======================= Closed Loop Control ======================= .. image:: ./images/DerekSW.jpg Theory ======================= Tyler Veness' book has a lot of great information and is the basis for much of the WPI closed loop APIs. `See Controls Engineering in FRC `_. PIDF ======================= .. todo:: Add information Trapezoid / Motion Magic Profiled PIDs --------------------------------------- .. todo:: Add information Bang-Bang ======================= .. todo:: Add information CTRE vs. REV vs. RoboRio closed loops ========================================= .. todo:: Add information RAMSETE vs. Holonomic Controller ===================================== .. todo:: Add information Accounting for latency ======================= .. todo:: Add information including shooting while driving