# Learning Robot Code ### FRCLadder [FRCLadder](https://www.frcladder.com/) provides a series of videos that together serve as a great introduction into robot code. We've selected some below that are particularly relevant to the programming YETI does. **Note:** The hardware and APIs available have changed quite a bit since some of these videos were published. However, the concepts and theory behind them remain the same. #### Introduction to FRC Programming and Basic Drivetrain Code #### How PIDs Work and How to Implement Them **Part 1**: Dead Reckoning, Bang Bang, and using kP **Part 2**: Using kI and kD **Supplemental**: A practical example of tuning a PID loop and how each value affects movement