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Lesson 01 · start here
Boxes, Arrows, Circles — Reading Block Diagrams
The three-symbol picture language every control system is drawn in — signals, blocks, summing junctions, and open vs. closed loops.
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Lesson 02
Close the Loop — Feedback & PID Control
Measure, compare, correct: tune P, I, and D yourself on a live simulated elevator and learn what each term is actually for.
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Lesson 03
Push First, Correct Later — Feedforward Control
Model the mechanism, predict the push it needs, and command it before any error exists — flywheels, arms, elevators, and WPILib's kS·kV·kA.
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Lesson 04
Four Wheels, One Motion — Kinematics & Swerve
The geometry dictionary between "the business end goes here" and "each joint does this" — forward and inverse kinematics, from a two-joint arm to a full swerve model, skew and all.
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Lesson 05
Count Your Steps — Odometry
Tracking pose by adding up every wheel step — encoders, gyros, drift, and why the bookkeeping eventually needs outside help.
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Lesson 06
Where Am I? — Sensor Fusion & Kalman Filters
How a robot combines dead reckoning and noisy absolute measurements into one confident position estimate.