Controllers

This section describes various WPILib feedback and feedforward controller classes that are useful for controlling the motion of FRC® 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