• FRC Game Manual
  • FRC Game Q&A
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Zero to Robot

  • Introduction
  • Step 1: Building your Robot
  • Step 2: Installing Software
  • Step 3: Preparing Your Robot
  • Step 4: Programming your Robot

Control System Overviews

  • Hardware Component Overview
  • Software Component Overview

Programming Basics

  • What is WPILib?
  • 2023 Overview
  • VS Code Overview
  • Dashboards
  • Telemetry
  • FRC LabVIEW Programming
  • Hardware APIs
  • CAN Devices
  • Basic Programming
  • Support Resources
  • FRC Glossary

API Docs

  • WPILib Java API Docs
  • WPILib C++ API Docs

Software Tools

  • Driver Station
  • RobotBuilder
  • Robot Simulation
  • OutlineViewer

Advanced Programming

  • Vision Processing
  • Command-Based Programming
  • Kinematics and Odometry
  • NetworkTables
  • Path Planning
  • roboRIO
  • Advanced GradleRIO
  • Advanced Controls
    • A Video Walkthrough of Model Based Validation of Autonomous in FRC
    • Advanced Controls Introduction
    • Filters
    • Geometry Classes
    • Controllers
    • Trajectory Generation and Following with WPILib
    • State-Space and Model Based Control with WPILib
    • Controls Glossary
  • Convenience Features

Examples and Tutorials

  • WPILib Example Projects
  • Third Party Example Projects

Hardware

  • Hardware - Basics
  • Hardware Tutorials
  • Sensors

Romi Robot

  • Getting Started with Romi

Robot Networking

  • Networking Introduction
  • Networking Utilities

Contributing

  • Contributing to frc-docs
  • Developing with allwpilib

Issues

  • Report an Issue
FIRST Robotics Competition
  • Advanced Controls
  • Present
  • Edit on GitHub

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
    • Picking a Control Strategy
    • Introduction to DC Motor Feedforward
    • Introduction to PID
    • PID Introduction Video by WPI
    • Introduction To Controls Tuning Tutorials
    • Tuning a Flywheel Velocity Controller
    • Tuning a Turret Position Controller
    • Tuning a Vertical Arm Position Controller
    • Common Control Loop Tuning Issues
  • Filters
    • Introduction to Filters
    • Linear Filters
    • Median Filter
    • Slew Rate Limiter
    • Debouncer
  • 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
    • Bang-Bang Control with BangBangController
  • 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
    • Pose Estimators
    • Debugging State-Space Models and Controllers
  • Controls Glossary
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© Copyright 2023, FIRST and other WPILib Contributors. This work is licensed under a Creative Commons Attribution 4.0 International License. Revision 84c2f59e.

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