This workspace tracks the progress of my trajectory generator. This project is broken into three sections:

• Path representation - a collection of functions to describe a path in 2D space
• 1D motion profile - a system which outputs 1D velocities for a robot to move a specified distance given kinematic constraints
• Trajectory generator - an algorithm that produces 2D robot velocities to follow a path

For a introduction to the project, read

First Generation

Second Generation

Milestones

There are several significant portions of this project which can be worked on independently of each other. These are the large, overarching initiatives.

Milestones

All ideas and tasks get put in Ideas. As those ideas become tasks, they are assigned a status. Manage the progress of tasks in Roadmap.

Ideas

Tasks

Roadmap

Tasks

Todo

• [ ] Develop plan for X drive profile
• [ ] Develop plan for nonlinear accel
• [ ] Develop plan for wpilib style generation