From 70586db640679d1db1b5091c352b0270006384b9 Mon Sep 17 00:00:00 2001
From: vivi-o <vivie@oesterer.com>
Date: Thu, 27 Aug 2026 01:19:06 -0700
Subject: [PATCH 1/4] tuning draft (not formatted yet etc)

---
 Docs/3_Specifics/3.6_GainsTuning.md           |  81 ++++++++++++++++++
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 create mode 100644 Docs/3_Specifics/3.6_GainsTuning.md
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 create mode 100644 Examples/KitbotDemoBasic/.gradle/vcs-1/gc.properties
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 create mode 100644 Examples/KitbotDemoSim/.gradle/7.5.1/fileChanges/last-build.bin
 create mode 100644 Examples/KitbotDemoSim/.gradle/7.5.1/fileHashes/fileHashes.lock
 create mode 100644 Examples/KitbotDemoSim/.gradle/7.5.1/gc.properties
 create mode 100644 Examples/KitbotDemoSim/.gradle/buildOutputCleanup/buildOutputCleanup.lock
 create mode 100644 Examples/KitbotDemoSim/.gradle/buildOutputCleanup/cache.properties
 create mode 100644 Examples/KitbotDemoSim/.gradle/vcs-1/gc.properties
 create mode 100644 Examples/KitbotDemoSim/bin/main/frc/robot/Constants.class
 create mode 100644 Examples/KitbotDemoSim/bin/main/frc/robot/Main.class
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 create mode 100644 Examples/KitbotDemoSim/bin/main/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.class

