,249.1685,170.72533], "fy":[143.57477,-157.97949,15.97801,182.01395]},
+    {"t":3.36672, "x":6.5758, "y":6.64004, "heading":-2.24341, "vx":-1.13821, "vy":0.02802, "omega":2.66229, "ax":12.49188, "ay":1.02142, "alpha":-23.22258, "fx":[238.05243,202.56097,247.92252,161.39718], "fy":[-5.25255,-145.89253,30.19566,190.44572]},
+    {"t":3.3988, "x":6.54571, "y":6.64147, "heading":-2.16995, "vx":-0.73742, "vy":0.06079, "omega":1.91721, "ax":11.8687, "ay":-0.65852, "alpha":-27.63496, "fx":[199.71006,207.10446,246.71183,154.00654], "fy":[-141.01163,-139.51476,39.17965,196.54194]},
+    {"t":3.43089, "x":6.52816, "y":6.64308, "heading":-2.12266, "vx":-0.35662, "vy":0.03966, "omega":1.03057, "ax":11.11512, "ay":-1.23624, "alpha":-32.12072, "fx":[152.90672,209.26063,245.79317,148.29956], "fy":[-193.46706,-136.35991,44.7766,200.93783]},
+    {"t":3.46297, "x":6.52244, "y":6.64371, "heading":-2.10613, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.00277, "ay":0.00045, "alpha":0.00409, "fx":[-0.03958,-0.04687,-0.05497,-0.0471], "fy":[0.0205,0.0264,0.00106,-0.01744]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/trajoptlib/include/trajopt/swerve_trajectory_generator.hpp b/trajoptlib/include/trajopt/swerve_trajectory_generator.hpp
index 71ba6281a6..379a9f576d 100644
--- a/trajoptlib/include/trajopt/swerve_trajectory_generator.hpp
+++ b/trajoptlib/include/trajopt/swerve_trajectory_generator.hpp
@@ -12,6 +12,7 @@
 
 #include "trajopt/geometry/translation2.hpp"
 #include "trajopt/path/path_builder.hpp"
+#include "trajopt/util/motor.hpp"
 #include "trajopt/util/symbol_exports.hpp"
 
 namespace trajopt {
@@ -27,11 +28,7 @@ struct TRAJOPT_DLLEXPORT SwerveDrivetrain {
   /// Radius of wheel (m).
   double wheel_radius;
 
-  /// Maximum angular velocity of wheel (rad/s).
-  double wheel_max_angular_velocity;
-
-  /// Maximum torque applied to wheel (N−m).
-  double wheel_max_torque;
+  util::MotorConfig motor_config;
 
   /// The Coefficient of Friction (CoF) of the wheels.
   double wheel_cof;
diff --git a/trajoptlib/include/trajopt/util/motor.hpp b/trajoptlib/include/trajopt/util/motor.hpp
new file mode 100644
index 0000000000..8623e778ef
--- /dev/null
+++ b/trajoptlib/include/trajopt/util/motor.hpp
@@ -0,0 +1,17 @@
+// Copyright (c) TrajoptLib contributors
+
+#pragma once
+
+namespace trajopt::util {
+struct MotorConfig {
+  double free_speed;
+  double stall_torque;
+  double kT;
+  double kV;
+  double supply_limit;
+  double stator_limit;
+
+  constexpr double stall_current() { return stall_torque / kT; };
+  constexpr double resistance() { return 12 / stall_current(); };
+};
+}  // namespace trajopt::util
diff --git a/trajoptlib/include/trajopt/util/trajopt_util.hpp b/trajoptlib/include/trajopt/util/trajopt_util.hpp
index 7c42ba762a..b07531ed33 100644
--- a/trajoptlib/include/trajopt/util/trajopt_util.hpp
+++ b/trajoptlib/include/trajopt/util/trajopt_util.hpp
@@ -98,4 +98,22 @@ inline double calculate_trapezoidal_time(double distance, double velocity,
   }
 }
 
+/// Returns the time an exponential profile takes to travel a given distance
+/// from rest to rest.
+///
+/// @param distance The distance to travel.
+/// @param velocity The profile's maximum (steady-state) velocity.
+/// @param acceleration The profile's from-rest acceleration.
+inline double calculate_exponential_time(double distance, double velocity,
+                                         double acceleration) {
+  if (distance <= 0.0 || velocity <= 0.0 || acceleration <= 0.0) {
+    return 0.0;
+  }
+
+  const double tau = velocity / acceleration;
+  const double X = distance / (velocity * tau);
+  const double p = std::sqrt(1.0 - std::exp(-X));
+  return tau * (2.0 * std::log1p(p) + X);
+}
+
 }  // namespace trajopt
diff --git a/trajoptlib/src/lib.rs b/trajoptlib/src/lib.rs
index affc1088d0..9a03dbe6f1 100644
--- a/trajoptlib/src/lib.rs
+++ b/trajoptlib/src/lib.rs
@@ -6,13 +6,22 @@ mod ffi {
         y: f64,
     }
 
