I have successfully generated a polynomial based off of two slopes and two points with thanks to @Ether and this thread.

However, this does not get me as far as I’d like it to. For this to be complete, I need to steer along this path. There are several ways I could do this, and most involve taking the slope of a point along the path, and then adjusting my robot’s heading. In order to get this slope, I need an X value however.

Or do I? Is there any better way to follow this polynomial? I really like the polynomial and would appreciate it if anyone had ideas.

I am currently looking at my navX’s x-displacement, but I hear it is inaccurate, so I’d like to avoid it. Along with that, perhaps some calculus would allow me to find the slope with an arc length based off of my encoders?

And lastly, how accurate is the Pigeon IMU in terms of displacement? Maybe I should look at replacing my navX with this.

Thank you!