# Trajectory Tutorial

This is full tutorial for implementing trajectory generation and following on a differential-drive robot.  The full code used in this tutorial can be found in the RamseteCommand example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand)).

.. toctree::
   :maxdepth: 1

   trajectory-tutorial-overview
   characterizing-drive
   entering-constants
   creating-drive-subsystem
   creating-following-trajectory
