wpilib.controller Package

HolonomicDriveController(xController, …)

This holonomic drive controller can be used to follow trajectories using a holonomic drive train (i.e.

PIDController(Kp, Ki, Kd, period)

Implements a PID control loop.

ProfiledPIDController(Kp, Ki, Kd, …)

Implements a PID control loop whose setpoint is constrained by a trapezoid profile.

ProfiledPIDControllerRadians(Kp, Ki, Kd, …)

Implements a PID control loop whose setpoint is constrained by a trapezoid profile.

RamseteController(*args, **kwargs)

Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model to a desired pose along a two-dimensional trajectory.