kill(all)$ stardisp:true$ ratprint:false$ assume(t>0)$

amax:6.3$ j:13.2$ T:3$

tr:amax/j$ tf:(T-4*tr)/2$
t1:tr$ t2:t1+tf$ t3:t2+2*tr$ t4:t3+tf$ t5:t4+tr$

""; printf(false,"amax=~a; jerk=~a; time=~a; t1=~a; t2=~a; t3=~a; t4=~a; t5=~a;",amax,j,T,t1,t2,t3,t4,t5);
a1(t):=''(j*t);
a2(t):=''(a1(t1));
a3(t):=''(a1(t1)-j*(t-t2));
a4(t):=''(a3(t3));
a5(t):=''(a3(t3)+j*(t-t4));

v1(t):=''(integrate(a1(t),t,0,t));
v2(t):=''(v1(t1)+integrate(a2(t),t,t1,t));
v3(t):=''(v2(t2)+integrate(a3(t),t,t2,t));
v4(t):=''(v3(t3)+integrate(a4(t),t,t3,t));
v5(t):=''(v4(t4)+integrate(a5(t),t,t4,t));

x1(t):=''(integrate(v1(t),t,0,t));
x2(t):=''(x1(t1)+integrate(v2(t),t,t1,t));
x3(t):=''(x2(t2)+integrate(v3(t),t,t2,t));
x4(t):=''(x3(t3)+integrate(v4(t),t,t3,t));
x5(t):=''(x4(t4)+integrate(v5(t),t,t4,t));

plot2d(
[
[parametric, t, x1(t),  [t,0,t1]],
[parametric, t, v1(t),  [t,0,t1]],
[parametric, t, a1(t),  [t,0,t1]],

[parametric, t, x2(t),  [t,t1,t2]],
[parametric, t, v2(t),  [t,t1,t2]],
[parametric, t, a2(t),  [t,t1,t2]],

[parametric, t, x3(t),  [t,t2,t3]],
[parametric, t, v3(t),  [t,t2,t3]],
[parametric, t, a3(t),  [t,t2,t3]],

[parametric, t, x4(t),  [t,t3,t4]],
[parametric, t, v4(t),  [t,t3,t4]],
[parametric, t, a4(t),  [t,t3,t4]],

[parametric, t, x5(t),  [t,t4,t5]],
[parametric, t, v5(t),  [t,t4,t5]],
[parametric, t, a5(t),  [t,t4,t5]]
],

[xlabel,"time"],
[ylabel,"distance, speed, & accel"],
[legend, ""],
[gnuplot_preamble,"set key top center; set xtics 0.2; set ytics 1; set grid"]
)$