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Titan Robotics 2024 documentation
Titan Robotics 2024 documentation
  • Programming
    • Preseason training (2025)
      • 1.1 Introduction
      • 2 Command-based programming
      • 3 PID and feedforward
      • 4 Swerve and autos
    • Preseason Training (2024)
      • Programming Subteam Overview
      • LED Programming
      • Java Basics
        • 1 - Inventory Manager
        • 2 - Wordle Clone
        • 3 - Brainf interpreter
        • Old notes from 2023
      • Tank Drive Simulation
      • Tank Autonomous
      • Electrical overview
      • Linux installation
      • Color-based segmentation in OpenCV Python
      • Control Theory Basics
      • 2024 Code overview
      • Specializations
        • Coprocessor
          • Packaging
            • Nov 13
        • Machine Learning
          • Dec 4 - Introduction
          • Dec 11 - Convolutional Neural Networks
        • Algorithms
          • C++ lessons
          • Kalman Filters
            • Kalman Filters Book
        • Math/physics modeling
          • Basic calculus
      • Winter Break Homework
    • Resources
      • Style guide
      • Applications
        • Git
      • Java / roboRIO Programming
        • Dependencies
        • Good example code
        • Programming guides
        • Installation
      • C++ Programming
        • Modern C++
      • Coprocessors
        • Remote access
        • Configuration
        • Orange Pi
        • Finding cameras
      • 4 - Linux
      • Radio
        • Radio configuration and upgrade
        • Access point mode
      • Networking
        • Finding clients
        • Network sharing
      • Optimization
        • Common Optimization Issues
        • Profiling (Java)
      • Command Based Programming
        • Commands Overview
    • Titan Algorithms
    • Titan Dashboard
    • Titan-Processing
      • Building
      • Setup
        • Configuration
        • Calibration
      • AprilTag Detection
      • Localization
      • Networking
      • Deployment scripts
        • Deployment tutorial
      • 3D geometry
        • Coordinate systems
      • Titan-Dashboard
  • Strategy
    • Strategy
      • Programming Strategy Overview
  • Team #2022 History
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3 PID and feedforward¶

3.1 Lecture¶

slides

Further reading¶

  • 2024 writeup by Ethan and Georgi

  • WPILib documentation

    • Introduction to PID

    • PID Control in WPILib

    • Introduction to DC Motor Feedforward

    • Feedforward Control in WPILib

    • Combining Feedforward and PID Control

    • System Identification

  • Controls Engineering in the FIRST Robotics Competition - detailed book

    • chapter 2 “PID controllers”

3.2 Activity¶

Next
4 Swerve and autos
Previous
2 Command-based programming
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On this page
  • 3 PID and feedforward
    • 3.1 Lecture
      • Further reading
    • 3.2 Activity