PID Tuning Lab
Tune PID and feedforward on a simulated arm, elevator and flywheel, and watch every gain change the response.
Goes with PID, Feedforward
Labs
Try the ideas from the docs on a simulated robot, right in your browser. Nothing to install, nothing to break. Each lab has a guided walkthrough if you are new to the topic.
State Machine Lab
Press buttons and step through the robot loop to see the super state machine pick states and ask each subsystem for one.
Goes with State Machines
Behavior Tree Lab
Run an autonomous behavior tree tick by tick in the Arbor viewer, break things on purpose, and edit the XML.
Goes with Behavior Trees, Arbor
Pose Estimator Lab
Drive a swerve robot around the field and watch odometry drift while AprilTag vision pulls the estimate back.
Goes with AprilTags, Objects & Odometry
Swerve Kinematics Lab
Drive with two joysticks and see how chassis speeds become four module angles and speeds.
Goes with Swerve
Signal Filter Lab
Clean up noisy sensors with debouncers, moving averages and slew rate limiters, and measure the lag each one costs.
Goes with Signal Filtering
The PID Tuning and Pose Estimator labs are adapted, with thanks, from the labs by FRC Team 1756 Argos. The Behavior Tree Lab draws trees with Arborist, the viewer from Arbor.