Let's be real, the nomen clature around control theory is incredibly intimidating at first; it should't be like this. Also this is not in alphabetical order lol.

  1. Reference - The target position we would like to be at. This is often used interchangably with other terms such as set point or target.

  2. Gain - A value we multiply by another value. In a PID controller Kp, Ki, and Kd are "gains"

  3. Feedback - a process where given a measurement and a desired state we calculate the best input to reach the state. A synonym for closed-loop control

  4. Feedforward - a process where given just a desired state we calculate the best input to reach the state. A synonym for open-loop control

  5. PID control - A type of feedback control with three main components. A proportional, an integral, and a derivative.

  6. Integral - the sum of a signal over time

  7. Derivative - the rate of change of a singal

  8. Full State Feedback - a feedback control method that is basically just a bunch of proportional controllers strapped together.

  9. State - where our system currently is, usually a combination of position / velocity.

  10. RoadRunner - A library for FIRST Tech Challenge that incorperates a ton of really powerful control techniques. It has built in localization (using drive encoders or dead wheels), trajectory generation, and trajectory following algorithms

  11. Path - a set of points that makes up where our robot should be in space. Usually traversed through by the robots current position.

  12. Trajectory - a set of position and velocity points, usually indexed by the given time.

  13. State machine - a way to code your robots that emulates asynchronous behavior but without the side effects.

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