Technologies for controlling mud motor trajectory

A method comprising:

• receiving one or more inputs pertaining to constraints for a wellbore and tool capability in a mud motor drilling operation,
• constructing, as a function of the one or more inputs, a discretized well depth horizon,
• generating, based on an analysis of the discretized well depth horizon, one or more binary slide and rotate commands for controlling a directional drill within the wellbore, and
• controlling the directional drill according to the one or more binary slide and rotate commands.

A computer-readable storage medium storing a plurality of instructions, which, when executed, causes a system to:

• receive one or more inputs pertaining to constraints for a wellbore and tool capability in a mud motor drilling operation,
• construct, as a function of the one or more inputs, a discretized well depth horizon,
• generate, based on an analysis of the discretized well depth horizon, one or more binary slide and rotate commands for controlling a directional drill within the wellbore, and
• control the directional drill according to the one or more binary slide and rotate commands.