WPILib has a new trajectory generator and followers, and lots of documentation on how to use them. Unfortunately, there aren’t any accessible resources on how everything works under the hood. My team and I used a similar trajectory solution last season (both are based on 254’s 2018 code) , so I thought I would take a whack at making a compelling, accessible introduction to this guts of this subject. This presentation goes in-depth enough to give you a high-level understanding of the important tradeoffs and inner workings of this trajectory generator, while still being at a level that is accessible to non-experts.
A video of my presentation is embedded below (if you want to skip the history and context section, go to 6:26):
Not including questions at the end, the presentation is about 35 minutes.