Advanced Controls

This section covers advanced control features in WPILib, such as various feedback/feedforward control algorithms and trajectory following.

• A Video Walkthrough of Model Based Validation of Autonomous in FRC
• Advanced Controls Introduction
  • Control System Basics
  • PID Introduction Video by WPI
  • Introduction to PID
  • Tuning a PID Controller
• Filters
  • Introduction to Filters
  • Linear Filters
  • Median Filter
  • Slew Rate Limiter
• Geometry Classes
  • Coordinate Systems
  • Translation, Rotation, and Pose
  • Transformations
• 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
• Trajectory Generation and Following with WPILib
  • Trajectory Generation
  • Trajectory Constraints
  • Manipulating Trajectories
  • Transforming Trajectories
  • Ramsete Controller
  • Holonomic Drive Controller
  • Troubleshooting
• State-Space and Model Based Control with WPILib
  • Introduction to State-Space Control
  • State-Space Controller Walkthrough
  • State Observers and Kalman Filters
  • WPILib Pose Estimators
  • Debugging State-Space Models and Controllers
• Controls Glossary