Motion Profiles

Motion profiles are depictions of how a robot should move from point A to point B.

Trapezoidal Motion Profile

TrapezoidMotionProfile::Constraints constraints{
    .maxVelocity = 36.0f,     // in/s
    .maxAcceleration = 48.0f, // in/s^2
    .maxDeceleration = 100.0f // in/s^2
};

TrapezoidMotionProfile profile = TrapezoidMotionProfile(
    constraints,
    100.0f, // distance to travel (in)
    0.0f,   // initial velocity (in/s)
    0.0f    // ending velocity (in/s)
);

void opcontrol() override {
    while (true) {
        auto expectedState = profile.getStateAtTime(pros::millis() / 1000.0);

        // Use expectedState.position and expectedState.velocity to control the robot
        // ...
    }
}