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[quote=Loubear;723356@Qbranch
Can you elaborate? Not sure what a "continous velocity profile" is...[/QUOTE]

The result of this approach to autonomous navigation is a continuous, smooth motion as opposed to the jerky motion characteristic of many PID systems. We use a multi-tier feedback system with lookahead to achieve this... you can see it in operation in the Midwest regional matches (best camera angles).

Also, it allows us to do interpolated arc motion for turns to enhance efficiency as opposed to the usual turn-go-turn type turns in many autonomous modes.

-q