# CTRL ALT FTC ## CTRL ALT FTC - [CTRL ALT FTC](https://www.ctrlaltftc.com/readme.md): FIRST Tech Challenge Team #22377 The Sigmacorns presents CTRL ALT FTC — the most comprehensive Control Theory guide for \*FIRST\* Tech Challenge Teams. - [Why Control Theory is A Must Have](https://www.ctrlaltftc.com/introduction-to-controls.md): What are control systems, and why do we use them? - [Introduction to Open Loop Control](https://www.ctrlaltftc.com/introduction-to-open-loop-control.md): Introduction to open loop control in FTC - [Introduction to Closed Loop Control](https://www.ctrlaltftc.com/introduction-to-closed-loop-control.md): Introduction to feedback control in FTC - [The PID Controller](https://www.ctrlaltftc.com/the-pid-controller.md): From the Proportional Controller to the PID Controller. - [The Proportional Term](https://www.ctrlaltftc.com/the-pid-controller/the-proportional-term.md): More information on the proportional term of t he PID Controller. - [The Integral Term](https://www.ctrlaltftc.com/the-pid-controller/the-integral-term.md): Introduction to the integral term - [The Derivative Term](https://www.ctrlaltftc.com/the-pid-controller/the-derivative-term.md): Introduction to the Derivative term - [Tuning Methods of A PID Controller](https://www.ctrlaltftc.com/the-pid-controller/tuning-methods-of-a-pid-controller.md): Now that we understand the fundementals of a PID controller, how do we tune it? - [Improvements to the PID Controller](https://www.ctrlaltftc.com/the-pid-controller/practical-improvements-to-pid.md): Discussion of methods to improve the PID controller such as anti-integral windup, low-pass filter derivative, and gain scheduling. - [Feedforward Control](https://www.ctrlaltftc.com/feedforward-control.md): Re-opening the loop - [Full State Feedback](https://www.ctrlaltftc.com/advanced/full-state-feedback.md): A modern control theory approach to feedback control - [The Kalman Filter](https://www.ctrlaltftc.com/advanced/the-kalman-filter.md): State observation is a crucial component of control theory but is often overlooked in FTC - [Gain Scheduling](https://www.ctrlaltftc.com/advanced/gain-scheduling.md): Some systems may fail with a simple linear controller such as PID. Let's fix that! - [Motion Profiling](https://www.ctrlaltftc.com/advanced/motion-profiling.md): What are motion profiles, and how can they help us in FTC? - [SMARTDAMP Algorithm](https://www.ctrlaltftc.com/advanced/smartdamp-algorithm.md): Our custom approach to PID tuning - [Extra Resources](https://www.ctrlaltftc.com/continued-learning/extra-resources.md): Extra resources to continue learning - [Video Tutorials](https://www.ctrlaltftc.com/continued-learning/video-tutorials.md): A series of tutorials that will aid in your mastery of FTC Control Theory. - [Glossary](https://www.ctrlaltftc.com/continued-learning/glossary.md): 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. - [FTC Motor Control](https://www.ctrlaltftc.com/practical-examples/ftc-motor-control.md): This page will help teams that may be new to FTC begin by starting with basic motor movement and then working them through the various different ways to control such a motor. - [Drivetrain Control](https://www.ctrlaltftc.com/practical-examples/drivetrain-control.md): Drivetrains are arguably the most important part of a \*FIRST\* Tech Challenge autonomous and are crucial to get correct. - [Dealing with Angles](https://www.ctrlaltftc.com/practical-examples/controlling-heading.md): A very common use case for PID controllers in FTC is turning your robot to a desired heading. However, a few modifications are necessary. - [Roadrunner Control Explained](https://www.ctrlaltftc.com/practical-examples/roadrunner-control-explained.md): Roadrunner is a library used by many successful teams, and understanding why we utilize it in specific ways and not others is key to avoiding common pitfalls. - [What is Homeostasis?](https://www.ctrlaltftc.com/homeostasis-by-thermal-equilibrium/what-is-homeostasis.md): Introduction to the Homestasis library by FTC #19376 Thermal Equilibrium - [Installation](https://www.ctrlaltftc.com/homeostasis-by-thermal-equilibrium/installation.md): In this chapter we will detail how to install the homeostasis library - [Included Controllers](https://www.ctrlaltftc.com/homeostasis-by-thermal-equilibrium/included-controllers.md): Homeostasis provides a few different types of controllers, all of which with their own utility. - [State Estimation and Filters](https://www.ctrlaltftc.com/homeostasis-by-thermal-equilibrium/state-estimation-and-filters.md): The utility of sensors in FTC can be improved with a variety of algorithms. - [Systems in Homeostasis](https://www.ctrlaltftc.com/homeostasis-by-thermal-equilibrium/systems-in-homeostasis.md): Throughout the world, systems containing many parts work together to achieve homeostasis; Our robot is no different. --- # Agent Instructions This documentation is published with GitBook. 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