- FRC Game Manual
- FRC Game Q&A

# Controllers

This section describes various WPILib feedback and feedforward controller classes that are useful for controlling the motion of robot mechanisms, as well as motion-profiling classes that can automatically generate setpoints for use with these controllers.

- PID Control in WPILib
- Feedforward Control in WPILib
- Combining Feedforward and PID Control
- Trapezoidal Motion Profiles in WPILib
- Combining Motion Profiling and PID Control with ProfiledPIDController
- Bang-Bang Control with BangBangController