A hacky script to generate a plot of a trapezoidal motion profile

generate_trap_motion.py

import numpy as np
import matplotlib.pyplot as plt

x = np.linspace(0, 10, 1000)
pdot = np.piecewise(x, [x < 4, (x >= 4) & (x <= 6), x > 6], [lambda x: x/2, 2, lambda x: -x/2 + 5])
p = []
psum = 0

for v in pdot:
    p.append(psum)
    psum += v

plt.plot(pdot)
plt.ylim([0,2.5])
plt.show()

plt.plot(p)
plt.show()