+    #[derive(Debug, Deserialize, Serialize, Clone)]
+    struct MotorConfig {
+        free_speed: f64,
+        stall_torque: f64,
+        kT: f64,
+        kV: f64,
+        supply_limit: f64,
+        stator_limit: f64,
+    }
+
     #[derive(Debug, Deserialize, Serialize, Clone)]
     struct SwerveDrivetrain {
         mass: f64,
         moi: f64,
         wheel_radius: f64,
-        wheel_max_angular_velocity: f64,
-        wheel_max_torque: f64,
+        motor_config: MotorConfig,
         wheel_cof: f64,
         modules: Vec<Translation2d>,
     }
@@ -1291,6 +1300,7 @@ pub use ffi::DifferentialDrivetrain;
 pub use ffi::DifferentialTrajectory;
 pub use ffi::DifferentialTrajectorySample;
 pub use ffi::Pose2d;
+pub use ffi::MotorConfig;
 pub use ffi::SwerveDrivetrain;
 pub use ffi::SwerveTrajectory;
 pub use ffi::SwerveTrajectorySample;
diff --git a/trajoptlib/src/rust_ffi.cpp b/trajoptlib/src/rust_ffi.cpp
index 3b6ce65b9d..b8891b4bfe 100644
--- a/trajoptlib/src/rust_ffi.cpp
+++ b/trajoptlib/src/rust_ffi.cpp
@@ -19,6 +19,7 @@
 #include "trajopt/constraint/point_line_region_constraint.hpp"
 #include "trajopt/geometry/translation2.hpp"
 #include "trajopt/util/cancellation.hpp"
+#include "trajopt/util/motor.hpp"
 #include "trajoptlib/src/lib.rs.h"
 
 namespace trajopt::rsffi {
@@ -30,10 +31,16 @@ void SwerveTrajectoryGenerator::set_drivetrain(
     cpp_modules.emplace_back(module.x, module.y);
   }
 
+  auto motor_config =
+      trajopt::util::MotorConfig{drivetrain.motor_config.free_speed,
+                                 drivetrain.motor_config.stall_torque,
+                                 drivetrain.motor_config.kT,
+                                 drivetrain.motor_config.kV,
+                                 drivetrain.motor_config.supply_limit,
+                                 drivetrain.motor_config.stator_limit};
   path_builder.set_drivetrain(trajopt::SwerveDrivetrain{
       drivetrain.mass, drivetrain.moi, drivetrain.wheel_radius,
-      drivetrain.wheel_max_angular_velocity, drivetrain.wheel_max_torque,
-      drivetrain.wheel_cof, std::move(cpp_modules)});
+      std::move(motor_config), drivetrain.wheel_cof, std::move(cpp_modules)});
 }
 
 void SwerveTrajectoryGenerator::set_bumpers(double front, double left,
diff --git a/trajoptlib/src/rust_ffi.hpp b/trajoptlib/src/rust_ffi.hpp
index 5d5cdae7d2..a2eb18cfa4 100644
--- a/trajoptlib/src/rust_ffi.hpp
+++ b/trajoptlib/src/rust_ffi.hpp
@@ -32,6 +32,7 @@ struct DifferentialTrajectory;
 struct Pose2d;
 struct SwerveDrivetrain;
 struct DifferentialDrivetrain;
+struct MotorConfig;
 
 class SwerveTrajectoryGenerator {
  public:
diff --git a/trajoptlib/src/swerve_trajectory_generator.cpp b/trajoptlib/src/swerve_trajectory_generator.cpp
index b4543980be..89cbe05382 100644
--- a/trajoptlib/src/swerve_trajectory_generator.cpp
+++ b/trajoptlib/src/swerve_trajectory_generator.cpp
@@ -6,13 +6,16 @@
 
 #include <algorithm>
 #include <chrono>
+#include <cmath>
 #include <ranges>
+#include <sleipnir/autodiff/variable.hpp>
 #include <vector>
 
 #include <sleipnir/optimization/problem.hpp>
 #include <sleipnir/optimization/solver/exit_status.hpp>
 
 #include "trajopt/geometry/rotation2.hpp"
+#include "trajopt/geometry/translation2.hpp"
 #include "trajopt/util/cancellation.hpp"
 #include "trajopt/util/trajopt_util.hpp"
 
@@ -119,11 +122,12 @@ SwerveTrajectoryGenerator::SwerveTrajectoryGenerator(
   constexpr int num_wheels = 4;
 
