Controls: Motion Profiling

When controlling a mechanism, is often desirable to move it smoothly between two positions, rather than to abruptly change its setpoint. This is called “motion-profiling,” and is supported in WPILib through the TrapezoidProfile class

WPI For a description of the WPILib motion profiling features used by these command-based wrappers, see Trapezoidal Motion Profiles in WPILib. Note: The TrapezoidProfile command wrappers are generally intended for composition with custom or external controllers. For combining trapezoidal motion profiling with WPILib’s PIDController, see Combining Motion Profiling and PID in Command-Based. To further help teams integrate motion profiling into their command-based robot projects, WPILib includes two convenience wrappers for the TrapezoidProfile class: TrapezoidProfileSubsystem, which automatically generates and executes motion profiles in its periodic() method, and the TrapezoidProfileCommand, which executes a single user-provided TrapezoidProfile. Motion Profiling through TrapezoidProfileSubsystems and TrapezoidProfileCommands

CTRE Motion Magic and other Motion Profiling with CTRE.

254 PDF explaining motion planning

2019 Motion Magic slide presentation. Video of Corey Applegate(3244) CTRE Motion Magic

Come highly recommended Team 195- FRC Motion Control: part 1 BUT... its from 2018 AND its 4.5 hrs long for both parts ... OMG