diff --git a/Docs/3_Specifics/3.6_GainsTuning.md b/Docs/3_Specifics/3.6_GainsTuning.md
new file mode 100644
index 0000000..78c2a06
--- /dev/null
+++ b/Docs/3_Specifics/3.6_GainsTuning.md
@@ -0,0 +1,81 @@
+Understanding PID and Feedforward Control
+
+In the previous article, we introduced feedback and feedforward control and explained why combining them is useful for tuning FRC mechanisms. Now, we need to understand how to actually use these constants in our control systems.
+
+There are two main groups of constants to understand
+
+The feedforward gains include
+kS - static friction
+kV - velocity 
+kA - acceleration
+kG - gravity
+The feedback gains include
+kP - proportional 
+kI - integral 
+kD - derivative
+
+
+Feedforward is proactive. We predict how much motor output is needed and apply that output immediately. 
+
+Feedback is reactive. the controller looks at what the mechanism is actually doing, compares it to the desired outcome, and corrects the error. 
+
+
+Feedforward constants:
+
+kS is static friction. kS represents the amount of motor output required to overcome static friction and get the mechanism to move. 
+if kS is too low the mechanism may not actually move or not move as much as it should because it's not outputting enough to overcome static friction
+if kS is too high the mechanism can jump when it starts moving because the output is more than necessary for overcoming static friction
+kS is particularly important for mechanisms with significant friction including arms, elevators, and some other gear-driven mechanisms
+kV is velocity. kV represents how much motor output is required to maintain a particular velocity. As a mechanism moves faster it will require more motor voltage to maintain that speed and kV shows that relationship. kV is important for any machismo where we care about controlling velocity.
+kA is acceleration. kA represents how much additional motor output is needed to accelerate the mechanism. 
+a mechanism that is already moving at a constant velocity does not need as much output as a mechanism that is rapidly trying to speed up for example, an elevator moving upward at a constant velocity needs enough output to overcome gravity while maintaining its speed so if we want it to accelerate upward we need more output which is represented by kA. 
+not all mechanisms need kA but important for some
+kG is gravity. kG represents the amount of motor output required to counteract gravity. 
+only really useful when  gravity actually affects a mechanism like an elevator or arms need it to account for the constant downward force exerted on it by gravity. 
+
+Feedback constants
+kP is proportional. kP is based on the current error. if the mechanism is far away from its target the controller will apply a large correction and if its close it will apply a smaller correction. 
+if kP is too low the mechanism responds slowly and can't keep up with the target accurately
+if kP is too high the mechanism may overshoot, oscillate, or become unstable
+kI is based on the accumulated error over time. An integral is the area under a curve or in our case the error accumulated over time so if error gradually builds up in our system I can help with that. 
+kI is often not needed and will be set to 0 or a very small value in most cases. This is because kP and kD are often good enough. If kI is too high it can cause overshooting. 
+kD is based on how quickly the error is changing, it is looking at the rate of change of the error or how quickly it's approaching the target.  
+low kD can make the mechanism overshoot or oscillate.
+high kD can make the mechanism too slow to react or react excessively. 
+
+Understanding these things is the first step but now we will include a guide on tuning for practical use.
+ In general you should not tune everything at once. A solid approach is making feedforward reasonably accurate, then using feedback to reduce the rest of the error. The process and constants you will need depends on the mechanism because they have different physics. 
+
+in general the order for tuning is kS, kV, kA, kG, kP, kD, kI (note: not all may be needed)
+
+The procedure can depend on the motor controller, control mode, and mechanism so it's important to distinguish between velocity and position control. For example if you're tuning a roller to maintain a certain RPM then you're dealing with velocity. However if you're dealing with an elevator that needs to move to particular heights that's position control. 
+
+Elevator tuning:
+tune kS
+determine how much output is necessary to overcome static friction and get the elevator moving. The voltage when the mechanism just starts moving is approximately kS.
+tune kV
+determine the kv by entering different velocities and determining how much kV is needed to maintain those. 
+tune kA
+tune kG
+increase kG until it counteract gravity (i.e enough to hold its position, not fall or rise when its supposed to hold still)
+tune kP
+increase kP until elevator reaches target quickly and accurately, it its overshooting or oscillating its probably too high
+tune kD if the elevator overshoots or oscillates as it approaches the target adding kD may help. you can tune it by increasing it until the elevator settles smoothly without becoming excessively sluggish
+kI may not be necessarily but if there's consistently small position error it may help
+Arm tuning
+similar to elevator processes with kS, kV, kA if necessary, kG(when arm i horizontal), kP, kD, and kI is necessary
+
+roller tuning
+typical rollers only need kS, kV, kA, kP, and kD
+
+Additional tips:
+using tools such as SysID (see sysId article) rather than this process can give you kS, kV, and kA
+your tuning process and gains need to make sense for the control system your using whether that position, velocity, voltage, etc
+
+many motor controllers support control slots allowing you to store and select different gains this may be helpful for situations where there is not one perfect set of gains for every situation such as carrying a game piece vs not carrying a game piece
+
+
+
+
+
+
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+#Mon Jun 15 19:22:08 PDT 2026
+gradle.version=7.5.1
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diff --git a/Examples/KitbotDemoFinal/.gradle/7.5.1/dependencies-accessors/dependencies-accessors.lock b/Examples/KitbotDemoFinal/.gradle/7.5.1/dependencies-accessors/dependencies-accessors.lock
new file mode 100644
index 0000000000000000000000000000000000000000..79d4d50939a59c64f85cc12f6e905857c3e7d065
GIT binary patch
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diff --git a/Examples/KitbotDemoFinal/.gradle/7.5.1/dependencies-accessors/gc.properties b/Examples/KitbotDemoFinal/.gradle/7.5.1/dependencies-accessors/gc.properties
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diff --git a/Examples/KitbotDemoSim/.gradle/buildOutputCleanup/cache.properties b/Examples/KitbotDemoSim/.gradle/buildOutputCleanup/cache.properties
new file mode 100644
index 0000000..fbd7a9b
--- /dev/null
+++ b/Examples/KitbotDemoSim/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Mon Jun 15 19:22:10 PDT 2026
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From a66cafa067f57d2f2eb7c5a3ff4c8a83caceb520 Mon Sep 17 00:00:00 2001
From: vivi-o <vivie@oesterer.com>
Date: Thu, 27 Aug 2026 17:08:14 -0700
Subject: [PATCH 2/4] format and links

