Trapezoidal Profiling for Drive System

[theNerd]

Recently I've been working on a new drive system that will allow our robot to drive very smooth this year. I learned of trapezoidal profiling and was thinking of integrating that technique into our drive code this year to achieve this. My main goal is to create a class that will take a polar coordinate as a position input and compute the necessary means of getting to that point in a smooth fashion. Could anybody help me in determining how to go about doing this?

PS: if there is a way to implement PID loops into this that would be awesome.