> For the complete documentation index, see [llms.txt](https://www.ctrlaltftc.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://www.ctrlaltftc.com/homeostasis-by-thermal-equilibrium/what-is-homeostasis.md). # What is Homeostasis? Homeostasis is a library in development by FTC #19376 Thermal Equilibrium. Homeostasis aims to provide an easy way to rapidly implement advanced control techniques with as slight a headache as possible. The end goal for Homeostasis is to provide a one size fits all solution to control and state estimation in *FIRST* Tech Challenge. We identified that, for the most part, one could very elegantly abstract most code for FTC control systems away, and with Homeostasis, we aim to provide a controls library that plays nicely with the majority of programming paradigms used in FTC, such as that of the [state machine](https://gm0.org/en/latest/docs/software/finite-state-machines.html) and [command-based](https://docs.ftclib.org/ftclib/command-base/command-system) paradigms. Currently homestasis provides the following features: * Implementations of many controllers * PID Control * Full State Feedback * Bang Bang Control * Basic, Gravity, and Arm Feedforward * Estimation algorithms to improve sensor readings: * Low Pass Filter * Least Squares + Kalman Filter * Many useful utilities such as the WPILib Motion Profile and functions to deal with angles. * Systems to easily utilize the aforementioned algorithms in a unified way. * BasicSystem * A combination of an Estimator, Feedback, and Feedforward Controller * PositionVelocitySystem * A combination of (2) Estimators (one for position, one for velocity), (2) feedback controllers (one for position, one for velocity) and (1) Feedforward. {% hint style="danger" %} Currently homeostasis is in Beta and while in many cases it's algorithms have been confirmed to work very well, in some edge cases they could still potentially fail. Please let us know or create a github issue / PR if you encounter any issues at: {% endhint %} --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://www.ctrlaltftc.com/homeostasis-by-thermal-equilibrium/what-is-homeostasis.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.