PID Step Response

2.0.0-rc.1 Pick a plant, dial gains, watch the closed-loop response.

Position vs setpoint

setpoint position

Control effort (voltage)

u(t)

Simulates a simple second-order DCMotor plant (elevator / arm / flywheel) with a PID + feedforward controller at the same 50 Hz loop rate WPILib uses. Useful for building tuning intuition; verify against real hardware before competition.