https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/tuning-vertical-arm.html https://docs.wpilib.org/en/stable/docs/software/advanced

https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/tuning-vertical-arm.html https://docs.wpilib.org/en/stable/docs/software/advanced-con... Here's another. These pages interactively go over tuning pid controllers for position, velocity, and position with gravity compensation. These docs are designed for high schoolers to learn about programming PID.