- FRC Game Manual
- FRC Game Q&A

# Trajectory Generation and Following with WPILib

This section describes WPILib support for generating parameterized spline trajectories and following those trajectories with typical FRC® robot drives.

- Trajectory Generation
- Trajectory Constraints
- Manipulating Trajectories
- Transforming Trajectories
- LTV Unicycle Controller
- Ramsete Controller
- Holonomic Drive Controller
- Troubleshooting