Add Choreo article (#2798)

Resolves #2795

Signed-off-by: Jade Turner <[email protected]>

source/docs/software/wpilib-tools/choreo/index.rst

@@ -0,0 +1,15 @@
+# Choreo
+
+Choreo is a tool for calculating time optimal autonomous trajectories. This allows simple and efficient creation of autonomous routines.
+
+.. image:: /docs/software/wpilib-tools/choreo/images/choreo.png
+
+In Visual Studio Code, press :kbd:`Ctrl+Shift+P` and type ``WPILib`` or click the WPILib logo in the top right to launch the WPILib Command Palette. Select :guilabel:`Start Tool`, then select :guilabel:`Choreo`.
+
+.. note:: Detailed documentation for Choreo can be found [here](https://sleipnirgroup.github.io/Choreo/).
+
+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

source/index.rst

@@ -392,6 +392,7 @@ Community translations can be found in a variety of languages in the bottom-left
    docs/software/wpilib-tools/robot-simulation/index
    docs/software/wpilib-tools/outlineviewer/index
    docs/software/wpilib-tools/roborio-team-number-setter/index
+   docs/software/wpilib-tools/choreo/index
 
 .. toctree::
    :maxdepth: 1

source/stubs/software-tools-stub.rst

@@ -13,3 +13,4 @@ Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool a
    /docs/software/wpilib-tools/robotbuilder/index
    /docs/software/wpilib-tools/robot-simulation/index
    /docs/software/wpilib-tools/outlineviewer/index
+   /docs/software/wpilib-tools/choreo/index