Team Mean Machine won the innovation in control award at the world championships last year in the Hopper/Newton division. This was a huge honor, so naturally, we decided to step up our software game over the off-season. Linked below is the fruits of our programming team’s labor over the last several months.
https://github.com/TeamMeanMachine/meanlib
Here is a link to the accompanying document:
https://docs.google.com/document/d/1...it?usp=sharing
Here is an example trajectory:
https://goo.gl/photos/qDHmF4GjUGvB2wai6
(Note that the sparse points are only to help visualize, It would be much smoother when running on a robot.)
This code was used on one off-season robot. It was one of our entries for the BunnyBot competition this fall named Thunder McBoomstix. Here is a video of it in action:
https://youtu.be/ez-iOZKoi9Q
Here is a link to the thread about our BunnyBot robots this year:
https://www.chiefdelphi.com/forums/s...d.php?t=152819
More complex examples of its use can be found in the following git repo, which contains the code for the offseason robot shown in the video. Delta was Thunder McBoomstix’s code name before its formal name was chosen:
https://github.com/TeamMeanMachine/2...e/master/Delta
Please feel free to look through the repo, post any questions or comments, and use it on your 2017 robots!
It's a twitter post. It's not a hint. - Libby K [more] 
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