.. include:: <isonum.txt>

# 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.

.. toctree::
   :maxdepth: 1

   pidcontroller
   feedforward
   combining-feedforward-feedback
   trapezoidal-profiles
   profiled-pidcontroller
   bang-bang