Creating a path

Trajectory TrajectoryConfig

// An example trajectory to follow.  All units in meters.
Trajectory exampleTrajectory =
    TrajectoryGenerator.generateTrajectory(
       // Start at the origin facing the +X direction
       new Pose2d(0, 0, new Rotation2d(0)),
       // Pass through these two interior waypoints, making an 's' curve path
       List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
       // End 3 meters straight ahead of where we started, facing forward
       new Pose2d(3, 0, new Rotation2d(0)),
       config);