a pure trapezoidal motion profile does not take into account jerk (the derivative of acceleration)
in a pure trapezoidal profile, jerk would be infinite at the phase transitions (which makes the robot not so smooth while moving)
for now, we'll use a pure trapezoid but later we should create a class SCurveMotion for proper motion profiling
what we gotta do
[ ] do research into s-curve motion profile controllers and the math behind it
[ ] think that requires some spline math, so something new to learn
a pure trapezoidal motion profile does not take into account jerk (the derivative of acceleration) in a pure trapezoidal profile, jerk would be infinite at the phase transitions (which makes the robot not so smooth while moving)
for now, we'll use a pure trapezoid but later we should create a class SCurveMotion for proper motion profiling
what we gotta do