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