---
 Docs/3_Specifics/3.6_GainsTuning.md | 32 +++++++++++++++++++----------
 1 file changed, 21 insertions(+), 11 deletions(-)

diff --git a/Docs/3_Specifics/3.6_GainsTuning.md b/Docs/3_Specifics/3.6_GainsTuning.md
index 78c2a06..b584a6a 100644
--- a/Docs/3_Specifics/3.6_GainsTuning.md
+++ b/Docs/3_Specifics/3.6_GainsTuning.md
@@ -1,26 +1,26 @@
-Understanding PID and Feedforward Control
+# Understanding PID and Feedforward Control
 
 In the previous article, we introduced feedback and feedforward control and explained why combining them is useful for tuning FRC mechanisms. Now, we need to understand how to actually use these constants in our control systems.
 
-There are two main groups of constants to understand
+### There are two main groups of constants to understand
 
-The feedforward gains include
+The feedforward gains include:
 kS - static friction
 kV - velocity 
 kA - acceleration
 kG - gravity
-The feedback gains include
+
+The feedback gains include:
 kP - proportional 
 kI - integral 
 kD - derivative
 
-
 Feedforward is proactive. We predict how much motor output is needed and apply that output immediately. 
 
 Feedback is reactive. the controller looks at what the mechanism is actually doing, compares it to the desired outcome, and corrects the error. 
 
 
-Feedforward constants:
+## Feedforward constants:
 
 kS is static friction. kS represents the amount of motor output required to overcome static friction and get the mechanism to move. 
 if kS is too low the mechanism may not actually move or not move as much as it should because it's not outputting enough to overcome static friction
@@ -33,7 +33,7 @@ not all mechanisms need kA but important for some
 kG is gravity. kG represents the amount of motor output required to counteract gravity. 
 only really useful when  gravity actually affects a mechanism like an elevator or arms need it to account for the constant downward force exerted on it by gravity. 
 
-Feedback constants
+## Feedback constants
 kP is proportional. kP is based on the current error. if the mechanism is far away from its target the controller will apply a large correction and if its close it will apply a smaller correction. 
 if kP is too low the mechanism responds slowly and can't keep up with the target accurately
 if kP is too high the mechanism may overshoot, oscillate, or become unstable
@@ -43,6 +43,8 @@ kD is based on how quickly the error is changing, it is looking at the rate of c
 low kD can make the mechanism overshoot or oscillate.
 high kD can make the mechanism too slow to react or react excessively. 
 
+## Tuning Process
+
 Understanding these things is the first step but now we will include a guide on tuning for practical use.
  In general you should not tune everything at once. A solid approach is making feedforward reasonably accurate, then using feedback to reduce the rest of the error. The process and constants you will need depends on the mechanism because they have different physics. 
 
@@ -50,7 +52,7 @@ in general the order for tuning is kS, kV, kA, kG, kP, kD, kI (note: not all may
 
 The procedure can depend on the motor controller, control mode, and mechanism so it's important to distinguish between velocity and position control. For example if you're tuning a roller to maintain a certain RPM then you're dealing with velocity. However if you're dealing with an elevator that needs to move to particular heights that's position control. 
 
-Elevator tuning:
+### Elevator tuning:
 tune kS
 determine how much output is necessary to overcome static friction and get the elevator moving. The voltage when the mechanism just starts moving is approximately kS.
 tune kV
@@ -63,17 +65,25 @@ increase kP until elevator reaches target quickly and accurately, it its oversho
 tune kD if the elevator overshoots or oscillates as it approaches the target adding kD may help. you can tune it by increasing it until the elevator settles smoothly without becoming excessively sluggish
 kI may not be necessarily but if there's consistently small position error it may help
 Arm tuning
-similar to elevator processes with kS, kV, kA if necessary, kG(when arm i horizontal), kP, kD, and kI is necessary
+similar to elevator processes with kS, kV, kA if necessary, kG(when arm is horizontal), kP, kD, and kI is necessary
 
