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https://solscan.io/tx/5oWH7ReHYBy3YNExFMcHCBP7a2yLdF9EXGqYSC9nPEJRsriVMFG4KKF2BGh3yD6A4MGMZ84LTyYQC5TMG7txyycn For example, here's a transaction that is swapping on raydium, how do I write one of my own ?

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You can use use raydium SDK - https://github.com/raydium-io/raydium-sdk/blob/master/src/ammV3/ammV3.ts#L758

If you look for a optimized trading route, you can also use Jupiter SDK - https://station.jup.ag/docs/apis/swap-sdk

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