def _make_padded_ramp(self, v1, v2, pad_velocity, total_time):
        """Makes a ramp that looks like this:

        v1 \______ pad_velocity
           |      |\
           |      | \v2
         t1   tp   t2
        Such that whole section takes total_time
        """
        # The time taken to ramp from v1 to pad_velocity
        t1 = self.acceleration_time(v1, pad_velocity)
        # Then on to v2
        t2 = self.acceleration_time(pad_velocity, v2)
        # The distance during the pad
        tp = total_time - t1 - t2
        # Yield the points
        yield t1, pad_velocity
        yield tp, pad_velocity
        yield t2, v2