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.

DifferentialDriveAccelerationLimiter 
Filters the provided voltages to limit a differential drive's linear and angular acceleration.

DifferentialDriveFeedforward 
A helper class which computes the feedforward outputs for a differential drive drivetrain.

DifferentialDriveWheelVoltages 
Motor voltages for a differential drive.

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.

ImplicitModelFollower<States extends Num,Inputs extends Num,Outputs extends Num> 
Contains the controller coefficients and logic for an implicit model follower.

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).

LTVDifferentialDriveController 
The linear timevarying differential drive controller has a similar form to the LQR, but the
model used to compute the controller gain is the nonlinear model linearized around the
drivetrain's current state.

LTVUnicycleController 
The linear timevarying unicycle controller has a similar form to the LQR, but the model used to
compute the controller gain is the nonlinear model linearized around the drivetrain's current
state.

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.