-roller tuning
+### roller tuning
 typical rollers only need kS, kV, kA, kP, and kD
 
-Additional tips:
+## Additional tips:
 using tools such as SysID (see sysId article) rather than this process can give you kS, kV, and kA
 your tuning process and gains need to make sense for the control system your using whether that position, velocity, voltage, etc
 
 many motor controllers support control slots allowing you to store and select different gains this may be helpful for situations where there is not one perfect set of gains for every situation such as carrying a game piece vs not carrying a game piece
 
+### Resources
+
+- [WPILib Intro to PID](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/introduction-to-pid.html)
+- [WPILib PID Control](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/pidcontroller.html)
+- [WPILib PIDController](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/PIDController.html)
+
+
+
 
 
 

From 19dbb649530e2f1807fb30438fcdb648b7ff1fb6 Mon Sep 17 00:00:00 2001
From: vivi-o <vivie@oesterer.com>
Date: Thu, 27 Aug 2026 17:36:38 -0700
Subject: [PATCH 3/4] small edits

---
 Docs/3_Specifics/3.6_GainsTuning.md | 82 +++++++++++++++--------------
 1 file changed, 43 insertions(+), 39 deletions(-)

diff --git a/Docs/3_Specifics/3.6_GainsTuning.md b/Docs/3_Specifics/3.6_GainsTuning.md
index b584a6a..c0fd52f 100644
--- a/Docs/3_Specifics/3.6_GainsTuning.md
+++ b/Docs/3_Specifics/3.6_GainsTuning.md
@@ -1,80 +1,84 @@
 # Understanding PID and Feedforward Control
 
-In the previous article, we introduced feedback and feedforward control and explained why combining them is useful for tuning FRC mechanisms. Now, we need to understand how to actually use these constants in our control systems.
+In the [controls article](3.1_ControlsIntro.md), we introduced feedback and feedforward control and explained why combining them is useful for tuning FRC mechanisms. Now, we need to understand how to actually use these constants in our control systems.
 
 ### There are two main groups of constants to understand
 
 The feedforward gains include:
-kS - static friction
-kV - velocity 
-kA - acceleration
-kG - gravity
+- kS - static friction
+- kV - velocity 
+- kA - acceleration
+- kG - gravity
 
 The feedback gains include:
-kP - proportional 
-kI - integral 
-kD - derivative
+- kP - proportional 
+- kI - integral 
+- kD - derivative
 
 Feedforward is proactive. We predict how much motor output is needed and apply that output immediately. 
 
 Feedback is reactive. the controller looks at what the mechanism is actually doing, compares it to the desired outcome, and corrects the error. 
 
-
 ## Feedforward constants:
 
 kS is static friction. kS represents the amount of motor output required to overcome static friction and get the mechanism to move. 
-if kS is too low the mechanism may not actually move or not move as much as it should because it's not outputting enough to overcome static friction
-if kS is too high the mechanism can jump when it starts moving because the output is more than necessary for overcoming static friction
-kS is particularly important for mechanisms with significant friction including arms, elevators, and some other gear-driven mechanisms
-kV is velocity. kV represents how much motor output is required to maintain a particular velocity. As a mechanism moves faster it will require more motor voltage to maintain that speed and kV shows that relationship. kV is important for any machismo where we care about controlling velocity.
-kA is acceleration. kA represents how much additional motor output is needed to accelerate the mechanism. 
-a mechanism that is already moving at a constant velocity does not need as much output as a mechanism that is rapidly trying to speed up for example, an elevator moving upward at a constant velocity needs enough output to overcome gravity while maintaining its speed so if we want it to accelerate upward we need more output which is represented by kA. 
-not all mechanisms need kA but important for some
+- if kS is too low the mechanism may not actually move or not move as much as it should because it's not outputting enough to overcome static friction
+- if kS is too high the mechanism can jump when it starts moving because the output is more than necessary for overcoming static friction
+- kS is particularly important for mechanisms with significant friction including arms, elevators, and some other gear-driven mechanisms
+
+kV is velocity. kV represents how much motor output is required to maintain a particular velocity. As a mechanism moves faster it will require more motor voltage to maintain that speed and kV shows that relationship. 
+- kV is important for any mechanism where we care about controlling velocity.
+
+kA is acceleration. kA represents how much additional motor output is needed to accelerate the mechanism. A mechanism that is already moving at a constant velocity does not need as much output as a mechanism that is rapidly trying to speed up for example, an elevator moving upward at a constant velocity needs enough output to overcome gravity while maintaining its speed so if we want it to accelerate upward we need more output which is represented by kA. 
+- not all mechanisms need kA but important for some
+
 kG is gravity. kG represents the amount of motor output required to counteract gravity. 
-only really useful when  gravity actually affects a mechanism like an elevator or arms need it to account for the constant downward force exerted on it by gravity. 
+- only really useful when gravity actually affects a mechanism like an elevator or arms need it to account for the constant downward force exerted on it by gravity (i.e not things like rollers). 
 
