Resources

WPILib docs

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• OfficialWhat websiteis 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 pdfMathematical Models of entirethe docsWorld linkPID & Controller Design Tuning PID Supplemental - Vertical Arm