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CTRL ALT FTC
Team #22377 The Sigma Corns and Team #19376 Thermal Equilibrium presents CTRL ALT FTC, the most comprehensive Control Theory guide for FIRST Tech Challenge Teams.
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Example of feedback control with the Pure Pursuit algorithm
This article is an introductory guide to the beautiful world of Control Theory for those with a background in FTC programming. This guide is for those who have just learned the basics of programming but are stuck in the grey "middle area" where resources are far below your abilities or just a little above your head. Hopefully, by the end of this guide, you will have a more intuitive understanding of control topics and feel more comfortable with the implementation of advanced controls in the context of First Tech Challenge and other fields as your STEM journey continues.
This guide assumes that you have experience with the SDK. While this does make it slightly tricky for absolute beginners to follow, it also allows the knowledge to be applicable outside of First Tech Challenge.
Please note, all of the code examples are pseudocode of how you would go about a java implementation, understand that there may be a little more work to do than what is shown in the document as these extra details would in many cases take away from the learning experience.