   // Minimize total time
-  const double chassis_max_force = path.drivetrain.wheel_max_torque *
+  const double chassis_max_force = path.drivetrain.motor_config.kT *
+                                   path.drivetrain.motor_config.stator_limit *
                                    num_wheels / path.drivetrain.wheel_radius;
   const double chassis_max_a = chassis_max_force / path.drivetrain.mass;
   const double chassis_max_v =
-      path.drivetrain.wheel_radius * path.drivetrain.wheel_max_angular_velocity;
+      path.drivetrain.wheel_radius * path.drivetrain.motor_config.free_speed;
   const double wheel_max_position_radius =
       std::ranges::max(path.drivetrain.modules, {}, &Translation2d::norm)
           .norm();
@@ -152,8 +156,8 @@ SwerveTrajectoryGenerator::SwerveTrajectoryGenerator(
       const double dθ = std::abs(angle_modulus(θ_1 - θ_0));
 
       const double angular_time =
-          calculate_trapezoidal_time(dθ, chassis_max_ω, chassis_max_α);
-      const double linear_time = calculate_trapezoidal_time(
+          calculate_exponential_time(dθ, chassis_max_ω, chassis_max_α);
+      const double linear_time = calculate_exponential_time(
           dist, std::min(chassis_max_v, dist / angular_time), chassis_max_a);
       const double sgmt_time = angular_time + linear_time;
 
@@ -220,17 +224,19 @@ SwerveTrajectoryGenerator::SwerveTrajectoryGenerator(
     auto Fy_net = std::accumulate(Fy.at(index).begin(), Fy.at(index).end(),
                                   slp::Variable{0.0});
 
-    // Solve for net torque
-    slp::Variable τ_net = 0.0;
+    // Solve for net torque.
+    slp::Variable<double> τ_cos_sum = 0.0;
+    slp::Variable<double> τ_sin_sum = 0.0;
     for (size_t module_index = 0; module_index < path.drivetrain.modules.size();
          ++module_index) {
       const auto& translation = path.drivetrain.modules.at(module_index);
-      auto r = translation.rotate_by(θ_k);
-      Translation2v<double> F{Fx.at(index).at(module_index),
-                              Fy.at(index).at(module_index)};
+      const auto& F_x = Fx.at(index).at(module_index);
+      const auto& F_y = Fy.at(index).at(module_index);
 
-      τ_net += r.cross(F);
+      τ_cos_sum += translation.x() * F_y - translation.y() * F_x;
+      τ_sin_sum += translation.x() * F_x + translation.y() * F_y;
     }
+    auto τ_net = θ_k.cos() * τ_cos_sum - θ_k.sin() * τ_sin_sum;
 
     // Apply module power constraints
     auto v_wrt_robot = v_k.rotate_by(-θ_k);
@@ -241,19 +247,26 @@ SwerveTrajectoryGenerator::SwerveTrajectoryGenerator(
       Translation2v<double> v_wheel_wrt_robot{
           v_wrt_robot.x() - translation.y() * ω.at(index),
           v_wrt_robot.y() + translation.x() * ω.at(index)};
-      const double v_max = path.drivetrain.wheel_radius *
-                           path.drivetrain.wheel_max_angular_velocity;
-
-      // |v|₂² ≤ vₘₐₓ²
-      problem.subject_to(v_wheel_wrt_robot.squared_norm() <= v_max * v_max);
-
       Translation2v<double> module_force{Fx.at(index).at(module_index),
                                          Fy.at(index).at(module_index)};
 
-      // τ = r x F
-      // F = τ/r
-      const double wheel_max_force =
-          path.drivetrain.wheel_max_torque / path.drivetrain.wheel_radius;
+      const auto kV = path.drivetrain.motor_config.kV;
+      const auto R = path.drivetrain.motor_config.resistance();
+      const auto I_supply_limit = path.drivetrain.motor_config.supply_limit;
+      const auto I_stator_limit = path.drivetrain.motor_config.stator_limit;
+      const auto kT_over_r =
+          path.drivetrain.motor_config.kT / path.drivetrain.wheel_radius;
+      const auto kV_over_r = kV / path.drivetrain.wheel_radius;
+      constexpr double v_supply = 12.0;
+
+      // TODO: pipe from UI
+      constexpr double kS = 0.40;
+      // assume rolling friction is equal to static friction for simplicity
+      // since rolling friction is not a common SysID term - conservative
+      // simplification to model increased V_motor due to kS
+      const double I_free = kS / R;
+
+      auto F_wrt_robot = module_force.rotate_by(-θ_k);
 
