Looking for how to start with Pure Pursuit and Motion Profiling

Hello! I was trying to understand a little bit of Pure Pursuit and Motion Profiling which seems to be very important in the world of FRC, but I don’t really understand what theese terms really mean. Write down what Pure Pursuit and Motion Profiling means in the context of FRC, and if you can, code examples and documentations are more than welcome!
Thanks for any help!

Team 1712 has a great paper on pure pursuit where they go into the math behind the algorithm.
This paper presents the algorithm and was also helpful about implementation.
My team implemented pure pursuit based off the info on these documents.

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