 ## Feedback constants
 kP is proportional. kP is based on the current error. if the mechanism is far away from its target the controller will apply a large correction and if its close it will apply a smaller correction. 
-if kP is too low the mechanism responds slowly and can't keep up with the target accurately
-if kP is too high the mechanism may overshoot, oscillate, or become unstable
+- if kP is too low the mechanism responds slowly and can't keep up with the target accurately
+- if kP is too high the mechanism may overshoot, oscillate, or become unstable
+
 kI is based on the accumulated error over time. An integral is the area under a curve or in our case the error accumulated over time so if error gradually builds up in our system I can help with that. 
-kI is often not needed and will be set to 0 or a very small value in most cases. This is because kP and kD are often good enough. If kI is too high it can cause overshooting. 
+- kI is often not needed and will be set to 0 or a very small value in most cases. This is because kP and kD are often good enough. If kI is too high it can cause overshooting. 
+
 kD is based on how quickly the error is changing, it is looking at the rate of change of the error or how quickly it's approaching the target.  
-low kD can make the mechanism overshoot or oscillate.
-high kD can make the mechanism too slow to react or react excessively. 
+- low kD can make the mechanism overshoot or oscillate.
+- high kD can make the mechanism too slow to react or react excessively. 
 
 ## Tuning Process
 
-Understanding these things is the first step but now we will include a guide on tuning for practical use.
- In general you should not tune everything at once. A solid approach is making feedforward reasonably accurate, then using feedback to reduce the rest of the error. The process and constants you will need depends on the mechanism because they have different physics. 
-
-in general the order for tuning is kS, kV, kA, kG, kP, kD, kI (note: not all may be needed)
+Understanding these things conceptually is the first step, but now we will include a guide on tuning for practical use. In general, you should not tune everything at once. A solid approach is making feedforward reasonably accurate, then using feedback to reduce the rest of the error. The process and constants you will need depends on the mechanism because they all have different physics. The procedure can depend on the motor controller, control mode, and mechanism. For example, it's important to distinguish between velocity and position control. If you're tuning a roller to maintain a certain RPM then you're dealing with velocity. However, if you're dealing with an elevator that needs to move to particular heights that's position control. 
 
-The procedure can depend on the motor controller, control mode, and mechanism so it's important to distinguish between velocity and position control. For example if you're tuning a roller to maintain a certain RPM then you're dealing with velocity. However if you're dealing with an elevator that needs to move to particular heights that's position control. 
+In general, the order for tuning is: kS, kV, kA, kG, kP, kD, kI (note: not all may be needed)
 
