Resources

WPILib

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• What is WPILib?
  • the same content but in pdf 
• WPILib Java API

Control Theory

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Teaching Rocks to Think is a great blog explaining Control Theory applied to FRC.

There are five blog posts pertaining to control theory. 

• Systems & Control Engineering
• Mathematical Models of the World
• PID & Controller Design
• Tuning PID
• Supplemental - Vertical Arm