       // friction = μmg
       const double normal_force_per_wheel =
@@ -261,10 +274,57 @@ SwerveTrajectoryGenerator::SwerveTrajectoryGenerator(
       const double wheel_max_friction_force =
           path.drivetrain.wheel_cof * normal_force_per_wheel;
 
-      const double F_max = std::min(wheel_max_force, wheel_max_friction_force);
+      auto v_norm = slp::sqrt(v_wheel_wrt_robot.squared_norm() + 1e-6);
+      auto F_dot_v = F_wrt_robot.dot(v_wheel_wrt_robot);
+      auto F_norm_sq = F_wrt_robot.squared_norm();
+      auto F_longitudinal = F_dot_v / v_norm;
+      auto F_lateral = F_wrt_robot.dot(v_wheel_wrt_robot.rotate_by(
+                           Rotation2<double>{0.0, 1.0})) /
+                       v_norm;
+
+      // Penalize lateral forces with the Tire Induced Drag model
+      // F_drag = F_lateral * sin(α)
+      // where α is the slip angle between velocity and force
+      // Let sin(α) = α; then sin(α) = F_lateral / F_norm; thus
+      // F_drag = F_lateral * sin(α) = F_lateral * F_lateral / F_norm
+      //        = F_lateral * F_lateral * sqrt(F_norm_sq) / F_norm_sq
+      // constants used for numerical smoothing
+      auto F_drag = (F_lateral * F_lateral) * slp::sqrt(F_norm_sq + 1e-6) /
+                    (F_norm_sq + 1e-4);
+
+      // smooth free current around zero velocity for solver stability
+      auto friction_factor = v_norm / (v_norm + 1e-4);
+
+      // motor force is force in wheel direction + force to overcome drag from
+      // scrub + free current
+      auto I_motor =
+          (F_longitudinal + F_drag) / kT_over_r + I_free * friction_factor;
+      auto V_emf = v_norm * kV_over_r;
+      auto V_motor = I_motor * R + V_emf;
+
+      // stator
+      // We need to constrain motor output brake force so that the solver
+      // doesn't abuse lateral drag force to generate extremely strong braking
+      // forces. Do this by constraining I_propulsive, the portion of current
+      // that generates longitudinal force, to be above -I_stator_limit.
+      // -I_stator_limit ≤ I_propulsive ≤ I_motor ≤ I_stator_limit
+      // I_propulsive = F_long/kT_over_r ≥ -I_stator_limit
+      //              = F_dot_v / (v_norm * kT_over_r) ≥ -I_stator_limit
+      //              = F_dot_v + I_stator_limit * kT_over_r * v_norm ≥ 0
+      problem.subject_to(F_dot_v + I_stator_limit * kT_over_r * v_norm >= 0);
+      problem.subject_to(I_motor <= I_stator_limit);
+
+      // supply voltage
+      problem.subject_to(slp::bounds(-v_supply, V_motor, v_supply));
+
+      // supply current
+      auto P_elec = V_motor * I_motor;
+      problem.subject_to(P_elec <= I_supply_limit * v_supply);
 
       // |F|₂² ≤ Fₘₐₓ²
-      problem.subject_to(module_force.squared_norm() <= F_max * F_max);
+      // total force must not slip
+      problem.subject_to(module_force.squared_norm() <=
+                         wheel_max_friction_force * wheel_max_friction_force);
     }
 
     // Apply dynamics constraints
@@ -379,6 +439,28 @@ void SwerveTrajectoryGenerator::apply_initial_guess(
         (ω[sample_index].value() - ω[sample_index - 1].value()) /
         solution.dt[sample_index]);
   }
+
+  const size_t module_count = path.drivetrain.modules.size();
+  double sum_r_sq = 0.0;
+  for (const auto& translation : path.drivetrain.modules) {
+    sum_r_sq += translation.squared_norm();
+  }
+
+  for (size_t sample_index = 0; sample_index < sample_total; ++sample_index) {
+    Rotation2d θ{solution.thetacos[sample_index],
+                 solution.thetasin[sample_index]};
+    double Fnet_x = path.drivetrain.mass * ax[sample_index].value();
+    double Fnet_y = path.drivetrain.mass * ay[sample_index].value();
+    double τ = path.drivetrain.moi * α[sample_index].value();
+
+    for (size_t module_index = 0; module_index < module_count; ++module_index) {
+      auto r = path.drivetrain.modules[module_index].rotate_by(θ);
+      Fx[sample_index][module_index].set_value(Fnet_x / module_count -
+                                               τ / sum_r_sq * r.y());
+      Fy[sample_index][module_index].set_value(Fnet_y / module_count +
+                                               τ / sum_r_sq * r.x());
+    }
+  }
 }
 
 SwerveSolution SwerveTrajectoryGenerator::construct_swerve_solution() {