Choreo

Choreo is a tool for calculating time optimal autonomous trajectories. This allows simple and efficient creation of autonomous routines.

Screenshot of Choreo showing the 2024 FRC field with a trajectory plotted on it

In Visual Studio Code, press Ctrl+Shift+P and type WPILib or click the WPILib logo in the top right to launch the WPILib Command Palette. Select Start Tool, then select Choreo.

Note

Detailed documentation for Choreo can be found here.

The capabilities of Choreo include

  • creating trajectories with a variety of different constraints

  • scheduling commands at different events on your path

  • support for different drivebases, including swerve and tank