ArmFeedforward 
A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting
against the force of gravity on a beam suspended at an angle).

BangBangController 
Implements a bangbang controller, which outputs either 0 or 1 depending on whether the
measurement is less than the setpoint.

ControlAffinePlantInversionFeedforward<States extends Num,Inputs extends Num> 
Constructs a controlaffine plant inversion modelbased feedforward from given model dynamics.

ElevatorFeedforward 
A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting
against the force of gravity).

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

LinearPlantInversionFeedforward<States extends Num,Inputs extends Num,Outputs extends Num> 
Constructs a plant inversion modelbased feedforward from a LinearSystem .

LinearQuadraticRegulator<States extends Num,Inputs extends Num,Outputs extends Num> 
Contains the controller coefficients and logic for a linearquadratic regulator (LQR).

PIDController 
Implements a PID control loop.

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

RamseteController 
Ramsete is a nonlinear timevarying feedback controller for unicycle models that drives the model
to a desired pose along a twodimensional trajectory.

SimpleMotorFeedforward 
A helper class that computes feedforward outputs for a simple permanentmagnet DC motor.
