fixed (at least part of) the trapezoidal profile
Velocity profile generation works "well enough" for now and also
nicely illustrates what is wrong with this simplistic technique
(as hinted at on the slides).  To make the point, show them the
code and the plots, generated using:

  plot 'foo' u 1 w l t 'p0', '' u 2 w l t 'v0', '' u 3 w l lw 2 t 'goal', '' u 4 w l lw 2 t 'pos', '' u 5 w l lw 2 t 'vel'
make a stronger point about simplistic trapezoidal
separate slide illustrating the point about overly simplistic profiles, that should be good enough