double distDuringAccel = Math.max(0.5 * maxSpeed * maxSpeed / accel, distance / 2);
        double holdTime = (distDuringAccel * 2 - distance) / maxSpeed;
        double accelTime = Math.sqrt(2 * distDuringAccel / accel);
        assert (holdTime >= 0) : "holding speed for negative time";

        // 1/2 a t^2, but twice due to decel time as well
        assert (Math.abs(distance - (accel * accelTime * accelTime + holdTime * maxSpeed)) < ASSERTION_ALLOWED_ERROR);
        assert (accelTime * accel <= maxSpeed);


        try {
            long tStart = System.currentTimeMillis();
            // accelerate
            long millisNow = 0;
            double spd;
            while (millisNow < accelTime) {
                spd = millisNow * accel;
                assert (spd <= maxSpeed);
                millisNow = System.currentTimeMillis() - tStart;
                ((HolonomicDrivetrain) vd).set2DVelocity(spd * Math.cos(holonomicAngleOffset), spd * Math.sin(holonomicAngleOffset));
                // hardware writes occur every 50msec
                Thread.sleep(MSEC_PER_CONTROL_ITER);
            }

            while (millisNow < (accelTime + holdTime)) {
                spd = maxSpeed;
                ((HolonomicDrivetrain) vd).set2DVelocity(spd * Math.cos(holonomicAngleOffset), spd * Math.sin(holonomicAngleOffset));

                Thread.sleep(MSEC_PER_CONTROL_ITER);

            }
            while (millisNow < (2 * accelTime + holdTime)) {
                spd = (2 * accelTime + holdTime - millisNow) * accel;
                assert (spd <= maxSpeed);
                assert (spd >= 0);
                millisNow = System.currentTimeMillis() - tStart;
                ((HolonomicDrivetrain) vd).set2DVelocity(spd * Math.cos(holonomicAngleOffset), spd * Math.sin(holonomicAngleOffset));
                // hardware writes occur every 50msec
                Thread.sleep(MSEC_PER_CONTROL_ITER);
            }
            vd.stopAll();
        } catch (InterruptedException | PeripheralInoperableException | PeripheralCommunicationException e) {
            throw new RobotHardwareException(e);
        }
    }

    @Override
    protected double calculateDrift(RelativePosition travel) {
        return 0;
    }

    @Override
    protected double calculateAngularDrift(RelativePosition travel) {
        return 0;
    }

    @Override