 ### Elevator tuning:
 tune kS
-determine how much output is necessary to overcome static friction and get the elevator moving. The voltage when the mechanism just starts moving is approximately kS.
+- determine how much output is necessary to overcome static friction and get the elevator moving. The voltage when the mechanism just starts moving is approximately kS.
 tune kV
-determine the kv by entering different velocities and determining how much kV is needed to maintain those. 
+- determine the kV by entering different velocities and determining how much kV is needed to maintain those. 
 tune kA
+- pretty much 
 tune kG
-increase kG until it counteract gravity (i.e enough to hold its position, not fall or rise when its supposed to hold still)
+- increase kG until it counteract gravity (i.e enough to hold its position, not fall or rise when its supposed to hold still).
 tune kP
-increase kP until elevator reaches target quickly and accurately, it its overshooting or oscillating its probably too high
-tune kD if the elevator overshoots or oscillates as it approaches the target adding kD may help. you can tune it by increasing it until the elevator settles smoothly without becoming excessively sluggish
-kI may not be necessarily but if there's consistently small position error it may help
-Arm tuning
+- increase kP until elevator reaches target quickly and accurately, it its overshooting or oscillating its probably too high.
+tune kD 
+- if the elevator overshoots or oscillates as it approaches the target adding kD may help. You can tune it by increasing it until the elevator settles smoothly without becoming excessively sluggish.
+tune kI
+- kI may not be necessarily but if there's consistently small position error it may help.
+
+### Arm tuning:
 similar to elevator processes with kS, kV, kA if necessary, kG(when arm is horizontal), kP, kD, and kI is necessary
 
-### roller tuning
+### roller tuning: 
 typical rollers only need kS, kV, kA, kP, and kD
 
 ## Additional tips:
-using tools such as SysID (see sysId article) rather than this process can give you kS, kV, and kA
-your tuning process and gains need to make sense for the control system your using whether that position, velocity, voltage, etc
-
-many motor controllers support control slots allowing you to store and select different gains this may be helpful for situations where there is not one perfect set of gains for every situation such as carrying a game piece vs not carrying a game piece
+- using tools such as SysID (see sysId article) rather than this process can give you kS, kV, and kA
+- your tuning process and gains need to make sense for the control system your using whether that position, velocity, voltage, etc
+- many motor controllers support control slots allowing you to store and select different gains this may be helpful for situations where there is not one perfect set of gains for every situation (such as carrying a game piece vs not carrying a game piece)
 
 ### Resources
 

From e364705129c58a38491f7f49fa5466c2a9055108 Mon Sep 17 00:00:00 2001
From: vivi-o <vivie@oesterer.com>
Date: Thu, 27 Aug 2026 17:42:43 -0700
Subject: [PATCH 4/4] formatting again

---
 Docs/3_Specifics/3.6_GainsTuning.md | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/Docs/3_Specifics/3.6_GainsTuning.md b/Docs/3_Specifics/3.6_GainsTuning.md
index c0fd52f..90d7d9d 100644
--- a/Docs/3_Specifics/3.6_GainsTuning.md
+++ b/Docs/3_Specifics/3.6_GainsTuning.md
@@ -56,16 +56,22 @@ In general, the order for tuning is: kS, kV, kA, kG, kP, kD, kI (note: not all m
 ### Elevator tuning:
 tune kS
 - determine how much output is necessary to overcome static friction and get the elevator moving. The voltage when the mechanism just starts moving is approximately kS.
+
 tune kV
 - determine the kV by entering different velocities and determining how much kV is needed to maintain those. 
+
 tune kA
-- pretty much 
+- depends on how quickly we need the mechanism to accelerate, try increasing kA until it works
+
 tune kG
 - increase kG until it counteract gravity (i.e enough to hold its position, not fall or rise when its supposed to hold still).
+
 tune kP
 - increase kP until elevator reaches target quickly and accurately, it its overshooting or oscillating its probably too high.
+
 tune kD 
 - if the elevator overshoots or oscillates as it approaches the target adding kD may help. You can tune it by increasing it until the elevator settles smoothly without becoming excessively sluggish.
+
 tune kI
 - kI may not be necessarily but if there's consistently small position error it may help.