Trajectories. Where to start?

Hello CD, i would like to use trajectories in my teams 2023 season so starting it now seems like a good idea. I’m not really sure where to start though. As for what we can currently do, we can use pid control competently and did so for our 2022 season. We’ve never messed with kinematics or odometry which i am told is a big part of trajectories. Can anyone point me in the right direction?

I would start with WPILib’s trajectory tutorial.

You will need to use SysID: Introduction to System Identification — FIRST Robotics Competition documentation. This gets you the correct variables to use in your trajectory program. Then you will want to follow the trajectory tutorial with those variables and your robot should follow basic trajectories.

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