├── .gitattributes ├── .gitignore ├── Contributing.md ├── FRC_JSON_Sim_UpdateAll ├── FRC_JSON_Sim_Update_ALL.lvproj ├── Originals │ ├── Protocol_ORIGINAL.zip │ ├── Robot_Simulation_Connect_Listen.vi │ └── Update sim globals from JSON protocol.vi └── ProtocolAll │ ├── Build Sim Device List_ALT.vi │ ├── Build Sim Device List_Orig.vi │ ├── Construct Delta JSON.vi │ ├── Delta JSON Update.vi │ ├── Devices │ ├── AI │ │ ├── AI Accum proto.ctl │ │ ├── AI Data proto.ctl │ │ ├── AI Plugin Ref.vi │ │ ├── AI Update Ops.ctl │ │ ├── AI proto.ctl │ │ ├── AnalogInput_PanelSim_Global.vi │ │ ├── JSON Delta AI Update.vi │ │ ├── Make AI JSON.vi │ │ ├── PlugIn AI.vi │ │ └── SendAIProtocol.vi │ ├── AO │ │ ├── AO Data proto.ctl │ │ ├── AO Plugin Ref.vi │ │ ├── AO Update Ops.ctl │ │ ├── AO proto.ctl │ │ ├── AnalogOutput_PanelSim_Global.vi │ │ ├── JSON Delta AO Update.vi │ │ ├── Make AO JSON.vi │ │ ├── PlugIn AO.vi │ │ └── SendAOProtocol.vi │ ├── Accel │ │ ├── Accel Data proto.ctl │ │ ├── Accel Plugin Ref.vi │ │ ├── Accel Update Ops.ctl │ │ ├── Accel proto.ctl │ │ ├── Accel_PanelSim_Global.vi │ │ ├── JSON Delta Accel Update.vi │ │ ├── Make Accel JSON.vi │ │ ├── PlugIn Accel.vi │ │ └── SendAccelProtocol.vi │ ├── CTREPCM │ │ ├── CTREPCM Data proto.ctl │ │ ├── CTREPCM Plugin Ref.vi │ │ ├── CTREPCM Update Ops.ctl │ │ ├── CTREPCM proto.ctl │ │ ├── CTREPCM_PanelSim_Global.vi │ │ ├── JSON Delta CTREPCM Update.vi │ │ ├── Make CTREPCM JSON.vi │ │ ├── PlugIn CTREPCM.vi │ │ └── SendCTREPCMProtocol.vi │ ├── DIO │ │ ├── DIO Plugin Ref.vi │ │ ├── DIO Update Ops.ctl │ │ ├── DIO data proto.ctl │ │ ├── DIO proto.ctl │ │ ├── DIO_PanelSim_Global.vi │ │ ├── JSON Delta DIO Update.vi │ │ ├── Make DIO JSON.vi │ │ ├── PlugIn DIO.vi │ │ └── SendDIOProtocol.vi │ ├── DriverStation │ │ ├── DS Plugin Ref.vi │ │ ├── DS Update Ops.ctl │ │ ├── DS data proto.ctl │ │ ├── DS proto.ctl │ │ ├── DriverStation_PanelSim_Global.vi │ │ ├── JSON Delta DS Update.vi │ │ ├── Make DS JSON.vi │ │ ├── PlugIn DS.vi │ │ └── SendDSProtocol.vi │ ├── DutyCycle │ │ ├── DutyCycle Data proto.ctl │ │ ├── DutyCycle Plugin Ref.vi │ │ ├── DutyCycle Update Ops.ctl │ │ ├── DutyCycle proto.ctl │ │ ├── DutyCycle_PanelSim_Global.vi │ │ ├── JSON Delta DutyCycle Update.vi │ │ ├── Make DutyCycle JSON.vi │ │ ├── PlugIn DutyCycle.vi │ │ └── SendDutyCycleProtocol.vi │ ├── Encoder │ │ ├── Encoder Plugin Ref.vi │ │ ├── Encoder Update Ops.ctl │ │ ├── Encoder Values.ctl │ │ ├── Encoder data protoo.ctl │ │ ├── Encoder proto.ctl │ │ ├── Encoder_PanelSim_Global.vi │ │ ├── JSON Delta Encoder Update.vi │ │ ├── Make Encoder JSON.vi │ │ ├── PlugIn Encoder.vi │ │ └── SendEncoderProtocol.vi │ ├── Gyro │ │ ├── Gyro Data proto.ctl │ │ ├── Gyro Plugin Ref.vi │ │ ├── Gyro Update Ops.ctl │ │ ├── Gyro proto.ctl │ │ ├── Gyro_PanelSim_Global.vi │ │ ├── JSON Delta Gyro Update.vi │ │ ├── Make Gyro JSON.vi │ │ ├── PlugIn Gyro.vi │ │ ├── RomiGyro │ │ │ ├── JSON Delta RomiGyro Update.vi │ │ │ ├── Make RomiGyro JSON.vi │ │ │ ├── PlugIn RomiGyro.vi │ │ │ ├── RomiGyro Data proto.ctl │ │ │ ├── RomiGyro Plugin Ref.vi │ │ │ ├── RomiGyro Update Ops.ctl │ │ │ ├── RomiGyro proto.ctl │ │ │ ├── RomiGyro_PanelSim_Global.vi │ │ │ └── SendRomiGyroProtocol.vi │ │ └── SendGyroProtocol.vi │ ├── Joystick │ │ ├── JSON Delta Joystick Update.vi │ │ ├── Joystick Plugin Ref.vi │ │ ├── Joystick Update Ops.ctl │ │ ├── Joystick data proto.ctl │ │ ├── Joystick proto.ctl │ │ ├── Joystick_PanelSim_Global.vi │ │ ├── Make Joystick JSON.vi │ │ ├── PlugIn Joystick.vi │ │ └── SendJoystickProtocol.vi │ ├── PWM │ │ ├── JSON Delta PWM Update.vi │ │ ├── Make PWM JSON.vi │ │ ├── PWM Plugin Ref.vi │ │ ├── PWM Update Ops.ctl │ │ ├── PWM data proto.ctl │ │ ├── PWM proto.ctl │ │ ├── PWM_PanelSim_Global.vi │ │ ├── PlugIn PWM.vi │ │ └── SendPWMProtocol.vi │ ├── Relay │ │ ├── JSON Delta Relay Update.vi │ │ ├── Make Relay JSON.vi │ │ ├── PlugIn Relay.vi │ │ ├── Relay Plugin Ref.vi │ │ ├── Relay Update Ops.ctl │ │ ├── Relay data proto.ctl │ │ ├── Relay proto.ctl │ │ ├── Relay_PanelSim_Global.vi │ │ └── SendRelayProtocol.vi │ ├── RoboRIO │ │ ├── JSON Delta RR Update.vi │ │ ├── Make RR JSON.vi │ │ ├── PlugIn RR.vi │ │ ├── RoboRIO Plugin Ref.vi │ │ ├── RoboRIO Update Ops.ctl │ │ ├── RoboRIO data proto.ctl │ │ ├── RoboRIO proto.ctl │ │ ├── RoboRIO_PanelSim_Global.vi │ │ └── SendRRProtocol.vi │ ├── Solenoid │ │ ├── JSON Delta Solenoid Update.vi │ │ ├── Make Solenoid JSON.vi │ │ ├── PlugIn Solenoid.vi │ │ ├── SendSolenoidProtocol.vi │ │ ├── Solenoid Data proto.ctl │ │ ├── Solenoid Plugin Ref.vi │ │ ├── Solenoid Update Ops.ctl │ │ ├── Solenoid proto.ctl │ │ └── Solenoid_PanelSim_Global.vi │ └── dPWM │ │ ├── JSON Delta dPWM Update.vi │ │ ├── Make dPWM JSON.vi │ │ ├── PlugIn dPWM.vi │ │ ├── SenddPWMProtocol.vi │ │ ├── dPWM Data proto.ctl │ │ ├── dPWM Plugin Ref.vi │ │ ├── dPWM Update Ops.ctl │ │ ├── dPWM proto.ctl │ │ └── dPWM_PanelSim_Global.vi │ ├── Get Checked Elements.vi │ ├── Get Named Sorted Elements.vi │ ├── Get Object Names.vi │ ├── JSON Object Deltas.vi │ ├── JSON Parse Channel Number.vi │ ├── JSON Sorter.vi │ ├── Make DeltaJSON Subs.vi │ ├── Robot_Simulation_Listen_Connect.vi │ ├── Store Websocket Refs.vi │ ├── Update WebSocket Clients.vi │ ├── Update sim globals from JSON protocol.vi │ └── WebSocket Server Connection Handler.vi ├── FRC_LV_CtrlTraj_Library_Doc_Builder ├── Doc_Builder_SubVI │ ├── Custom_Append Flattened Pixmap to Report.vi │ ├── Custom_Append Front Panel Image to Report (path).vi │ ├── Custom_Append Front Panel Image to Report (refnum).vi │ ├── Custom_Append VI Block Diagram to Report (path).vi │ ├── Custom_Append VI Block Diagram to Report (refnum).vi │ ├── Custom_Append VI Icon to Report (path).vi │ ├── Custom_Append VI Icon to Report (refnum).vi │ ├── Custom_Create_VI_BlockDiagram_Images.vi │ ├── Custom_Create_VI_Documentation_Component_Image.vi │ ├── Custom_Create_VI_Documentation_Component_MultiImages.vi │ ├── Custom_Create_VI_Icon_Image.vi │ ├── Custom_Generate_pseudo_unique_filename.vi │ ├── Doc_Builder_Create_Output_Name.vi │ ├── Doc_Builder_New_Report.vi │ ├── Doc_Builder_Save_Close_Report.vi │ ├── Doc_Builder_Set_Font.vi │ ├── Doc_Builder_Write_BlankLine.vi │ ├── Doc_Builder_Write_BlockDiagram.vi │ ├── Doc_Builder_Write_Description.vi │ ├── Doc_Builder_Write_FrontPanel.vi │ ├── Doc_Builder_Write_Header.vi │ ├── Doc_Builder_Write_Horz_Line.vi │ ├── Doc_Builder_Write_Icon.vi │ ├── Doc_Builder_Write_SectionHeader.vi │ ├── Doc_VI_Group_Name.vi │ └── FileAndPath.ctl ├── FRC_LV_Doc_Builder.lvproj ├── Gen_TrajLib_Doc.vi ├── Gen_TrajLib_Doc_Enum.vi ├── Gen_TrajLib_Doc_Macros.vi ├── Gen_TrajLib_Doc_TypeDef.vi ├── HTML_Build_Work │ ├── APPENDIX_A_MACRO_SEPERATOR_PAGE.odt │ ├── Contributing.odt │ ├── DescriptionAndConventions.odt │ ├── ENUM_SEPERATOR_PAGE.odt │ ├── FUNCTION_GROUPS_SEPERATOR_PAGE.odt │ ├── HTML_Files │ │ ├── Index.html │ │ ├── Introduction.html │ │ ├── default.html │ │ └── pages │ │ │ ├── Contributing.html │ │ │ ├── Copyright.html │ │ │ ├── DescriptionAndConventions.html │ │ │ ├── Function_Groups.html │ │ │ ├── ReportingIssues.html │ │ │ ├── TrajectoryCreation.html │ │ │ ├── Utility_Programs.html │ │ │ └── images │ │ │ ├── Advanced_PID_Execute.PNG │ │ │ ├── DiffSim_1.png │ │ │ ├── DiffSim_2.png │ │ │ ├── GeneralControl.png │ │ │ ├── GeneralControlAnalog.png │ │ │ ├── GeneralControlDigital.png │ │ │ ├── GeneralControlTrajectory.png │ │ │ ├── InstalledProgramMenu.png │ │ │ ├── LabVIEWFindHelp.png │ │ │ ├── MacroSample.png │ │ │ ├── SampleInstall.png │ │ │ ├── SampleLabViewMenu.png │ │ │ ├── SampleUninstall.png │ │ │ ├── SampleViHelp.png │ │ │ ├── TrajFlowChart.png │ │ │ ├── Util_create_traj.PNG │ │ │ ├── Util_create_traj2.PNG │ │ │ ├── trajectory_pathfinder_sample.PNG │ │ │ └── trajectory_sample.PNG │ ├── ReportingIssues.odt │ ├── TITLE_PAGE.odt │ ├── TYPE_DEF_SEPERATOR_PAGE.odt │ ├── TrajectoryCreation.odt │ ├── Utility_Programs.odt │ ├── WPILib_LabVIEW_Math_Library_Reference.odm │ ├── WPILib_LabVIEW_Math_Library_Reference.pdf │ ├── build_help_category_and_function_list.ods │ ├── enum_list.txt │ ├── typedef_list.txt │ └── vi_list.txt ├── Update_VI_List.bat ├── WindowsHelpProjject │ ├── FRC_LabVIEW_Control_Trajectory_Library.chm │ ├── FRC_LabVIEW_Control_Trajectory_Library.chw │ ├── FRC_LabVIEW_Control_Trajectory_Library.hhp │ ├── Index.hhk │ └── Table of Contents.hhc └── readme.txt ├── FRC_LV_Trajectory_Library ├── AngleStats_AngleAdd.vi ├── AngleStats_AngleAdd_CallbackHelp.vi ├── AngleStats_AngleMean.vi ├── AngleStats_AngleMean_CallbackHelp.vi ├── AngleStats_AngleResidual.vi ├── AngleStats_AngleResidual_CallbackHelp.vi ├── AprilTagPoseEstimator_New.vi ├── ArmFF_Calculate.vi ├── ArmFF_CalculateVelocityOnly.vi ├── ArmFF_MaxAchieveAccel.vi ├── ArmFF_MaxAchieveVelocity.vi ├── ArmFF_MinAchieveAccel.vi ├── ArmFF_MinAchieveVelocity.vi ├── ArmFF_New.vi ├── ArmFF_New_ZeroGravity.vi ├── BangBang_AtSetpoint.vi ├── BangBang_Calculate_PV.vi ├── BangBang_Calculate_SP_PV.vi ├── BangBang_Execute.vi ├── BangBang_GetAll.vi ├── BangBang_GetError.vi ├── BangBang_New.vi ├── BangBang_SetSetpoint.vi ├── BangBang_SetTolerance.vi ├── BatterySim_CalculateDefaultBatteryLoadedVoltage.vi ├── BatterySim_CalculateLoadedBatteryVoltage.vi ├── CallbackHelp_MatrixMinus.vi ├── CallbackHelp_MatrixMult.vi ├── CallbackHelp_MatrixMult_CoerceSizeB.vi ├── CallbackHelp_MatrixPlus.vi ├── CentripetalAccelConstraint_New.vi ├── CentripetalAccelConstraint_getMaxVelocity.vi ├── CentripetalAccelConstraint_getMinMaxAccel.vi ├── ChassisSpeeds_FromFieldRelativeChassisSpeeds.vi ├── ChassisSpeeds_FromFieldRelativeSpeeds.vi ├── ChassisSpeeds_GetXYOmega.vi ├── ChassisSpeeds_New.vi ├── ConstrainedState_New.vi ├── ConstrainedState_SetMaxAccel.vi ├── ConstrainedState_SetMinAccel.vi ├── ConstrainedState_SetVelAccel.vi ├── ConstrainedState_SetVelocity.vi ├── Constraint_MinMax_New.vi ├── Constraint_MinMax_NewMinMax.vi ├── ControllerUtil_GetModulusError.vi ├── Conv_AngleDegrees_Heading.vi ├── Conv_AngleRadians_Heading.vi ├── Conv_Centimeters_Meters.vi ├── Conv_Deg_Radians.vi ├── Conv_Feet_Meters.vi ├── Conv_GyroDegrees_Heading.vi ├── Conv_Heading_AngleRadians.vi ├── Conv_Inches_Meters.vi ├── Conv_Killograms_Pounds.vi ├── Conv_Meters_Feet.vi ├── Conv_Meters_Inches.vi ├── Conv_POSE2D_SI_Eng.vi ├── Conv_Pounds_Killograms.vi ├── Conv_Radians_Deg.vi ├── Conv_Yards_Meters.vi ├── CubicHermiteSpline_New.vi ├── CubicHermiteSpline_getControlVectorFromArrays.vi ├── CubicHermiteSpline_makeHermiteBasis.vi ├── DCMotorSim_GetCurrentDrawAmps.vi ├── DCMotorSim_New_MOI.vi ├── DCMotorSim_New_Plant.vi ├── DCMotorSim_SetInputVoltage.vi ├── DCMotorSim_Update.vi ├── DCMotorSim_getAngularPositionRad.vi ├── DCMotorSim_getAngularPositionRotations.vi ├── DCMotorSim_getAngularVelocityRPM.vi ├── DCMotorSim_getAngularVelocityRadPerSec.vi ├── DCMotor_GetAndymark9015.vi ├── DCMotor_GetAndymarkRs775_125.vi ├── DCMotor_GetBag.vi ├── DCMotor_GetBanebotsRs550.vi ├── DCMotor_GetBanebotsRs775.vi ├── DCMotor_GetCIM.vi ├── DCMotor_GetCurrent.vi ├── DCMotor_GetFalcon500.vi ├── DCMotor_GetMiniCIM.vi ├── DCMotor_GetNEO.vi ├── DCMotor_GetNEO550.vi ├── DCMotor_GetRomiBuiltIn.vi ├── DCMotor_GetVex775Pro.vi ├── DCMotor_New.vi ├── DCMotor_PickMotor.vi ├── DCMotor_PickMotorSelector.vi ├── Debouncer_Calculate.vi ├── Debouncer_Execute.vi ├── Debouncer_HasElapsed.vi ├── Debouncer_New.vi ├── Debouncer_Reset.vi ├── DiffDriveKinematicsConstraint_New.vi ├── DiffDriveKinematicsConstraint_getMaxVelocity.vi ├── DiffDriveKinematicsConstraint_getMinMaxAccel.vi ├── DiffDrivePoseEst_AddVisionMeasurement.vi ├── DiffDrivePoseEst_FillStateVector.vi ├── DiffDrivePoseEst_GetEstimatedPosition.vi ├── DiffDrivePoseEst_Kalman_F_Callback.vi ├── DiffDrivePoseEst_Kalman_H_Callback.vi ├── DiffDrivePoseEst_New.vi ├── DiffDrivePoseEst_ResetPosition.vi ├── DiffDrivePoseEst_SetVisionMeasurementStdDevs.vi ├── DiffDrivePoseEst_Update.vi ├── DiffDrivePoseEst_UpdateWithTime.vi ├── DiffDrivePoseEst_VisionCorrect_Callback.vi ├── DiffDrivePoseEst_VisionCorrect_Kalman_H_Callback.vi ├── DiffDriveTrainSim_ClampInput.vi ├── DiffDriveTrainSim_CreateKitbotSim.vi ├── DiffDriveTrainSim_CreateKitbotSim_EstMass.vi ├── DiffDriveTrainSim_CreateKitbotSim_EstMassMOI.vi ├── DiffDriveTrainSim_GetCurrentDrawAmps.vi ├── DiffDriveTrainSim_GetCurrentGearing.vi ├── DiffDriveTrainSim_GetDynamics.vi ├── DiffDriveTrainSim_GetHeading.vi ├── DiffDriveTrainSim_GetLeftCurrentDrawAmps.vi ├── DiffDriveTrainSim_GetLeftPositionMeters.vi ├── DiffDriveTrainSim_GetLeftVelocityMetersPerSecond.vi ├── DiffDriveTrainSim_GetOutput_Single.vi ├── DiffDriveTrainSim_GetPose.vi ├── DiffDriveTrainSim_GetRightCurrentDrawAmps.vi ├── DiffDriveTrainSim_GetRightPositionMeters.vi ├── DiffDriveTrainSim_GetRightVelocityMetersPerSecond.vi ├── DiffDriveTrainSim_GetState.vi ├── DiffDriveTrainSim_GetState_Single.vi ├── DiffDriveTrainSim_KitBotWheelSize.vi ├── DiffDriveTrainSim_New.vi ├── DiffDriveTrainSim_New_Mass_MOI.vi ├── DiffDriveTrainSim_SetCurrentGearing.vi ├── DiffDriveTrainSim_SetInputs.vi ├── DiffDriveTrainSim_SetPose.vi ├── DiffDriveTrainSim_SetState.vi ├── DiffDriveTrainSim_ToughBoxMiniGearRatio.vi ├── DiffDriveTrainSim_ToughBoxMiniMotor.vi ├── DiffDriveTrainSim_Update.vi ├── DiffDriveVoltageConstraint_New.vi ├── DiffDriveVoltageConstraint_getMaxVelocity.vi ├── DiffDriveVoltageConstraint_getMinMaxAccel.vi ├── DiffKinematics_New.vi ├── DiffKinematics_toChassisSpeed.vi ├── DiffKinematics_toWheelSpeed.vi ├── DiffOdometry_Update.vi ├── DiffWheel_Normalize.vi ├── DigSeqLogic_Off_Delay.vi ├── DigSeqLogic_On_Delay.vi ├── DigSeqLogic_One_Shot.vi ├── DigSeqLogic_SR_FlipFlop.vi ├── Discretization_DiscretizeA.vi ├── Discretization_DiscretizeAB.vi ├── Discretization_DiscretizeABTaylor.vi ├── Discretization_DiscretizeAQ.vi ├── Discretization_DiscretizeAQTaylor.vi ├── Discretization_DiscretizeR.vi ├── ElevFF_Calculate.vi ├── ElevFF_CalculateVelocityOnly.vi ├── ElevFF_MaxAchieveAccel.vi ├── ElevFF_MaxAchieveVelocity.vi ├── ElevFF_MinAchieveAccel.vi ├── ElevFF_MinAchieveVelocity.vi ├── ElevFF_New.vi ├── ElevFF_New_ZeroAccel.vi ├── ElevatorSim_GetCurrentDraw.vi ├── ElevatorSim_GetPositionMeters.vi ├── ElevatorSim_GetVelocityMetersPerSecond.vi ├── ElevatorSim_HasHitLowerLimit.vi ├── ElevatorSim_HasHitUpperLimit.vi ├── ElevatorSim_New.vi ├── ElevatorSim_Rkf45_Func.vi ├── ElevatorSim_SetInputVoltage.vi ├── ElevatorSim_SetState.vi ├── ElevatorSim_Update.vi ├── ElevatorSim_UpdateX.vi ├── ElevatorSim_WouldHitLowerLimit.vi ├── ElevatorSim_WouldHitUpperLimit.vi ├── Enum │ ├── AprilTagFieldLayoutOrignPosition_ENUM.ctl │ ├── AprilTagFields_ENUM.ctl │ ├── AutoHelperSequence_Step_Enum.ctl │ ├── DCMOTOR_TYPES_ENUM.ctl │ ├── DEBOUNCER_TYPE_ENUM.ctl │ ├── DIFF_DRIVE_KitBot_WheelSize_ENUM.ctl │ ├── DIFF_DRIVE_TRAIN_SIM_STATE_ENUM.ctl │ ├── DIFF_DRIVE_ToughBoxMini_GearChoice_ENUM.ctl │ ├── DIFF_DRIVE_ToughBoxMini_MotorChoice_ENUM.ctl │ ├── DrumSequence_State_Enum.ctl │ ├── DrumSequence_Step_Enum.ctl │ ├── LTV_UNICYCLE_CONTROLLER_STATE_ENUM.ctl │ ├── TRAJECTORY_SPLINE_TYPE_ENUM.ctl │ └── TRAJ_CONSTRAINT_TYPES_ENUM.ctl ├── FlyWheelSim_GetCurrentDrawAmps.vi ├── FlyWheelSim_New_MOI.vi ├── FlyWheelSim_SetInput.vi ├── FlyWheelSim_SetState.vi ├── FlyWheelSim_Update.vi ├── FlyWheelSim_getAngularVelocityRPM.vi ├── FlyWheelSim_getAngularVelocityRadPerSec.vi ├── Globals │ ├── AprilTagPoseEstimator_Globals.vi │ └── Util_LibraryGlobals.vi ├── HolDrvCtrl_AdvCalculate.vi ├── HolDrvCtrl_AdvCalculate_Trajectory.vi ├── HolDrvCtrl_AtReference.vi ├── HolDrvCtrl_Calculate.vi ├── HolDrvCtrl_Calculate_Trajectory.vi ├── HolDrvCtrl_Execute.vi ├── HolDrvCtrl_Execute_Trajectory.vi ├── HolDrvCtrl_New.vi ├── HolDrvCtrl_PackExecuteSP.vi ├── HolDrvCtrl_PackPID.vi ├── HolDrvCtrl_PackProfPID.vi ├── HolDrvCtrl_SetEnabled.vi ├── HolDrvCtrl_SetTolerance.vi ├── JerkConstraint_New.vi ├── JerkConstraint_getMaxVelocity.vi ├── JerkConstraint_getMinMaxAccel.vi ├── KalmanFilterLatencyComp_AddObserverState.vi ├── KalmanFilterLatencyComp_ApplyPastGlobalMeas_FuncGroup.vi ├── KalmanFilterLatencyComp_ApplyPastGlobalMeasurement_UKF.vi ├── KalmanFilterLatencyComp_FindClosestMeasurement.vi ├── KalmanFilterLatencyComp_New.vi ├── KalmanFilterLatencyComp_Observer_New.vi ├── KalmanFilterLatencyComp_Reset.vi ├── KalmanFilter_Correct.vi ├── KalmanFilter_GetK.vi ├── KalmanFilter_GetK_Single.vi ├── KalmanFilter_GetXHat.vi ├── KalmanFilter_GetXHat_Single.vi ├── KalmanFilter_New.vi ├── KalmanFilter_Predict.vi ├── KalmanFilter_Reset.vi ├── KalmanFilter_SetXHat.vi ├── KalmanFilter_SetXHat_Single.vi ├── LICENSE.txt ├── License.rtf ├── LinearFilter_BackwardFiniteDifference.vi ├── LinearFilter_Calculate.vi ├── LinearFilter_CutoffFrequency.vi ├── LinearFilter_Execute.vi ├── LinearFilter_Execute_OLD.vi ├── LinearFilter_Factorial.vi ├── LinearFilter_FiniteDifference.vi ├── LinearFilter_HP_BW1_Execute.vi ├── LinearFilter_HP_BW2_Execute.vi ├── LinearFilter_HighPass.vi ├── LinearFilter_HighPassBW1.vi ├── LinearFilter_HighPassBW2.vi ├── LinearFilter_LP_BW1_Execute.vi ├── LinearFilter_LP_BW2_Execute.vi ├── LinearFilter_LowPassBW1.vi ├── LinearFilter_LowPassBW2.vi ├── LinearFilter_MovingAverage.vi ├── LinearFilter_MovingAvg_Execute.vi ├── LinearFilter_New.vi ├── LinearFilter_Reset.vi ├── LinearFilter_ResetToValue.vi ├── LinearFilter_SinglePoleIIR.vi ├── LinearFilter_TimeConst.vi ├── LinearPlntInvFF_Calculate.vi ├── LinearPlntInvFF_Calculate_NextR.vi ├── LinearPlntInvFF_GetR.vi ├── LinearPlntInvFF_GetR_Single.vi ├── LinearPlntInvFF_GetUff.vi ├── LinearPlntInvFF_GetUff_Single.vi ├── LinearPlntInvFF_New.vi ├── LinearPlntInvFF_New_Plant.vi ├── LinearPlntInvFF_Reset_Initial.vi ├── LinearPlntInvFF_Reset_Zero.vi ├── LinearQuadraticRegulator_Calculate.vi ├── LinearQuadraticRegulator_Calculate_NextR.vi ├── LinearQuadraticRegulator_GetK.vi ├── LinearQuadraticRegulator_GetK_Single.vi ├── LinearQuadraticRegulator_GetR.vi ├── LinearQuadraticRegulator_GetR_Single.vi ├── LinearQuadraticRegulator_GetU.vi ├── LinearQuadraticRegulator_GetU_Single.vi ├── LinearQuadraticRegulator_LatencyCompensate.vi ├── LinearQuadraticRegulator_New.vi ├── LinearQuadraticRegulator_New_ELMS.vi ├── LinearQuadraticRegulator_New_N.vi ├── LinearQuadraticRegulator_New_SystemELMS.vi ├── LinearQuadraticRegulator_Reset.vi ├── LinearSystemId_CreateDCMotorSystem.vi ├── LinearSystemId_CreateDriveTrainVelocitySystem.vi ├── LinearSystemId_CreateElevatorSystem.vi ├── LinearSystemId_CreateFlywheelSystem.vi ├── LinearSystemId_CreateSingleJointedArmSystem.vi ├── LinearSystemId_IdentifyDriveTrainSystem.vi ├── LinearSystemId_IdentifyPositionSystem.vi ├── LinearSystemId_IdentifyVelocitySystem.vi ├── LinearSystemLoop_ClampInput.vi ├── LinearSystemLoop_Correct.vi ├── LinearSystemLoop_GetController.vi ├── LinearSystemLoop_GetError.vi ├── LinearSystemLoop_GetError_Single.vi ├── LinearSystemLoop_GetFeedForward.vi ├── LinearSystemLoop_GetNextR.vi ├── LinearSystemLoop_GetNextR_Single.vi ├── LinearSystemLoop_GetObserver.vi ├── LinearSystemLoop_GetU.vi ├── LinearSystemLoop_GetU_Row.vi ├── LinearSystemLoop_GetXHat.vi ├── LinearSystemLoop_GetXHat_Single.vi ├── LinearSystemLoop_New.vi ├── LinearSystemLoop_New_LinearSystem_ClampVal.vi ├── LinearSystemLoop_Predict.vi ├── LinearSystemLoop_Reset.vi ├── LinearSystemLoop_SetNextR.vi ├── LinearSystemSim_ClampInput.vi ├── LinearSystemSim_GetOutput.vi ├── LinearSystemSim_GetOutput_Single.vi ├── LinearSystemSim_New.vi ├── LinearSystemSim_SetInput_Array.vi ├── LinearSystemSim_SetInput_Single.vi ├── LinearSystemSim_Update.vi ├── LinearSystemSim_UpdateX.vi ├── LinearSystemSim_UpdateY.vi ├── LinearSystemSim_setInput.vi ├── LinearSystemSim_setState.vi ├── LinearSystem_CalculateX.vi ├── LinearSystem_CalculateY.vi ├── LinearSystem_GetA.vi ├── LinearSystem_GetAElement.vi ├── LinearSystem_GetB.vi ├── LinearSystem_GetBElement.vi ├── LinearSystem_GetC.vi ├── LinearSystem_GetCElement.vi ├── LinearSystem_GetD.vi ├── LinearSystem_GetDElement.vi ├── LinearSystem_New.vi ├── Macros │ ├── macro_Analog_Delay.vi │ ├── macro_AngleStats_AngleAdd_CallbackHelp.vi │ ├── macro_AngleStats_AngleMean_CallbackHelp.vi │ ├── macro_AngleStats_AngleResidual_CallbackHelp.vi │ ├── macro_Angle_Modulus.vi │ ├── macro_Apply_Deadband.vi │ ├── macro_ArmFF_Calculate.vi │ ├── macro_AutoHelp_DelayedAction.vi │ ├── macro_AutoHelp_Sequence.vi │ ├── macro_BangBang_Execute.vi │ ├── macro_BoolCmd_Recv.vi │ ├── macro_BoolCmd_RecvMultiplexer.vi │ ├── macro_BoolCmd_RecvMultiplexerArray.vi │ ├── macro_BoolCmd_Send.vi │ ├── macro_BoolCmd_Send_OnEdge.vi │ ├── macro_BumplessTransfer.vi │ ├── macro_CallbackHelp_MatrixMinus.vi │ ├── macro_CallbackHelp_MatrixMult.vi │ ├── macro_CallbackHelp_MatrixMult_CoerceSizeB.vi │ ├── macro_CallbackHelp_MatrixPlus.vi │ ├── macro_Clamp.vi │ ├── macro_DCMotor_Pick.vi │ ├── macro_DCMotor_Sim_Execute.vi │ ├── macro_Debouncer_Execute.vi │ ├── macro_DiffDriveKineNew.vi │ ├── macro_DiffDrivePoseEst2_Execute.vi │ ├── macro_DiffDrv_Sim_Execute.vi │ ├── macro_DigSeqLogic_Delay.vi │ ├── macro_DigSeqLogic_Off_Delay.vi │ ├── macro_DigSeqLogic_On_Delay.vi │ ├── macro_DigSeqLogic_OneShot.vi │ ├── macro_Digital_And.vi │ ├── macro_Digital_AndMany.vi │ ├── macro_Digital_Not.vi │ ├── macro_Digital_Or.vi │ ├── macro_Digital_OrMany.vi │ ├── macro_DoubleSolenoid_Pulse_Execute.vi │ ├── macro_DrumSeq_Continuous.vi │ ├── macro_DrumSeq_Pulse.vi │ ├── macro_DrumSeq_Pulse_Mux.vi │ ├── macro_ElevatorFF_Calculate.vi │ ├── macro_Elevator_Sim_Execute.vi │ ├── macro_Field_Display_Constant.vi │ ├── macro_Field_Display_Selector.vi │ ├── macro_FiniteStateMachine_Template.vi │ ├── macro_FiniteStateMachine_w_Timer_Template.vi │ ├── macro_FlyWheel_Sim_Execute.vi │ ├── macro_Function_Generator.vi │ ├── macro_HolDrvController_Execute.vi │ ├── macro_HolDrvController_ExecuteSP.vi │ ├── macro_HolDrvCtrl_New.vi │ ├── macro_Input_Modulus.vi │ ├── macro_LTV_DiffDriveCtrl_Execute.vi │ ├── macro_LTV_DiffDriveCtrl_Traj_Sample_Execute.vi │ ├── macro_LTV_Unicycle_Ctrl_Execute.vi │ ├── macro_LTV_Unicycle_Ctrl_TrajSample_Execute.vi │ ├── macro_LeadLag.vi │ ├── macro_LinearFilter_ExecuteAVG.vi │ ├── macro_LinearFilter_ExecuteTC.vi │ ├── macro_LinearSystemLoop_DCMotor_Execute.vi │ ├── macro_LinearSystemLoop_DiffDrv_ID_Execute.vi │ ├── macro_LinearSystemLoop_DiffDrv_Model_Execute.vi │ ├── macro_LinearSystemLoop_Elevator_Execute.vi │ ├── macro_LinearSystemLoop_FlyWheel_Execute.vi │ ├── macro_LinearSystemLoop_LinearSystem_Execute.vi │ ├── macro_LinearSystemLoop_SngJntArm_Execute.vi │ ├── macro_LinearSystem_Sim_Execute.vi │ ├── macro_MatBuilder_Create.vi │ ├── macro_MatBuilder_Fill.vi │ ├── macro_MathUtils_ClampInput.vi │ ├── macro_MatrixHelper_CoerceSize.vi │ ├── macro_MecaDriveKineNew.vi │ ├── macro_MecaDriveOdomNew.vi │ ├── macro_MecaDriveOdomUpdate.vi │ ├── macro_MecaDrivePoseEst2_Execute.vi │ ├── macro_MecaWheelSpeedNormalize.vi │ ├── macro_MedianFilter_Execute.vi │ ├── macro_NumCmd_Recv_Array.vi │ ├── macro_NumCmd_Recv_Chassis.vi │ ├── macro_NumCmd_Recv_Generic.vi │ ├── macro_NumCmd_Recv_OneDbl.vi │ ├── macro_NumCmd_Recv_TwoDbl.vi │ ├── macro_NumCmd_Send_Array.vi │ ├── macro_NumCmd_Send_Chassis.vi │ ├── macro_NumCmd_Send_Generic.vi │ ├── macro_NumCmd_Send_OneDbl.vi │ ├── macro_NumCmd_Send_TwoDbl.vi │ ├── macro_PIDAutoTune.vi │ ├── macro_PIDController_AdvExecute.vi │ ├── macro_PIDController_Execute.vi │ ├── macro_PosCtrl_Execute.vi │ ├── macro_Pose2d_XYAngleDeg.vi │ ├── macro_Pose2d_XYAngleRad.vi │ ├── macro_Pose3d_XYZ_Axis_AngleDeg.vi │ ├── macro_Pose3d_XYZ_Axis_AngleRad.vi │ ├── macro_Pose3d_XYZ_RollPitchYaw_Deg.vi │ ├── macro_Pose3d_XYZ_RollPitchYaw_Rad.vi │ ├── macro_ProfiledPIDController_Execute.vi │ ├── macro_Ramsete_Execute.vi │ ├── macro_Ramsete_Execute_ENG.vi │ ├── macro_Ramsete_Execute_External_Odometry.vi │ ├── macro_Ramsete_Execute_External_Odometry_ENG.vi │ ├── macro_Rotation2d_AngleDeg.vi │ ├── macro_Rotation2d_AngleRad.vi │ ├── macro_Rotation2d_X_Y.vi │ ├── macro_Rotation3d_Axis_AngleDeg.vi │ ├── macro_Rotation3d_Axis_AngleRad.vi │ ├── macro_Rotation3d_RollPitchYaw_Deg.vi │ ├── macro_Rotation3d_RollPitchYaw_Rad.vi │ ├── macro_SimpleMotorFF_Calc_NextV.vi │ ├── macro_SimpleMotorFF_Calculate.vi │ ├── macro_SimpleMotorFF_Calculate_CalcAccel.vi │ ├── macro_SimpleMotorFF_Ka_AutoTune.vi │ ├── macro_SlewRateLimter_Execute.vi │ ├── macro_SngJntArm_Sim_Execute.vi │ ├── macro_SwerveDriveKineNew4.vi │ ├── macro_SwerveDriveKineNewX.vi │ ├── macro_SwerveDriveOdomNew4.vi │ ├── macro_SwerveDriveOdomUpdate4.vi │ ├── macro_SwerveDrivePoseEst2_Execute.vi │ ├── macro_SwerveModPosNew4.vi │ ├── macro_SwerveModStateNew4.vi │ ├── macro_SwerveModStatePosNew4.vi │ ├── macro_TrajectoryConstraint_CentripAccel.vi │ ├── macro_TrajectoryConstraint_DiffKine.vi │ ├── macro_TrajectoryConstraint_DiffVolt.vi │ ├── macro_TrajectoryConstraint_EllipRegion.vi │ ├── macro_TrajectoryConstraint_MaxVel.vi │ ├── macro_TrajectoryConstraint_MecaKine.vi │ ├── macro_TrajectoryConstraint_RectRegion.vi │ ├── macro_TrajectoryConstraint_SwerveKine.vi │ ├── macro_TrajectoryGenerate.vi │ ├── macro_TrajectoryGenerateENG.vi │ ├── macro_TrajectoryReadFile.vi │ ├── macro_Trajectory_FGV_Template.vi │ ├── macro_Translation2d_Dist_AngleDeg.vi │ ├── macro_Translation2d_Dist_AngleRad.vi │ ├── macro_Translation2d_X_Y.vi │ ├── macro_Translation3d_X_Y_Z.vi │ ├── macro_TrapezoidProfile_Execute.vi │ ├── macro_WaitAdjust.vi │ ├── macro_vecBuilder1x1FIll.vi │ ├── macro_vecBuilder2x1FIll.vi │ ├── macro_vecBuilder3x1FIll.vi │ ├── macro_vecBuilder4x1FIll.vi │ ├── macro_vecBuilder5x1FIll.vi │ ├── macro_vecBuilder6x1FIll.vi │ ├── macro_vecBuilder7x1FIll.vi │ ├── macro_vecBuilder8x1FIll.vi │ └── macro_vecBuilder_ArrayBy1FIll.vi ├── MatBuilder_Create.vi ├── MatBuilder_Fill.vi ├── MathUtil_AngleModulus.vi ├── MathUtil_ApplyDeadband.vi ├── MathUtil_Clamp.vi ├── MathUtil_Clamp_Int.vi ├── MathUtil_InputModulus.vi ├── MathUtil_Interpolate.vi ├── MatrixHelper_CoerceSize.vi ├── MatrixHelper_MultCoerceBSize.vi ├── MatrixHelper_Zero.vi ├── Matrix_AssignBlock.vi ├── Matrix_Block.vi ├── Matrix_Create.vi ├── Matrix_Diag.vi ├── Matrix_ElementSum.vi ├── Matrix_Exp.vi ├── Matrix_ExtractColumnVector.vi ├── Matrix_ExtractFrom.vi ├── Matrix_ExtractRowVector.vi ├── Matrix_Fill.vi ├── Matrix_Ident.vi ├── Matrix_IsEqual.vi ├── Matrix_LDLT_Decomposition.vi ├── Matrix_LltDecompose.vi ├── Matrix_NormF.vi ├── Matrix_Pow.vi ├── Matrix_Replace_Sub_array.vi ├── Matrix_SetColumn.vi ├── Matrix_SetRow.vi ├── Matrix_Transpose.vi ├── Matrix_WithinTolerance.vi ├── MecaDriveKinematicsConstraint_New.vi ├── MecaDriveKinematicsConstraint_getMaxVelocity.vi ├── MecaDriveKinematicsConstraint_getMinMaxAccel.vi ├── MecaKinematics_New.vi ├── MecaKinematics_SetInverseKinematics.vi ├── MecaKinematics_ToChassisSpeeds.vi ├── MecaKinematics_ToWheelSpeeds.vi ├── MecaKinematics_ToWheelSpeedsZeroCenter.vi ├── MecaOdometry_GetKinematics.vi ├── MecaOdometry_GetPose.vi ├── MecaOdometry_New.vi ├── MecaOdometry_NewDefaultPose.vi ├── MecaOdometry_Reset.vi ├── MecaOdometry_Update.vi ├── MecaWheel_GetAll.vi ├── MecaWheel_New.vi ├── MecaWheel_normalize.vi ├── MedianFilter_Calculate.vi ├── MedianFilter_Execute.vi ├── MedianFilter_New.vi ├── MedianFilter_Reset.vi ├── MedianFilter_ResetToValue.vi ├── MerweScSigPts_ComputeWeights.vi ├── MerweScSigPts_GetNumSigmas.vi ├── MerweScSigPts_GetWc.vi ├── MerweScSigPts_GetWc_Single.vi ├── MerweScSigPts_GetWm.vi ├── MerweScSigPts_GetWm_Single.vi ├── MerweScSigPts_New.vi ├── MerweScSigPts_New_Default.vi ├── MerweScSigPts_SigmaPoints.vi ├── NumIntegrate_Func_Ax_Bu_K.vi ├── NumIntegrate_Rk4_Dbl_X.vi ├── NumIntegrate_Rk4_Dbl_X_U.vi ├── NumIntegrate_Rk4_Mat_X.vi ├── NumIntegrate_Rk4_Mat_X_U.vi ├── NumIntegrate_Rkdp_Func_A.vi ├── NumIntegrate_Rkdp_Func_B1.vi ├── NumIntegrate_Rkdp_Func_B1B2.vi ├── NumIntegrate_Rkdp_Func_B2.vi ├── NumIntegrate_Rkdp_Mat_X_U.vi ├── NumIntegrate_Rkdp_impl.vi ├── NumIntegrate_Rkf45_Func_A.vi ├── NumIntegrate_Rkf45_Func_B1.vi ├── NumIntegrate_Rkf45_Func_B1B2.vi ├── NumIntegrate_Rkf45_Func_B2.vi ├── NumIntegrate_Rkf45_Mat_X_U.vi ├── NumIntegrate_Rkf45_impl.vi ├── NumIntegrate_Trap_Dbl.vi ├── NumIntegrate_Trap_Mat.vi ├── NumJacobian_U.vi ├── NumJacobian_X.vi ├── PIDController_AdvCalculate_FF_Sp_Pv.vi ├── PIDController_AdvCalculate_FF_Sp_Pv_Per.vi ├── PIDController_AdvExecute.vi ├── PIDController_AtSetpoint.vi ├── PIDController_CalculateError_Internal.vi ├── PIDController_Calculate_PV.vi ├── PIDController_Calculate_SP_PV.vi ├── PIDController_DisableContinousInput.vi ├── PIDController_EnableContinousInput.vi ├── PIDController_Execute.vi ├── PIDController_GetPID.vi ├── PIDController_GetPeriod.vi ├── PIDController_GetPositionError.vi ├── PIDController_GetSetpoint.vi ├── PIDController_GetTolerance.vi ├── PIDController_GetVelocityError.vi ├── PIDController_IsContinousInputEnabled.vi ├── PIDController_New.vi ├── PIDController_NewPeriod.vi ├── PIDController_Pack_AdvLimits.vi ├── PIDController_Pack_AdvTuning.vi ├── PIDController_Pack_ErrorTolerance.vi ├── PIDController_Pack_InputLimits.vi ├── PIDController_Pack_Tuning.vi ├── PIDController_Reset.vi ├── PIDController_SetD.vi ├── PIDController_SetDerivativeFilter.vi ├── PIDController_SetI.vi ├── PIDController_SetIntegratorRange.vi ├── PIDController_SetOutputLimits.vi ├── PIDController_SetP.vi ├── PIDController_SetPID.vi ├── PIDController_SetPIDF.vi ├── PIDController_SetPeriod.vi ├── PIDController_SetSetpoint.vi ├── PIDController_SetTolerance.vi ├── PIDController_SetTolerancePandV.vi ├── PathfinderUtil_Continuous_Heading_Difference.vi ├── PathfinderUtil_OptimizeTrajectoryStates.vi ├── PathfinderUtil_ToTrajectory.vi ├── PathfinderUtil_ToTrajectoryStates.vi ├── Pose2d_Equals.vi ├── Pose2d_Exp.vi ├── Pose2d_Interpolate.vi ├── Pose2d_Log.vi ├── Pose2d_Minus.vi ├── Pose2d_New.vi ├── Pose2d_New_TRRO.vi ├── Pose2d_Plus.vi ├── Pose2d_RelativeTo.vi ├── Pose2d_TransformBy.vi ├── Pose2d_getRotation.vi ├── Pose2d_getTranslation.vi ├── Pose2d_getXY.vi ├── Pose2d_getXYAngle.vi ├── PoseWithCurve_New.vi ├── ProfiledPIDController_AtGoal.vi ├── ProfiledPIDController_AtSetpoint.vi ├── ProfiledPIDController_Calculate_Meas.vi ├── ProfiledPIDController_Calculate_Meas_Goal.vi ├── ProfiledPIDController_Calculate_Meas_StateGoal.vi ├── ProfiledPIDController_Calculate_Meas_StateGoal_TrapCnsrt.vi ├── ProfiledPIDController_DisableContInput.vi ├── ProfiledPIDController_EnableContInput.vi ├── ProfiledPIDController_Execute.vi ├── ProfiledPIDController_GetGoal.vi ├── ProfiledPIDController_GetPID.vi ├── ProfiledPIDController_GetPeriod.vi ├── ProfiledPIDController_GetPositionError.vi ├── ProfiledPIDController_GetSetpoint.vi ├── ProfiledPIDController_GetTolerance.vi ├── ProfiledPIDController_GetVelocityError.vi ├── ProfiledPIDController_New.vi ├── ProfiledPIDController_NewPeriod.vi ├── ProfiledPIDController_Reset.vi ├── ProfiledPIDController_Reset_PosOnly.vi ├── ProfiledPIDController_Reset_PosVel.vi ├── ProfiledPIDController_SetConstraints.vi ├── ProfiledPIDController_SetGoal.vi ├── ProfiledPIDController_SetGoal_PosOnly.vi ├── ProfiledPIDController_SetIntegratorRange.vi ├── ProfiledPIDController_SetPID.vi ├── ProfiledPIDController_SetTolerance_PosOnly.vi ├── ProfiledPIDController_SetTolerance_PosVel.vi ├── QuinticHermiteSpline_New.vi ├── QuinticHermiteSpline_getControlVectorFromArrays.vi ├── QuinticHermiteSpline_makeHermiteBasis.vi ├── Ramsete_AtReference.vi ├── Ramsete_Calculate.vi ├── Ramsete_Calculate_Trajectory.vi ├── Ramsete_Execute.vi ├── Ramsete_Execute_ENG.vi ├── Ramsete_Execute_PackTuning.vi ├── Ramsete_Execute_PackTuning_ENG.vi ├── Ramsete_New.vi ├── Ramsete_New_B_Z.vi ├── Ramsete_SINC.vi ├── Ramsete_SetEnabled.vi ├── Ramsete_SetTolerance.vi ├── Riccati_Check_Detectable.vi ├── Riccati_Check_Stabilizable.vi ├── Riccati_DARE.vi ├── Riccati_DARE_Choose.vi ├── Riccati_DARE_Iterate.vi ├── Riccati_DARE_N.vi ├── Riccati_DARE_StructDoubling.vi ├── Riccati_Input_Check.vi ├── Rotation2d_CreateAngle.vi ├── Rotation2d_CreateAngleDegrees.vi ├── Rotation2d_CreateAngleRotations.vi ├── Rotation2d_CreateXY.vi ├── Rotation2d_Equals.vi ├── Rotation2d_GetAngleCosSin.vi ├── Rotation2d_GetCos.vi ├── Rotation2d_GetDegrees.vi ├── Rotation2d_GetRadians.vi ├── Rotation2d_GetRotations.vi ├── Rotation2d_GetSin.vi ├── Rotation2d_GetTan.vi ├── Rotation2d_Interpolate.vi ├── Rotation2d_Minus.vi ├── Rotation2d_Plus.vi ├── Rotation2d_RotateBy.vi ├── Rotation2d_Times.vi ├── Rotation2d_UnaryMinus.vi ├── RungeKuttaTimeVarying_Rk4_Mat_T_Y.vi ├── SimpleMatrix_ExtractMatrix.vi ├── SimpleMotorFF_Calculate.vi ├── SimpleMotorFF_CalculateVelocityOnly.vi ├── SimpleMotorFF_Calculate_CalcAccel.vi ├── SimpleMotorFF_Calculate_NextV_Dt.vi ├── SimpleMotorFF_MaxAchieveAccel.vi ├── SimpleMotorFF_MaxAchieveVel.vi ├── SimpleMotorFF_MinAchieveAccel.vi ├── SimpleMotorFF_MinAchieveVel.vi ├── SimpleMotorFF_New.vi ├── SlewRateLimiter_Calculate.vi ├── SlewRateLimiter_Close.vi ├── SlewRateLimiter_Execute.vi ├── SlewRateLimiter_GetRate.vi ├── SlewRateLimiter_New.vi ├── SlewRateLimiter_NewInitialZero.vi ├── SlewRateLimiter_Reset.vi ├── SlewRateLimiter_SetRate.vi ├── SngJntArmSim_EstimateMOI.vi ├── SngJntArmSim_GetAngleRads.vi ├── SngJntArmSim_GetCurrentDraw.vi ├── SngJntArmSim_GetVelocityRadsPerSec.vi ├── SngJntArmSim_HasHitLowerLimit.vi ├── SngJntArmSim_HasHitUpperLimit.vi ├── SngJntArmSim_New.vi ├── SngJntArmSim_Rkf45_Func.vi ├── SngJntArmSim_SetInputVoltage.vi ├── SngJntArmSim_SetState.vi ├── SngJntArmSim_Update.vi ├── SngJntArmSim_UpdateX.vi ├── SngJntArmSim_WouldHitLowerLimit.vi ├── SngJntArmSim_WouldHitUpperLimit.vi ├── SplineHelp_GetCubicCtrlVector.vi ├── SplineHelp_GetCubicCtrlVectorsFromWayPts.vi ├── SplineHelp_GetCubicCtrlVectorsFromWeightedWayPts.vi ├── SplineHelp_GetCubicSpline_Calc1.vi ├── SplineHelp_GetCubicSpline_Calc2.vi ├── SplineHelp_GetCubicSpline_Calc3.vi ├── SplineHelp_GetQuinticCtrlVector.vi ├── SplineHelp_GetQuinticSplinesFromWayPts.vi ├── SplineHelp_GetQuinticSplinesFromWeightedWayPts.vi ├── SplineHelp_ThomasAlgorithm.vi ├── SplineHelp_getCubicSplinesFromControlVectors.vi ├── SplineHelp_getQuinticSplinesFromControlVectors.vi ├── SplineParam_Spline.vi ├── SplineParam_Spline_T0_T1.vi ├── SplineParam_StackGet.vi ├── SplineParam_StackPop.vi ├── SplineParam_StackPush.vi ├── Spline_getPoint.vi ├── StateSpaceUtil_Check_Stabilizable.vi ├── StateSpaceUtil_ClampInputMaxMagnitude.vi ├── StateSpaceUtil_IsDetectable.vi ├── StateSpaceUtil_IsStabilizable.vi ├── StateSpaceUtil_MakeCostMatrix.vi ├── StateSpaceUtil_MakeCovarianceMatrix.vi ├── StateSpaceUtil_MakeWhiteNoiseVector.vi ├── StateSpaceUtil_NormalizeInputVector.vi ├── StateSpaceUtil_PoseTo3dVector.vi ├── StateSpaceUtil_PoseTo4dVector.vi ├── StateSpaceUtil_PoseToVector.vi ├── SwerveDriveKinematicsConstraint_New.vi ├── SwerveDriveKinematicsConstraint_getMaxVelocity.vi ├── SwerveDriveKinematicsConstraint_getMinMaxAccel.vi ├── SwerveDrivePoseEst_AddVisionMeasurement.vi ├── SwerveDrivePoseEst_GetEstimatedPosition.vi ├── SwerveDrivePoseEst_Kalman_F_Callback.vi ├── SwerveDrivePoseEst_Kalman_H_Callback.vi ├── SwerveDrivePoseEst_New.vi ├── SwerveDrivePoseEst_ResetPosition.vi ├── SwerveDrivePoseEst_SetVisionMeasurementStdDevs.vi ├── SwerveDrivePoseEst_Update.vi ├── SwerveDrivePoseEst_UpdateWithTime.vi ├── SwerveDrivePoseEst_VisionCorrect_Callback.vi ├── SwerveDrivePoseEst_VisionCorrect_Kalman_H_Callback.vi ├── SwerveKinematics_New4.vi ├── SwerveKinematics_NewX.vi ├── SwerveKinematics_NormalizeWheelSpeedsX.vi ├── SwerveKinematics_ToChassisSpeeds4.vi ├── SwerveKinematics_ToChassisSpeedsX.vi ├── SwerveKinematics_ToSwerveModuleStates.vi ├── SwerveKinematics_ToSwerveModuleStatesZeroCenter.vi ├── SwerveModuleState_CompareTo.vi ├── SwerveModuleState_Get.vi ├── SwerveModuleState_New.vi ├── SwerveModuleState_Optimize.vi ├── SwerveOdometry_GetPosition.vi ├── SwerveOdometry_New.vi ├── SwerveOdometry_NewZeroCenter.vi ├── SwerveOdometry_ResetPosition.vi ├── SwerveOdometry_Update4.vi ├── SwerveOdometry_UpdateX.vi ├── ThirdPartyNotices.txt ├── Timer_Close.vi ├── Timer_Get.vi ├── Timer_GetAndReset.vi ├── Timer_GetInternal.vi ├── Timer_HasPeriodPassed.vi ├── Timer_HasPeriodPassedOnce.vi ├── Timer_New.vi ├── Timer_Reset.vi ├── Timer_ResetInternal.vi ├── Timer_Start.vi ├── Timer_Stop.vi ├── Timer_StopInternal.vi ├── TrajectoryConfig_AddConstraint.vi ├── TrajectoryConfig_AddConstraints.vi ├── TrajectoryConfig_Create.vi ├── TrajectoryConfig_GetConstraints.vi ├── TrajectoryConfig_GetEndVelocity.vi ├── TrajectoryConfig_GetMaxVelAccel.vi ├── TrajectoryConfig_GetStartVelocity.vi ├── TrajectoryConfig_IsReversed.vi ├── TrajectoryConfig_SetEndVelocity.vi ├── TrajectoryConfig_SetStartVelocity.vi ├── TrajectoryConfig_setCentripetalAccel.vi ├── TrajectoryConfig_setKinematicsDiffDrive.vi ├── TrajectoryConfig_setKinematicsMecanumDrive.vi ├── TrajectoryConfig_setKinematicsSwerveDrive.vi ├── TrajectoryConfig_setReversed.vi ├── TrajectoryConfig_setVoltageDiffDrive.vi ├── TrajectoryGenerate_Make_Cubic.vi ├── TrajectoryGenerate_Make_Cubic_CtrlVect.vi ├── TrajectoryGenerate_Make_Generic.vi ├── TrajectoryGenerate_Make_Quintic.vi ├── TrajectoryGenerate_Make_Quintic_CtrlVect.vi ├── TrajectoryGenerate_Make_Quintic_Weighted.vi ├── TrajectoryGenerate_splinePointsFromSplines.vi ├── TrajectoryParam_calcStuffFwd.vi ├── TrajectoryParam_calcStuffRev.vi ├── TrajectoryParam_enforceAccel.vi ├── TrajectoryParam_enforceVelocity.vi ├── TrajectoryParam_timeParam.vi ├── TrajectoryState_Equals.vi ├── TrajectoryState_GetAll.vi ├── TrajectoryState_GetPose.vi ├── TrajectoryState_Interpolate.vi ├── TrajectoryState_New.vi ├── TrajectoryUtil_MakeWeightedWayPoint.vi ├── TrajectoryUtil_MakeWeightedWayPoint_ENG.vi ├── TrajectoryUtil_fromPathWeaverJSON.vi ├── TrajectoryUtil_toPathWeaverJSON.vi ├── Trajectory_Concatenate.vi ├── Trajectory_Equals.vi ├── Trajectory_GetStates.vi ├── Trajectory_GetTotalTime.vi ├── Trajectory_Library.lvlib ├── Trajectory_New.vi ├── Trajectory_New_Empty.vi ├── Trajectory_RelativeTo.vi ├── Trajectory_Sample.vi ├── Trajectory_SampleReverse.vi ├── Trajectory_TransformBy.vi ├── Trajectory_lerp_Pose.vi ├── Trajectory_lerp_double.vi ├── Transform2d_Create_PosePose.vi ├── Transform2d_Create_TransRot.vi ├── Transform2d_Equals.vi ├── Transform2d_GetRotation.vi ├── Transform2d_GetTranslation.vi ├── Transform2d_GetXY.vi ├── Transform2d_GetXYAngle.vi ├── Transform2d_Inverse.vi ├── Transform2d_Plus.vi ├── Transform2d_Times.vi ├── Translation2d_Create.vi ├── Translation2d_Create_DistAng.vi ├── Translation2d_Equals.vi ├── Translation2d_GetAngle.vi ├── Translation2d_GetDistance.vi ├── Translation2d_GetNorm.vi ├── Translation2d_GetX.vi ├── Translation2d_GetXY.vi ├── Translation2d_GetY.vi ├── Translation2d_Interpolate.vi ├── Translation2d_Minus.vi ├── Translation2d_Plus.vi ├── Translation2d_RotateBy.vi ├── Translation2d_Times.vi ├── Translation2d_UnaryMinus.vi ├── TrapProfConstraint_New.vi ├── TrapProfState_Equals.vi ├── TrapProfState_New.vi ├── TrapProfile_Calculate.vi ├── TrapProfile_Direct.vi ├── TrapProfile_Execute.vi ├── TrapProfile_Execute_AtGoal.vi ├── TrapProfile_IsFinished.vi ├── TrapProfile_New.vi ├── TrapProfile_New_DefInitial.vi ├── TrapProfile_ShouldFlipAcceleration.vi ├── TrapProfile_TimeLeftUntil.vi ├── TrapProfile_TotalTime.vi ├── Twist2d_Create.vi ├── Twist2d_Equals.vi ├── Twist2d_GetAll.vi ├── TypeDef │ ├── APRIL_TAG_POSE_ESTIMATOR.ctl │ ├── ARM_FF.ctl │ ├── AprilTag.ctl │ ├── AprilTagFieldLayout.ctl │ ├── AprilTagPoseEstimate.ctl │ ├── BANG_BANG.ctl │ ├── BiCon_Matrix_FUNC_TYPE.ctl │ ├── CALLBACK_FUNC_TYPE.ctl │ ├── CHASSIS_SPEEDS.ctl │ ├── CONSTRAINED_STATE.ctl │ ├── COORDINATE_AXIS.ctl │ ├── COORDINATE_SYSTEM.ctl │ ├── DCMOTOR.CTL │ ├── DCMOTOR_SIM.ctl │ ├── DCMOTOR_SIM_SIMULATION_PARAMS.ctl │ ├── DEBOUNCER.ctl │ ├── DIFF_DRIVE_ACCEL_LIMIT.ctl │ ├── DIFF_DRIVE_KINEMATICS.ctl │ ├── DIFF_DRIVE_ODOM2.ctl │ ├── DIFF_DRIVE_POSE_EST.ctl │ ├── DIFF_DRIVE_POSE_EST2.ctl │ ├── DIFF_DRIVE_POSE_EST2_CONFIG.ctl │ ├── DIFF_DRIVE_POSE_EST2_INTERP_RECORD.ctl │ ├── DIFF_DRIVE_SIM_MODEL_PARAMS.CTL │ ├── DIFF_DRIVE_SIM_SIMULATION_PARAMS.ctl │ ├── DIFF_DRIVE_TRAIN_SIM.ctl │ ├── DISPLAY_WAYPOINT.ctl │ ├── DISPLAY_WEIGHTED_WAYPOINT.ctl │ ├── ELEVATOR_SIM.ctl │ ├── ELEVATOR_SIM_SIMULATION_PARAMS.ctl │ ├── ELEV_FF.ctl │ ├── EXTENDED_KALMAN_CORRECT_FUNC_GROUP.ctl │ ├── EXTENDED_KALMAN_FILTER.ctl │ ├── FLYWHEEL_SIM.ctl │ ├── FLYWHEEL_SIM_SIMULATION_PARAMS.ctl │ ├── FUNCTION_GENERATOR.ctl │ ├── FUNCTION_GENERATOR_MATRIX.ctl │ ├── FieldDisp_ElementPicture.ctl │ ├── FieldDisp_FieldElement.ctl │ ├── FieldDisp_Field_Info.ctl │ ├── HOLONOMIC_DRV_CTRL.ctl │ ├── HOLONOMIC_PACK_TUNING.ctl │ ├── IMPLICIT_MODEL_FOLLOWER.ctl │ ├── KALMAN_FILTER.ctl │ ├── KALMAN_FILTER_LATENCY_COMP.ctl │ ├── KALMAN_FILTER_LATENCY_COMP_FUNC_GROUP.ctl │ ├── LINEAR_FILTER.ctl │ ├── LINEAR_PLANT_INV_FF.ctl │ ├── LINEAR_QUADRATIC_REGULATOR.ctl │ ├── LINEAR_SYSTEM.ctl │ ├── LINEAR_SYSTEM_ID_DCMOTOR_MODEL.ctl │ ├── LINEAR_SYSTEM_ID_ELEVATOR_MODEL.CTL │ ├── LINEAR_SYSTEM_ID_FLYWHEEL_MODEL.ctl │ ├── LINEAR_SYSTEM_ID_SINGLE_JOINT_ARM_MODEL.ctl │ ├── LINEAR_SYSTEM_LOOP.ctl │ ├── LINEAR_SYSTEM_LOOP_CTRL_PARAMS.CTL │ ├── LINEAR_SYSTEM_LOOP_DCMOTOR_CTRL_PARAMS.ctl │ ├── LINEAR_SYSTEM_LOOP_DIFF_DRV_CTRL_PARAMS.CTL │ ├── LINEAR_SYSTEM_LOOP_ELEVATOR_CTRL_PARAMS.CTL │ ├── LINEAR_SYSTEM_LOOP_FLYWHEEL_CTRL_PARAMS.CTL │ ├── LINEAR_SYSTEM_LOOP_SNGJNTARM_CTRL_PARAMS.ctl │ ├── LINEAR_SYSTEM_SIM.ctl │ ├── LTV_DIFF_DRIVE_CTRL.ctl │ ├── LTV_DIFF_DRIVE_CTRL_CONTROL_PARAMS.CTL │ ├── LTV_DIFF_DRIVE_CTRL_MODEL_PARAMS.CTL │ ├── LTV_DIFF_DRIVE_CTRL_STATE_ENUM.ctl │ ├── LTV_DIFF_DRIVE_CTRL_TOLERANCE.CTL │ ├── LTV_UNICYCLE_CONTROLLER.ctl │ ├── LTV_UNICYCLE_CONTROLLER_MODEL_PARAMS.CTL │ ├── LTV_UNICYCLE_CONTROLLER_TOLERANCE.CTL │ ├── MECA_DRIVE_KINEMATICS.ctl │ ├── MECA_DRIVE_ODOMETRY.ctl │ ├── MECA_DRIVE_POSE_EST.ctl │ ├── MECA_DRIVE_POSE_EST2.ctl │ ├── MECA_DRIVE_POSE_EST2_CONFIG.ctl │ ├── MECA_DRIVE_POSE_EST2_INTERP_RECORD.ctl │ ├── MECA_WHEEL_POSITIONS.ctl │ ├── MECA_WHEEL_SPEEDS.ctl │ ├── MEDIAN_FILTER.ctl │ ├── MERWE_SCALED_SIGMA_PTS.ctl │ ├── OBSERVER_SNAPSHOT.ctl │ ├── OBSERVER_SNAP_LIST_ITEM.ctl │ ├── PARAM_STACK.ctl │ ├── PARAM_STACK_ITEM.ctl │ ├── PID_ADV_LIMITS.ctl │ ├── PID_ADV_TUNING.ctl │ ├── PID_CONTROLLER.ctl │ ├── PID_ERROR_TOLERANCE.ctl │ ├── PID_INPUT_LIMITS.ctl │ ├── PID_TUNING.ctl │ ├── POSE2D.ctl │ ├── POSE3D.ctl │ ├── POSEwCURVATURE.ctl │ ├── PROFILED_PID_CONTROLLER.ctl │ ├── PosCtrl_Tuning_Type.ctl │ ├── QUATERNION.ctl │ ├── RAMSETE.ctl │ ├── RAMSETE_EXE_TUNING.ctl │ ├── ROTATION2D.ctl │ ├── ROTATION3D.ctl │ ├── SIMPLE_MOTOR_FF.ctl │ ├── SIMPLE_MOTOR_FF_KA_TUNE_PARAMS.ctl │ ├── SINGLE_JOINT_ARM_SIM.ctl │ ├── SINGLE_JOINT_ARM_SIM_SIMULATION_PARAMS.ctl │ ├── SLEW_RATE_LIMITER.ctl │ ├── SPLINE.ctl │ ├── SPLINE_CTRL_VECTOR.ctl │ ├── SWERVE_DRIVE_KINEMATICS.ctl │ ├── SWERVE_DRIVE_MODULE_POSITION.ctl │ ├── SWERVE_DRIVE_MODULE_STATE.ctl │ ├── SWERVE_DRIVE_ODOMETRY.ctl │ ├── SWERVE_DRIVE_POSE_EST.ctl │ ├── SWERVE_DRIVE_POSE_EST2.ctl │ ├── SWERVE_DRIVE_POSE_EST2_CONFIG.ctl │ ├── SWERVE_DRIVE_POSE_EST2_INTERP_RECORD.ctl │ ├── TIMER.ctl │ ├── TIME_INTERPOLATABLE_BOOLEAN.ctl │ ├── TIME_INTERPOLATABLE_DOUBLE.ctl │ ├── TIME_INTERPOLATABLE_POSE2D.ctl │ ├── TIME_INTERPOLATABLE_ROTATION2D.ctl │ ├── TIME_INTERPOLATABLE_VARIANT.ctl │ ├── TRAJECTORY.ctl │ ├── TRAJ_CONFIG.ctl │ ├── TRAJ_CONSTRAINT_CENTRIPETAL_ACCEL.ctl │ ├── TRAJ_CONSTRAINT_DIIF_DRIVE_KINEMATICS.ctl │ ├── TRAJ_CONSTRAINT_DIIF_DRIVE_VOLTAGE.ctl │ ├── TRAJ_CONSTRAINT_ELLIP_REGION.ctl │ ├── TRAJ_CONSTRAINT_JERK.ctl │ ├── TRAJ_CONSTRAINT_MAX_VELOCITY.ctl │ ├── TRAJ_CONSTRAINT_MECA_DRIVE_KINEMATICS.ctl │ ├── TRAJ_CONSTRAINT_MINMAX.ctl │ ├── TRAJ_CONSTRAINT_RECT_REGION.ctl │ ├── TRAJ_CONSTRAINT_SWERVE_DRIVE_KINEMATICS.ctl │ ├── TRAJ_STATE.ctl │ ├── TRANSFORM2D.ctl │ ├── TRANSFORM3D.ctl │ ├── TRANSLATION2D.ctl │ ├── TRANSLATION3D.ctl │ ├── TRAPEZOID_PROFILE.ctl │ ├── TRAPEZOID_PROFILE_CONSTRAINT.ctl │ ├── TRAPEZOID_PROFILE_STATE.ctl │ ├── TWIST2D.ctl │ ├── TWIST3D.ctl │ ├── UNSCENTED_KALMAN_CORRECT_FUNC_GROUP.ctl │ ├── UNSCENTED_KALMAN_FILTER.ctl │ ├── UNSCENTED_KALMAN_NEW_FUNC_GROUP.ctl │ ├── UTIL_PATHFINDER_CONFIG.ctl │ ├── WEIGHTED_WAYPOINT.ctl │ └── X_Y_PAIR.ctl ├── Units_DegreesToRadians.vi ├── Units_FeetToMeters.vi ├── Units_InchesToMeters.vi ├── Units_MetersToFeet.vi ├── Units_MetersToInches.vi ├── Units_MillisecondsToSeconds.vi ├── Units_RadiansToDegrees.vi ├── Units_SecondsToMilliseconds.vi ├── UnscentedKalmanFilter_Correct.vi ├── UnscentedKalmanFilter_Correct_FuncGroup.vi ├── UnscentedKalmanFilter_Correct_OnlyUY.vi ├── UnscentedKalmanFilter_Correct_OnlyUYR.vi ├── UnscentedKalmanFilter_GetP.vi ├── UnscentedKalmanFilter_GetP_Single.vi ├── UnscentedKalmanFilter_GetXHat.vi ├── UnscentedKalmanFilter_GetXHat_Single.vi ├── UnscentedKalmanFilter_New.vi ├── UnscentedKalmanFilter_New_Default.vi ├── UnscentedKalmanFilter_New_FuncGroup.vi ├── UnscentedKalmanFilter_Predict.vi ├── UnscentedKalmanFilter_Reset.vi ├── UnscentedKalmanFilter_SetP.vi ├── UnscentedKalmanFilter_SetXHat.vi ├── UnscentedKalmanFilter_SetXHat_Single.vi ├── UnscentedKalmanFilter_Transform.vi ├── Util_ApproxEquals.vi ├── Util_Array_PoseWCurv2d_to_XY.vi ├── Util_CalcDist.vi ├── Util_DispWaypoint_Eng_To_SI.vi ├── Util_DispWaypoint_To_CubicInput.vi ├── Util_DispWaypoint_To_QuinticInput.vi ├── Util_DispWeightedWaypoint_Eng_To_WeightedWaypoint_SI.vi ├── Util_DispWeightedWaypoint_To_WeightedWayPoint.vi ├── Util_GetLibUsage.vi ├── Util_GetLibraryVersion.vi ├── Util_GetTime.vi ├── Util_TrajState_to_DiffDrive_WheelPos.vi ├── Util_TrajectoryState_Meters_To_Inches.vi ├── Util_Trajectory_Absolute_To_Relative.vi ├── Util_Trajectory_ReadFile.vi ├── Util_Trajectory_WriteFile.vi ├── Util_Trajectory_WriteFile_Config.vi ├── Util_Trajectory_WriteFile_OneState.vi ├── Util_Trajectory_WriteFile_PathFinder.vi ├── Util_Trajectory_WriteFile_PathFinderConfig.vi ├── Util_Trajectory_WriteFile_Pathweaver.vi ├── Util_Trajectory_WriteFile_States.vi ├── Util_Trajectory_WriteFile_WayPoints.vi ├── Util_Trajectory_to_XY.vi ├── VERSION.txt ├── VI │ ├── AnalogDelay_Execute.vi │ ├── AprilTagFieldLayout_GetField.vi │ ├── AprilTagFieldLayout_GetOriginPosition.vi │ ├── AprilTagFieldLayout_GetTagPose.vi │ ├── AprilTagFieldLayout_GetTags.vi │ ├── AprilTagFieldLayout_New.vi │ ├── AprilTagFieldLayout_New2022.vi │ ├── AprilTagFieldLayout_New2023.vi │ ├── AprilTagFieldLayout_New2024.vi │ ├── AprilTagFieldLayout_New2025.vi │ ├── AprilTagFieldLayout_NewSelect.vi │ ├── AprilTagFieldLayout_NewSelect_OLD.vi │ ├── AprilTagFieldLayout_SetOrigin.vi │ ├── AprilTagFieldLayout_SetOrigin_Position.vi │ ├── AprilTagPoseEstimate_GetAll.vi │ ├── AprilTagPoseEstimate_GetAmbifuity.vi │ ├── AprilTagPoseEstimate_New.vi │ ├── AprilTag_Equals.vi │ ├── AprilTag_GetAll.vi │ ├── AprilTag_New.vi │ ├── AutoHelper_DelayedAction.vi │ ├── AutoHelper_Sequence_Execute.vi │ ├── BatterySim_Execute.vi │ ├── BoolCmd_Multiplexor.vi │ ├── BoolCmd_Multiplexor_Array.vi │ ├── BoolCmd_ObtainQueue.vi │ ├── BoolCmd_Recv.vi │ ├── BoolCmd_Recv_Internal.vi │ ├── BoolCmd_Send.vi │ ├── BoolCmd_Send_Internal.vi │ ├── BoolCmd_Send_OnEdge.vi │ ├── BumplessTransfer_Execute.vi │ ├── CompVisionUtil_CalculateDistanceToTarget.vi │ ├── CompVisionUtil_EstimateCameraToTarget.vi │ ├── CompVisionUtil_EstimateFieldToCamera.vi │ ├── CompVisionUtil_EstimateFieldToRobot.vi │ ├── CompVisionUtil_EstimateFieldToRobot_Alt.vi │ ├── CompVisionUtil_ObjectToRobotPose.vi │ ├── Conv_Deg_Rotations.vi │ ├── Conv_POSE2D_Eng_SI.vi │ ├── Conv_Radians_Rotations.vi │ ├── Conv_Rotations_Degrees.vi │ ├── Conv_Rotations_Radians.vi │ ├── CoordAxis_D.vi │ ├── CoordAxis_E.vi │ ├── CoordAxis_N.vi │ ├── CoordAxis_New.vi │ ├── CoordAxis_S.vi │ ├── CoordAxis_U.vi │ ├── CoordAxis_W.vi │ ├── CoordSystem_Convert_Pose3d.vi │ ├── CoordSystem_Convert_Rotation3d.vi │ ├── CoordSystem_Convert_Transform3d.vi │ ├── CoordSystem_Convert_Translation3d.vi │ ├── CoordSystem_EDN.vi │ ├── CoordSystem_NED.vi │ ├── CoordSystem_NWU.vi │ ├── CoordSystem_New.vi │ ├── DCMotorSim_Pack_Simulation_Params.vi │ ├── DCMotor_GetAndymarkAM2235A.vi │ ├── DCMotor_GetAndymarkAM3493.vi │ ├── DCMotor_GetFalcon500_FOC.vi │ ├── DCMotor_GetKrakenX60.vi │ ├── DCMotor_GetKrakenX60_FOC.vi │ ├── DCMotor_GetNEOVortex.vi │ ├── DCMotor_GetSpeed.vi │ ├── DCMotor_GetTorque.vi │ ├── DCMotor_WithReduction.vi │ ├── DcMotorSim_Execute.vi │ ├── DiffDrivePoseEst2_AddVisionMeasurement.vi │ ├── DiffDrivePoseEst2_BufferDuration.vi │ ├── DiffDrivePoseEst2_Execute.vi │ ├── DiffDrivePoseEst2_GetEstimatedPosition.vi │ ├── DiffDrivePoseEst2_InterpRecord_ExtractFromVar.vi │ ├── DiffDrivePoseEst2_InterpRecord_Interp.vi │ ├── DiffDrivePoseEst2_InterpRecord_New.vi │ ├── DiffDrivePoseEst2_New.vi │ ├── DiffDrivePoseEst2_Pack_Config.vi │ ├── DiffDrivePoseEst2_ResetPosition.vi │ ├── DiffDrivePoseEst2_SetVisionMeasurementStdDevs.vi │ ├── DiffDrivePoseEst2_Update.vi │ ├── DiffDrivePoseEst2_UpdateWithTime.vi │ ├── DiffDriveTrainSim_Execute.vi │ ├── DiffDriveTrainSim_Pack_Model_Params.vi │ ├── DiffDriveTrainSim_Pack_Simulation_Params.vi │ ├── DiffDrvAccelLimit_Calculate.vi │ ├── DiffDrvAccelLimit_New.vi │ ├── DiffDrvOdom2_Execute.vi │ ├── DiffDrvOdom2_GetPose.vi │ ├── DiffDrvOdom2_New.vi │ ├── DiffDrvOdom2_Reset.vi │ ├── DiffDrvOdom2_Update.vi │ ├── DiffKinematics_toTwist2d.vi │ ├── DigSeqLogic_Delay.vi │ ├── DigSeqLogic_Edge_Change.vi │ ├── DigSeqLogic_Edge_Off.vi │ ├── DigSeqLogic_Edge_On.vi │ ├── DoubleSolenoid_Pulse_Execute.vi │ ├── DriverStationSim_Comm_Loop.vi │ ├── DrumSequence_Cont_Execute.vi │ ├── DrumSequence_Pulse_Execute.vi │ ├── ElevatorSim_Execute.vi │ ├── ElevatorSim_Pack_Simulation_Params.vi │ ├── EllipRegionConstraint_IsPoseInRegion.vi │ ├── EllipRegionConstraint_New.vi │ ├── EllipRegionConstraint_getMaxVelocity.vi │ ├── EllipRegionConstraint_getMinMaxAccel.vi │ ├── ExtendedKalmanFilter_Correct.vi │ ├── ExtendedKalmanFilter_Correct_OnlyUY.vi │ ├── ExtendedKalmanFilter_GetP.vi │ ├── ExtendedKalmanFilter_GetP_Single.vi │ ├── ExtendedKalmanFilter_GetXHat.vi │ ├── ExtendedKalmanFilter_GetXHat_Single.vi │ ├── ExtendedKalmanFilter_New.vi │ ├── ExtendedKalmanFilter_Predict.vi │ ├── ExtendedKalmanFilter_Reset.vi │ ├── ExtendedKalmanFilter_SetP.vi │ ├── ExtendedKalmanFilter_SetXHat.vi │ ├── ExtendedKalmanFilter_SetXHat_Single.vi │ ├── FieldDisp_Convert_IMAQ_Image_to_Picture.vi │ ├── FieldDisp_Element_Disp.vi │ ├── FieldDisp_Element_Prepare.vi │ ├── FieldDisp_Element_Rotate.vi │ ├── FieldDisp_Element_Rotate_Init.vi │ ├── FieldDisp_Field_Crop_and_Scale.vi │ ├── FieldDisp_Field_Disp.vi │ ├── FieldDisp_Field_Selector_Prepare.vi │ ├── FieldDisp_Get_Field_Info.vi │ ├── FieldDisp_Open_Field_Info_File.vi │ ├── FieldDisp_Read_Field_Pic.vi │ ├── FieldDisp_Read_Image_File.vi │ ├── FileUtil_AddExt.vi │ ├── FileUtil_DefaultDir.vi │ ├── FlyWheelSim_Execute.vi │ ├── FlyWheelSim_Pack_Simulation_Params.vi │ ├── FunctionGeneratorMatrix_Add_Value.vi │ ├── FunctionGeneratorMatrix_Calculate.vi │ ├── FunctionGeneratorMatrix_New.vi │ ├── FunctionGenerator_Add_Value.vi │ ├── FunctionGenerator_Add_XY.vi │ ├── FunctionGenerator_Calculate.vi │ ├── FunctionGenerator_Clear.vi │ ├── FunctionGenerator_Execute.vi │ ├── FunctionGenerator_New.vi │ ├── HolDrvCtrl_PackControllers.vi │ ├── ImplModelFollow_Calculate.vi │ ├── ImplModelFollow_GetU.vi │ ├── ImplModelFollow_GetU_Single.vi │ ├── ImplModelFollow_New.vi │ ├── ImplModelFollow_New_Plant.vi │ ├── ImplModelFollow_Reset.vi │ ├── LTVDiffDriveCtrl_AtReference.vi │ ├── LTVDiffDriveCtrl_Calculate.vi │ ├── LTVDiffDriveCtrl_Calculate_TrajState.vi │ ├── LTVDiffDriveCtrl_Execute.vi │ ├── LTVDiffDriveCtrl_Execute_TrajState.vi │ ├── LTVDiffDriveCtrl_New.vi │ ├── LTVDiffDriveCtrl_Pack_Ctrl_Params.vi │ ├── LTVDiffDriveCtrl_Pack_Model_Params.vi │ ├── LTVDiffDriveCtrl_Pack_Tolerance.vi │ ├── LTVDiffDriveCtrl_SetTolerance.vi │ ├── LTVUnicycleCtrl_AtReference.vi │ ├── LTVUnicycleCtrl_Calculate.vi │ ├── LTVUnicycleCtrl_Calculate_TrajState.vi │ ├── LTVUnicycleCtrl_Execute.vi │ ├── LTVUnicycleCtrl_Execute_TrajState.vi │ ├── LTVUnicycleCtrl_New.vi │ ├── LTVUnicycleCtrl_Pack_Model_Params.vi │ ├── LTVUnicycleCtrl_Pack_Tolerance.vi │ ├── LTVUnicycleCtrl_SetEnabled.vi │ ├── LTVUnicycleCtrl_SetTolerance.vi │ ├── LeadLag_Execute.vi │ ├── LinearSystemId_DCMotor_Pack_Model_Params.vi │ ├── LinearSystemId_DiffDrv_ID_Pack_Model_Params.vi │ ├── LinearSystemId_DiffDrv_Pack_Model_Params.vi │ ├── LinearSystemId_Elevator_Pack_Model_Params.vi │ ├── LinearSystemId_FlyWheel_Pack_Model_Params.vi │ ├── LinearSystemId_SngJntArm_Pack_Model_Params.vi │ ├── LinearSystemLoop_DCMotor_Execute.vi │ ├── LinearSystemLoop_DCMotor_Pack_Ctrl.vi │ ├── LinearSystemLoop_DiffDrv_Execute.vi │ ├── LinearSystemLoop_DiffDrv_Pack_Ctrl.vi │ ├── LinearSystemLoop_Elevator_Execute.vi │ ├── LinearSystemLoop_Elevator_Pack_Ctrl.vi │ ├── LinearSystemLoop_Execute.vi │ ├── LinearSystemLoop_FlyWheel_Execute.vi │ ├── LinearSystemLoop_FlyWheel_Pack_Ctrl.vi │ ├── LinearSystemLoop_Pack_Ctrl_Params.vi │ ├── LinearSystemLoop_SngJntArm_Execute.vi │ ├── LinearSystemLoop_SngJntArm_Pack_Ctrl.vi │ ├── LinearSystemSim_Execute.vi │ ├── MathUtil_RateOfChange.vi │ ├── MaxVelocityConstraint_New.vi │ ├── MaxVelocityConstraint_getMaxVelocity.vi │ ├── MaxVelocityConstraint_getMinMaxAccel.vi │ ├── MecaDrivePoseEst2_AddVisionMeasurement.vi │ ├── MecaDrivePoseEst2_BufferDuration.vi │ ├── MecaDrivePoseEst2_Execute.vi │ ├── MecaDrivePoseEst2_GetEstimatedPosition.vi │ ├── MecaDrivePoseEst2_InterpRecord_ExtractFromVar.vi │ ├── MecaDrivePoseEst2_InterpRecord_Interp.vi │ ├── MecaDrivePoseEst2_InterpRecord_New.vi │ ├── MecaDrivePoseEst2_New.vi │ ├── MecaDrivePoseEst2_Pack_Config.vi │ ├── MecaDrivePoseEst2_ResetPosition.vi │ ├── MecaDrivePoseEst2_SetVisionMeasurementStdDevs.vi │ ├── MecaDrivePoseEst2_Update.vi │ ├── MecaDrivePoseEst2_UpdateWithTime.vi │ ├── MecaDrivePoseEst_AddVisionMeasurement.vi │ ├── MecaDrivePoseEst_GetEstimatedPosition.vi │ ├── MecaDrivePoseEst_Kalman_F_Callback.vi │ ├── MecaDrivePoseEst_Kalman_H_Callback.vi │ ├── MecaDrivePoseEst_New.vi │ ├── MecaDrivePoseEst_ResetPosition.vi │ ├── MecaDrivePoseEst_SetVisionMeasurementStdDevs.vi │ ├── MecaDrivePoseEst_Update.vi │ ├── MecaDrivePoseEst_UpdateWithTime.vi │ ├── MecaDrivePoseEst_VisionCorrect_Callback.vi │ ├── MecaDrivePoseEst_VisionCorrect_Kalman_H_Callback.vi │ ├── MecaKinematics_ToTwist2d.vi │ ├── MecaOdometry_Execute.vi │ ├── MecaWheelPos_Get.vi │ ├── MecaWheelPos_New.vi │ ├── MecaWheelPos_Sub.vi │ ├── NT Client_NoDS.vi │ ├── NT IsConnected.vi │ ├── NetworkUDP_Close.vi │ ├── NetworkUDP_Recieve.vi │ ├── NetworkUDP_Send.vi │ ├── PIDAutoTune_ClosedLoopStep.vi │ ├── PIDAutoTune_Convert_Academic_To_NonInteracting.vi │ ├── PIDAutoTune_OpenLoopStep.vi │ ├── PIDAutoTune_SetTuningArguments.vi │ ├── PIDAutoTune_Step_Execute.vi │ ├── PIDController_SetIntegratorZone.vi │ ├── PosCtrl_Config_Threshold.vi │ ├── PosCtrl_Execute.vi │ ├── Pose2d_Div.vi │ ├── Pose2d_NearestTo.vi │ ├── Pose2d_Times.vi │ ├── Pose3d_Div.vi │ ├── Pose3d_Equals.vi │ ├── Pose3d_Exp.vi │ ├── Pose3d_Interpolate.vi │ ├── Pose3d_Log.vi │ ├── Pose3d_Minus.vi │ ├── Pose3d_NearestTo.vi │ ├── Pose3d_New.vi │ ├── Pose3d_New_Default.vi │ ├── Pose3d_New_Pose2d.vi │ ├── Pose3d_New_Trans3dRot3d.vi │ ├── Pose3d_Plus.vi │ ├── Pose3d_RelativeTo.vi │ ├── Pose3d_RotationVectorToMatrix.vi │ ├── Pose3d_Times.vi │ ├── Pose3d_ToPose2d.vi │ ├── Pose3d_TransformBy.vi │ ├── Pose3d_getRotation3d.vi │ ├── Pose3d_getTranslation3d.vi │ ├── Pose3d_getXYZ.vi │ ├── Quaternion_Equals.vi │ ├── Quaternion_Get_All.vi │ ├── Quaternion_Get_LVQuat.vi │ ├── Quaternion_Get_Vect.vi │ ├── Quaternion_Get_W.vi │ ├── Quaternion_Inverse.vi │ ├── Quaternion_New.vi │ ├── Quaternion_New_Default.vi │ ├── Quaternion_New_LVQuat.vi │ ├── Quaternion_Normalize.vi │ ├── Quaternion_Plus.vi │ ├── Quaternion_Times.vi │ ├── Quaternion_ToRotationVector.vi │ ├── Ramsete_Execute_Ext_Odom.vi │ ├── Ramsete_Execute_Ext_Odom_ENG.vi │ ├── RectRegionConstraint_IsPoseInRegion.vi │ ├── RectRegionConstraint_New.vi │ ├── RectRegionConstraint_getMaxVelocity.vi │ ├── RectRegionConstraint_getMinMaxAccel.vi │ ├── Rotation2d_Div.vi │ ├── Rotation3D_Create_RotMatrix.vi │ ├── Rotation3D_Create_RotVector.vi │ ├── Rotation3d_Create_AxisAngle.vi │ ├── Rotation3d_Create_Default.vi │ ├── Rotation3d_Create_InitialFinalVector.vi │ ├── Rotation3d_Create_Quaternion.vi │ ├── Rotation3d_Create_RollPitchYaw.vi │ ├── Rotation3d_Div.vi │ ├── Rotation3d_Equals.vi │ ├── Rotation3d_GetAxisAngle.vi │ ├── Rotation3d_GetQuaterion.vi │ ├── Rotation3d_GetXYZ.vi │ ├── Rotation3d_Interpolate.vi │ ├── Rotation3d_Minus.vi │ ├── Rotation3d_Plus.vi │ ├── Rotation3d_RotateBy.vi │ ├── Rotation3d_Times.vi │ ├── Rotation3d_ToRotation2d.vi │ ├── Rotation3d_UnaryMinus.vi │ ├── SimpleMotorFF_Ka_AutoTune.vi │ ├── SimpleMotorFF_Pack__Ka_Tune_Params.vi │ ├── SngJntArmSim_Execute.vi │ ├── SngJntArmSim_Pack_Simulation_Params.vi │ ├── SwerveDrivePoseEst2_AddVisionMeasurement.vi │ ├── SwerveDrivePoseEst2_BufferDuration.vi │ ├── SwerveDrivePoseEst2_Execute.vi │ ├── SwerveDrivePoseEst2_GetEstimatedPosition.vi │ ├── SwerveDrivePoseEst2_InterpRecord_ExtractFromVar.vi │ ├── SwerveDrivePoseEst2_InterpRecord_Interp.vi │ ├── SwerveDrivePoseEst2_InterpRecord_New.vi │ ├── SwerveDrivePoseEst2_New.vi │ ├── SwerveDrivePoseEst2_Pack_Config.vi │ ├── SwerveDrivePoseEst2_ResetPosition.vi │ ├── SwerveDrivePoseEst2_SetVisionMeasurementStdDevs.vi │ ├── SwerveDrivePoseEst2_Update.vi │ ├── SwerveDrivePoseEst2_UpdateWithTime.vi │ ├── SwerveKinematics_NormalizeChassisSpeeds.vi │ ├── SwerveKinematics_ToTwist2dX.vi │ ├── SwerveKinematics_ToTwst2d4.vi │ ├── SwerveModulePosition_CompareTo.vi │ ├── SwerveModulePosition_Equals.vi │ ├── SwerveModulePosition_Get.vi │ ├── SwerveModulePosition_New.vi │ ├── SwerveModuleState_Equal.vi │ ├── SwerveOdometry_Execute.vi │ ├── TimeInterpBoolean_AddSample.vi │ ├── TimeInterpBoolean_CleanUp.vi │ ├── TimeInterpBoolean_Clear.vi │ ├── TimeInterpBoolean_GetNewestSample.vi │ ├── TimeInterpBoolean_GetSample.vi │ ├── TimeInterpBoolean_New.vi │ ├── TimeInterpBoolean_PopOldestSample.vi │ ├── TimeInterpBoolean_SetMaxTime.vi │ ├── TimeInterpDouble_AddSample.vi │ ├── TimeInterpDouble_CleanUp.vi │ ├── TimeInterpDouble_Clear.vi │ ├── TimeInterpDouble_GetNewestSample.vi │ ├── TimeInterpDouble_GetSample.vi │ ├── TimeInterpDouble_GetTimeForValue.vi │ ├── TimeInterpDouble_New.vi │ ├── TimeInterpDouble_PopOldestSample.vi │ ├── TimeInterpDouble_SetMaxTime.vi │ ├── TimeInterpPose2d_AddSample.vi │ ├── TimeInterpPose2d_CleanUp.vi │ ├── TimeInterpPose2d_Clear.vi │ ├── TimeInterpPose2d_GetNewestSample.vi │ ├── TimeInterpPose2d_GetSample.vi │ ├── TimeInterpPose2d_New.vi │ ├── TimeInterpPose2d_PopOldestSample.vi │ ├── TimeInterpPose2d_SetMaxTime.vi │ ├── TimeInterpRotation2d_AddSample.vi │ ├── TimeInterpRotation2d_CleanUp.vi │ ├── TimeInterpRotation2d_Clear.vi │ ├── TimeInterpRotation2d_GetNewestSample.vi │ ├── TimeInterpRotation2d_GetSample.vi │ ├── TimeInterpRotation2d_New.vi │ ├── TimeInterpRotation2d_PopOldestSample.vi │ ├── TimeInterpRotation2d_SetMaxTime.vi │ ├── TimeInterpVariant_AddSample.vi │ ├── TimeInterpVariant_CleanUp.vi │ ├── TimeInterpVariant_Clear.vi │ ├── TimeInterpVariant_GetNewestSample.vi │ ├── TimeInterpVariant_GetSample.vi │ ├── TimeInterpVariant_Interpolate.vi │ ├── TimeInterpVariant_New.vi │ ├── TimeInterpVariant_PopOldestSample.vi │ ├── TimeInterpVariant_SetMaxTime.vi │ ├── Time_ElapsedTime.vi │ ├── Time_WaitAdjust.vi │ ├── Timer_Restart.vi │ ├── Timer_Start_Internal.vi │ ├── TrajConstraint_GetMaxVelocity.vi │ ├── TrajConstraint_GetMinMaxAccel.vi │ ├── TrajConstraint_GetType.vi │ ├── TrajectoryConfig_GetCentripetalAccelConstraint.vi │ ├── TrajectoryConfig_GetKinematicsDiffDriveContraint.vi │ ├── TrajectoryConfig_GetKinematicsMecanumDriveConstraint.vi │ ├── TrajectoryConfig_GetKinematicsSwerveDriveConstraint.vi │ ├── TrajectoryConfig_GetVoltageDiffDriveConstraint.vi │ ├── Transform2d_Div.vi │ ├── Transform3d_Create_Default.vi │ ├── Transform3d_Create_Pose3dPose3d.vi │ ├── Transform3d_Create_Trans3dRot3d.vi │ ├── Transform3d_Div.vi │ ├── Transform3d_Equals.vi │ ├── Transform3d_GetRotation3d.vi │ ├── Transform3d_GetTranslation3d.vi │ ├── Transform3d_GetXYZ.vi │ ├── Transform3d_Inverse.vi │ ├── Transform3d_Plus.vi │ ├── Transform3d_Times.vi │ ├── Translation2d_Div.vi │ ├── Translation2d_NearestTo.vi │ ├── Translation3d_Create.vi │ ├── Translation3d_Create_Default.vi │ ├── Translation3d_Create_DistAng.vi │ ├── Translation3d_Div.vi │ ├── Translation3d_Equals.vi │ ├── Translation3d_GetDistance.vi │ ├── Translation3d_GetNorm.vi │ ├── Translation3d_GetXYZ.vi │ ├── Translation3d_Interpolate.vi │ ├── Translation3d_Minus.vi │ ├── Translation3d_NearestTo.vi │ ├── Translation3d_Plus.vi │ ├── Translation3d_RotateBy.vi │ ├── Translation3d_Times.vi │ ├── Translation3d_ToTranslation2d.vi │ ├── Translation3d_UnaryMinus.vi │ ├── Twist3d_Create.vi │ ├── Twist3d_Equals.vi │ ├── Twist3d_GetAll.vi │ ├── Units_DegreesToRotations.vi │ ├── Units_RadiansPerSecondToRotationsPerMinute.vi │ ├── Units_RadiansToRotations.vi │ ├── Units_RotationsPerMinuteToRadiansPerSecond.vi │ ├── Units_RotationsToDegrees.vi │ ├── Units_RotationsToRadians.vi │ ├── Util_GetTime_U32.vi │ ├── Util_GetTime_U64.vi │ ├── Vector_Dot.vi │ ├── Vector_Norm.vi │ ├── numCmd_ObtainQueue_Array.vi │ ├── numCmd_ObtainQueue_Generic.vi │ ├── numCmd_ObtainQueue_OneDbl.vi │ ├── numCmd_ObtainQueue_TwoDbl.vi │ ├── numCmd_Recv_Array.vi │ ├── numCmd_Recv_Chassis.vi │ ├── numCmd_Recv_Generic.vi │ ├── numCmd_Recv_OneDbl.vi │ ├── numCmd_Recv_TwoDbl.vi │ ├── numCmd_Send_Array.vi │ ├── numCmd_Send_Chassis.vi │ ├── numCmd_Send_Generic.vi │ ├── numCmd_Send_OneDbl.vi │ └── numCmd_Send_TwoDbl.vi ├── VecBuilder_1x1Fill.vi ├── VecBuilder_2x1Fill.vi ├── VecBuilder_3x1Fill.vi ├── VecBuilder_4x1Fill.vi ├── VecBuilder_5x1Fill.vi ├── VecBuilder_6x1Fill.vi ├── VecBuilder_7x1Fill.vi ├── VecBuilder_8x1Fill.vi └── VecBuilder_ArrayBy1Fill.vi ├── FRC_Traj_Pkg ├── Doc │ └── WPILib_LabVIEW_Math_Library_Reference.pdf ├── Dummy_Func_VAR_dblX.vi ├── Dummy_Func_VAR_dblXU.vi ├── Dummy_Func_VAR_matTY.vi ├── Dummy_Func_VAR_matX.vi ├── Dummy_Func_VAR_matXU.vi ├── JAS_Junk │ └── dir.mnu ├── JBRUN │ └── dir.mnu ├── License.rtf ├── Menu │ ├── FRC_LV_CtrlLib_AnalogDelay.mnu │ ├── FRC_LV_CtrlLib_AngleStatistics.mnu │ ├── FRC_LV_CtrlLib_BangBang.mnu │ ├── FRC_LV_CtrlLib_BatterySim.mnu │ ├── FRC_LV_CtrlLib_BiFuncHelp.mnu │ ├── FRC_LV_CtrlLib_ControllerUtils.mnu │ ├── FRC_LV_CtrlLib_CoordAxis.mnu │ ├── FRC_LV_CtrlLib_CoordSystem.mnu │ ├── FRC_LV_CtrlLib_CtrlAffinePlntInvFF.mnu │ ├── FRC_LV_CtrlLib_DC_Motor.mnu │ ├── FRC_LV_CtrlLib_DC_Motor_SIM.mnu │ ├── FRC_LV_CtrlLib_Debouncer.mnu │ ├── FRC_LV_CtrlLib_DiffDriveAccelLimiter.mnu │ ├── FRC_LV_CtrlLib_DiffDriveTrainPoseEst.mnu │ ├── FRC_LV_CtrlLib_DiffDriveTrainSim.mnu │ ├── FRC_LV_CtrlLib_DigSeqLogic.mnu │ ├── FRC_LV_CtrlLib_Discretization.mnu │ ├── FRC_LV_CtrlLib_ElevatorSim.mnu │ ├── FRC_LV_CtrlLib_ExtendedKalmanFilter.mnu │ ├── FRC_LV_CtrlLib_Filter.mnu │ ├── FRC_LV_CtrlLib_FlyWheelSim.mnu │ ├── FRC_LV_CtrlLib_FunctionGenerator.mnu │ ├── FRC_LV_CtrlLib_FunctionGenerator_Matrix.mnu │ ├── FRC_LV_CtrlLib_GeneralAnalogControl.mnu │ ├── FRC_LV_CtrlLib_GeneralDigitalControls.mnu │ ├── FRC_LV_CtrlLib_GeneralTrajectory.mnu │ ├── FRC_LV_CtrlLib_ImplicitModelFollower.mnu │ ├── FRC_LV_CtrlLib_KalmanFilter.mnu │ ├── FRC_LV_CtrlLib_KalmanLatencyFilter.mnu │ ├── FRC_LV_CtrlLib_LQR.mnu │ ├── FRC_LV_CtrlLib_LTV_Diff_Drive_Ctrl.mnu │ ├── FRC_LV_CtrlLib_LTV_Unicycle_Ctrl.mnu │ ├── FRC_LV_CtrlLib_LinPlntInvFF.mnu │ ├── FRC_LV_CtrlLib_LinearSystem.mnu │ ├── FRC_LV_CtrlLib_LinearSystemID.mnu │ ├── FRC_LV_CtrlLib_LinearSystemLoop.mnu │ ├── FRC_LV_CtrlLib_LinearSystemSim.mnu │ ├── FRC_LV_CtrlLib_MatBuilder.mnu │ ├── FRC_LV_CtrlLib_Math.mnu │ ├── FRC_LV_CtrlLib_MathUtils.mnu │ ├── FRC_LV_CtrlLib_Matrix.mnu │ ├── FRC_LV_CtrlLib_Matrix2.mnu │ ├── FRC_LV_CtrlLib_Matrix_Helper.mnu │ ├── FRC_LV_CtrlLib_Meca_Drive_Pose_Est.mnu │ ├── FRC_LV_CtrlLib_MerweScaledSigmaPts.mnu │ ├── FRC_LV_CtrlLib_NumericalIntegration.mnu │ ├── FRC_LV_CtrlLib_NumericalJacobian.mnu │ ├── FRC_LV_CtrlLib_Pose3d.mnu │ ├── FRC_LV_CtrlLib_Quaternion.mnu │ ├── FRC_LV_CtrlLib_Riccati.mnu │ ├── FRC_LV_CtrlLib_Rotation3d.mnu │ ├── FRC_LV_CtrlLib_Simulation.mnu │ ├── FRC_LV_CtrlLib_SingleJointedArmSim.mnu │ ├── FRC_LV_CtrlLib_StateSpaceCtrl.mnu │ ├── FRC_LV_CtrlLib_StateSpaceEstimation.mnu │ ├── FRC_LV_CtrlLib_StateSpaceModel.mnu │ ├── FRC_LV_CtrlLib_StateSpaceUtil.mnu │ ├── FRC_LV_CtrlLib_StateSpaceUtilSubVI.mnu │ ├── FRC_LV_CtrlLib_SwervePoseEst.mnu │ ├── FRC_LV_CtrlLib_TimeInterp_Boolean.mnu │ ├── FRC_LV_CtrlLib_TimeInterp_Double.mnu │ ├── FRC_LV_CtrlLib_TimeInterp_Pose.mnu │ ├── FRC_LV_CtrlLib_TimeInterp_Rotation2d.mnu │ ├── FRC_LV_CtrlLib_TimeInterpolatable.mnu │ ├── FRC_LV_CtrlLib_Timing.mnu │ ├── FRC_LV_CtrlLib_Transform3d.mnu │ ├── FRC_LV_CtrlLib_Translation3d.mnu │ ├── FRC_LV_CtrlLib_Twist3d.mnu │ ├── FRC_LV_CtrlLib_UnitsConv.mnu │ ├── FRC_LV_CtrlLib_UnscentedKalmanFilter.mnu │ ├── FRC_LV_CtrlLib_VectorBuilder.mnu │ ├── FRC_LV_CtrlLib_Vision.mnu │ ├── FRC_LV_CtrlLib_VisionUtility.mnu │ ├── FRC_LV_Trajectory_Arm_FF.mnu │ ├── FRC_LV_Trajectory_Base_WPILIB.mnu │ ├── FRC_LV_Trajectory_Controller.mnu │ ├── FRC_LV_Trajectory_Controller_Holonomic.mnu │ ├── FRC_LV_Trajectory_Controller_Ramsete.mnu │ ├── FRC_LV_Trajectory_Controller_SimpleMotorFeedForward.mnu │ ├── FRC_LV_Trajectory_Controls.mnu │ ├── FRC_LV_Trajectory_Conversion.mnu │ ├── FRC_LV_Trajectory_Elev_FF.mnu │ ├── FRC_LV_Trajectory_Fn_Utility.mnu │ ├── FRC_LV_Trajectory_Functions.mnu │ ├── FRC_LV_Trajectory_Geometry.mnu │ ├── FRC_LV_Trajectory_Geometry_Pose.mnu │ ├── FRC_LV_Trajectory_Geometry_Rotation.mnu │ ├── FRC_LV_Trajectory_Geometry_Transform.mnu │ ├── FRC_LV_Trajectory_Geometry_Translate.mnu │ ├── FRC_LV_Trajectory_Geometry_Twist.mnu │ ├── FRC_LV_Trajectory_Kinematics.mnu │ ├── FRC_LV_Trajectory_Kinematics_ChassisSpeeds.mnu │ ├── FRC_LV_Trajectory_Kinematics_Diff_Drv_Kine.mnu │ ├── FRC_LV_Trajectory_Kinematics_Diff_Drv_Odom.mnu │ ├── FRC_LV_Trajectory_Kinematics_Diff_Drv_WheelSpeeds.mnu │ ├── FRC_LV_Trajectory_Kinematics_Meca_Drv_Kine.mnu │ ├── FRC_LV_Trajectory_Kinematics_Meca_Drv_Odom.mnu │ ├── FRC_LV_Trajectory_Kinematics_Meca_Drv_Wheel.mnu │ ├── FRC_LV_Trajectory_Kinematics_Swerve_Drv_Kine.mnu │ ├── FRC_LV_Trajectory_Kinematics_Swerve_Drv_Module_State.mnu │ ├── FRC_LV_Trajectory_LinearFilter.mnu │ ├── FRC_LV_Trajectory_MedianFilter.mnu │ ├── FRC_LV_Trajectory_PID.mnu │ ├── FRC_LV_Trajectory_PathFinderUtil.mnu │ ├── FRC_LV_Trajectory_PoseWithCurvature.mnu │ ├── FRC_LV_Trajectory_Profiled_PID.mnu │ ├── FRC_LV_Trajectory_Quintic.mnu │ ├── FRC_LV_Trajectory_SlewRateFilter.mnu │ ├── FRC_LV_Trajectory_Spline.mnu │ ├── FRC_LV_Trajectory_Spline_Cubic.mnu │ ├── FRC_LV_Trajectory_Spline_SplineBase.mnu │ ├── FRC_LV_Trajectory_Spline_SplineHelper.mnu │ ├── FRC_LV_Trajectory_Spline_SplineParametizer.mnu │ ├── FRC_LV_Trajectory_Swerver_Drv_Odom.mnu │ ├── FRC_LV_Trajectory_Timer.mnu │ ├── FRC_LV_Trajectory_Trajectory.mnu │ ├── FRC_LV_Trajectory_Trajectory_Config.mnu │ ├── FRC_LV_Trajectory_Trajectory_Constraint.mnu │ ├── FRC_LV_Trajectory_Trajectory_Constraint_Centripetal_Accel.mnu │ ├── FRC_LV_Trajectory_Trajectory_Constraint_Diff_Kine.mnu │ ├── FRC_LV_Trajectory_Trajectory_Constraint_Diff_Voltage.mnu │ ├── FRC_LV_Trajectory_Trajectory_Constraint_Meca_Kine.mnu │ ├── FRC_LV_Trajectory_Trajectory_Constraint_MinMax.mnu │ ├── FRC_LV_Trajectory_Trajectory_Constraint_Swerve_Kine.mnu │ ├── FRC_LV_Trajectory_Trajectory_Generate.mnu │ ├── FRC_LV_Trajectory_Trajectory_Param.mnu │ ├── FRC_LV_Trajectory_Trajectory_Param_Constr_State.mnu │ ├── FRC_LV_Trajectory_Trajectory_State.mnu │ ├── FRC_LV_Trajectory_Trajectory_Trajectory.mnu │ ├── FRC_LV_Trajectory_Trajectory_Utility.mnu │ ├── FRC_LV_Trajectory_Trajectory_Waypoint.mnu │ ├── FRC_LV_Trajectory_Trap_Profile_Constraint.mnu │ ├── FRC_LV_Trajectory_Trap_Profile_State.mnu │ ├── FRC_LV_Trajectory_Trapezoid_Profile.mnu │ └── Menu │ │ ├── FRC_LV_CtrLib_SimDrvStationComm.mnu │ │ ├── FRC_LV_CtrlLib_AprilTag.mnu │ │ ├── FRC_LV_CtrlLib_AprilTagField.mnu │ │ ├── FRC_LV_CtrlLib_AprilTagPoseEstimate.mnu │ │ ├── FRC_LV_CtrlLib_AutoHelper.mnu │ │ ├── FRC_LV_CtrlLib_BoolCmd.mnu │ │ ├── FRC_LV_CtrlLib_Commands.mnu │ │ ├── FRC_LV_CtrlLib_Diff_Odom_2.mnu │ │ ├── FRC_LV_CtrlLib_Diff_Pose_Est2.mnu │ │ ├── FRC_LV_CtrlLib_Field_Display.mnu │ │ ├── FRC_LV_CtrlLib_FileUtil.mnu │ │ ├── FRC_LV_CtrlLib_Meca_Pose_Est_2.mnu │ │ ├── FRC_LV_CtrlLib_Meca_Wheel_Pos.mnu │ │ ├── FRC_LV_CtrlLib_Network.mnu │ │ ├── FRC_LV_CtrlLib_Network_UDP.mnu │ │ ├── FRC_LV_CtrlLib_NumCommand.mnu │ │ ├── FRC_LV_CtrlLib_PIDAutoTune.mnu │ │ ├── FRC_LV_CtrlLib_PosCtrl.mnu │ │ ├── FRC_LV_CtrlLib_Swerve_Pose_Est_2.mnu │ │ ├── FRC_LV_CtrlLib_Swerve_Wheel_Pos.mnu │ │ ├── FRC_LV_CtrlLib_Time_Interp_Variant.mnu │ │ ├── FRC_LV_CtrlLib_Vector.mnu │ │ ├── FRC_LV_Traj_Constraint_Elliptical_Region.mnu │ │ ├── FRC_LV_Traj_Max_Velocity_Constraint.mnu │ │ └── FRC_LV_Traj_Rect_Region_Constraint.mnu ├── Misc │ ├── FRC_LabVIEW_Trajectory_Control_Library_CustomErrors.xlsx │ ├── FRC_LabVIEW_Trajectory_Library_Routines.pdf │ ├── FRC_LabVIEW_Trajectory_Library_Routines.xlsx │ └── WAYPOINTS_README.txt ├── SecretBook │ └── The Secret Book of FRC LabVIEW V2.07.pdf ├── WPILIB_Math_Package.lvproj └── _Read_Me.txt ├── LICENSE ├── Obsolete_Old_Versions ├── CoordSystem_New.vi ├── LTVUnicycleCtrl_Calculate_ORIG.vi ├── LTVUnicycleCtrl_Calculate_TrajState_ORIG.vi ├── LTV_UNICYCLE_CONTROLLER_INPUT_ENUM.ctl ├── LTV_UNICYCLE_CONTROLLER_ORIG.ctl ├── MecaOdometry_Update.vi ├── NumIntegrate_RKf45_Func_Bs.vi ├── NumIntegrate_RKf45_Func_Ch.vi ├── NumIntegrate_RKf45_Func_Ct.vi ├── NumIntegrate_Rk4_K_Dbl.vi ├── NumIntegrate_Rkf45_NEW.vi ├── NumIntegrate_Rkf45_impl_OLD.vi ├── PIDController_AdvCalculate_FF_Sp_Pv_Per.vi ├── PIDController_Calculate_PV.vi ├── PIDController_GetContinuousError_ORIG.vi ├── PIDController_SetInputRange_ORIG.vi ├── Pose3d_Exp_Orig.vi ├── Pose3d_Log_Orig.vi ├── README.md ├── Ramsete_Diff_DO_Eng.vi ├── Ramsete_Diff_DO_SI.vi ├── SplineHelp_GetQuinticCtrlVectorsFromWayPts_2762.vi ├── SplineHelp_GetQuinticCtrlVectorsFromWayPts_ORIG.vi ├── SplineHelp_GetQuinticCtrlVectorsFromWeightedWayPts_2762.vi ├── SplineHelp_getQuinticSplinesFromControlVectors_ORIG.vi ├── SwerveOdometry_Update4.vi ├── SwerveOdometry_UpdateX.vi ├── TrajectoryUtil_fromPathWeaverJSON_ORIG.vi └── Util_GetTime_Orig.vi ├── Pathfinder-Lib ├── LICENSE.txt ├── Pathfinder.lvlib ├── VIs │ ├── Generate Path.vi │ ├── Modify Swerve.vi │ ├── Modify Tank.vi │ ├── Segment.ctl │ ├── Waypoint.ctl │ ├── pathfinder generate.vi │ └── pathfinder prepare.vi ├── libpathfinder.so ├── pathfinder.dll └── pathfinder.lib ├── README.md ├── ThirdPartyNotices.txt ├── WPIlibMath_Examples_Pkg ├── DeleteUnusedFiles.bat ├── License.RTF ├── WPILIB_Math_Examples_Package.lvproj ├── _Read_Me.txt ├── examples-todo │ ├── Arm Feedforward │ │ ├── ArmFeedForward_Example.lvproj │ │ ├── ArmFeedForward_Example.vi │ │ ├── armff-battery-sim-exec.vi │ │ ├── armff_arm_sim_exec.vi │ │ ├── armff_arm_sim_init.vi │ │ └── armff_arm_sim_sensor.vi │ ├── Holonomic Controller │ │ ├── HolonomicController_Example.lvproj │ │ ├── HolonomicController_Example.vi │ │ ├── Sample-Robot-2-Trajectory-TrajLibrary.csv │ │ └── SubVI │ │ │ ├── HOL_Robot Global Data.vi │ │ │ ├── HOL_SWERVE_GET_MAX.vi │ │ │ ├── HOL_SWERVE_KINEMATIC_FGV.vi │ │ │ ├── HOL_SWERVE_MODULE_STATES_FGV.vi │ │ │ ├── HOL_SWERVE_ODOM_ABS_FGV.vi │ │ │ ├── HOL_SWERVE_ODOM_REL_FGV.vi │ │ │ ├── HOL_TRAJECTORY_EXECUTE_SWERVE.vi │ │ │ ├── HOL_TRAJECTORY_FGV.vi │ │ │ ├── HOL_TRAJECTORY_READFILE_BEGIN.vi │ │ │ ├── HOL_Trajectory_SampleReverseTEST_CONSTORIENT.vi │ │ │ └── HOL_Trajectory_SampleReverseTEST_FOLLOWORIENT.vi │ ├── Mecanum Drive Simulation │ │ ├── MecanumDriveSimulation_Example.lvproj │ │ └── VI │ │ │ └── MechDriveSim_example.vi │ └── Time │ │ ├── Get FPGA Time │ │ ├── Empty_Example.lvproj │ │ ├── test-new-clock-2.vi │ │ ├── test-new-clock-3.vi │ │ └── test-new-clock.vi │ │ ├── Loop Wait Adjust │ │ ├── Empty_Example.lvproj │ │ └── WaitAdjustTesting.vi │ │ └── Timer │ │ ├── Empty_Example.lvproj │ │ └── VIs │ │ ├── FRC-Traj-Lib-timer-2-Sample.vi │ │ ├── FRC-Traj-Lib-timer-Sample.vi │ │ ├── FRC-Traj-Lib-timer-test-2.vi │ │ └── FRC-Traj-Lib-timer-test.vi ├── examples │ ├── Analog Classical │ │ ├── Angle Modulus │ │ │ ├── AngleModulus_Example.lvproj │ │ │ └── VIs │ │ │ │ └── AngleModulus_Example.vi │ │ ├── Bang Bang Controller │ │ │ ├── Bang_Bang_Controller_Example.lvproj │ │ │ ├── Simulation │ │ │ │ ├── bb-battery-sim-exec.vi │ │ │ │ ├── bb-elevator-sim-exec.vi │ │ │ │ ├── bb-elevator-sim-init.vi │ │ │ │ └── bb-elevator-sim-sensors.vi │ │ │ └── VIs │ │ │ │ ├── bang_bang_controller_ElevatorSim_example.vi │ │ │ │ └── bang_bang_controller_FlywheelSim_example.vi │ │ ├── Bumpless Transfer │ │ │ ├── Bumpless_Transfer_Example.lvproj │ │ │ └── VIs │ │ │ │ └── Bumpless_Transfer_Example.vi │ │ ├── Clamp │ │ │ ├── Clamp_Example.lvproj │ │ │ └── VIs │ │ │ │ └── Clamp_Example.vi │ │ ├── Deadband │ │ │ ├── ApplyDeadband_Example.lvproj │ │ │ └── VIs │ │ │ │ └── ApplyDeadband_Example.vi │ │ ├── Delay │ │ │ ├── AnalogDelay_Example.lvproj │ │ │ └── VIs │ │ │ │ └── AnalogDelay_Example.vi │ │ ├── Filter - Average │ │ │ ├── AverageFilter_Example.lvproj │ │ │ └── VIs │ │ │ │ └── AverageFilter_Example.vi │ │ ├── Filter - Comparison │ │ │ ├── FilterComparison.lvproj │ │ │ └── VIs │ │ │ │ └── FilterComparison.vi │ │ ├── Filter - Median │ │ │ ├── MedianFilter_Example.lvproj │ │ │ └── VIs │ │ │ │ └── MedianFilter_Example.vi │ │ ├── Filter - Time Constant │ │ │ ├── TimeConstantFilter_Example.lvproj │ │ │ └── VIs │ │ │ │ └── TimeConstantFilter_Example.vi │ │ ├── Function Generator │ │ │ ├── FunctionGenerator_Example.lvproj │ │ │ ├── SubVI │ │ │ │ └── func-gen-simple-motor-sim.vi │ │ │ └── VIs │ │ │ │ ├── FunctionGenerator_Plot_Example.vi │ │ │ │ └── FunctionGenerator_Position_Control_Example.vi │ │ ├── Holonomic Controller │ │ │ ├── HolonomicController_Example.lvproj │ │ │ └── ReadMe.txt │ │ ├── Input Modulus │ │ │ ├── InputModulus_Example.lvproj │ │ │ └── VIs │ │ │ │ └── InputModulus_Example.vi │ │ ├── Lead Lag │ │ │ ├── LeadLag_Example.lvproj │ │ │ └── VIs │ │ │ │ └── LeadLag_Example.vi │ │ ├── PID Advanced Controller │ │ │ ├── Advanced_PID_Example.lvproj │ │ │ ├── SubVI │ │ │ │ └── adv-pid-sim-motor.vi │ │ │ └── VIs │ │ │ │ └── Advanced_PID_Example.vi │ │ ├── PID AutoTune │ │ │ ├── PID_AutoTune_Example.lvproj │ │ │ ├── SubVI │ │ │ │ └── pid-autotune-sim-motor.vi │ │ │ └── VIs │ │ │ │ └── PID_AutoTune_Example.vi │ │ ├── PID Controller │ │ │ ├── PID_Controller_Example.lvproj │ │ │ ├── SubVI │ │ │ │ └── pid-sim-motor.vi │ │ │ └── VIs │ │ │ │ └── PID_Controller_Example.vi │ │ ├── Position Control │ │ │ ├── Position_Controller_Example.lvproj │ │ │ ├── SubVI │ │ │ │ ├── posctrl-drive-fwd-sim.vi │ │ │ │ └── posctrl-drive-spin-sim.vi │ │ │ └── VIs │ │ │ │ ├── PositionCtrl_DriveFwdBck_Example.vi │ │ │ │ └── PositionCtrl_TurnToAngle_Example.vi │ │ ├── Profiled PID Controller │ │ │ ├── Profiled_PID_Controller_Example.lvproj │ │ │ ├── SubVI │ │ │ │ ├── drive-fwd-sim.vi │ │ │ │ └── drive-spin-sim.vi │ │ │ └── VIs │ │ │ │ ├── Profiled_PID_DriveFwdBck_Example.vi │ │ │ │ └── Profiled_PID_TurnToAngle_Example.vi │ │ ├── Ramsete Controller │ │ │ ├── FieldInfo │ │ │ │ ├── 2018-field.jpg │ │ │ │ ├── 2019-field.jpg │ │ │ │ ├── 2020-Field.png │ │ │ │ ├── 2021-barrel.png │ │ │ │ ├── 2021-bounce.png │ │ │ │ ├── 2021-galacticsearcha.png │ │ │ │ ├── 2021-galacticsearchb.png │ │ │ │ ├── 2021-slalom.png │ │ │ │ ├── 2022-field-capture-cropped.png │ │ │ │ ├── 2022-field.png │ │ │ │ ├── 2023-field.png │ │ │ │ ├── 2024-Crescendo-Miklast-rotated.png │ │ │ │ ├── 2024-field.png │ │ │ │ ├── 2025-field.png │ │ │ │ ├── BlankField.png │ │ │ │ ├── Grid-1-Foot-Light.png │ │ │ │ ├── Grid-1-Foot.png │ │ │ │ └── field_info.ini │ │ │ ├── Ramsete_Controller_Example.lvproj │ │ │ ├── Robot_kitbot_4.png │ │ │ ├── Robot_kitbot_5.png │ │ │ ├── SubVI │ │ │ │ ├── RamCtrl_Abs_PoseEst_Exec.vi │ │ │ │ ├── RamCtrl_Abs_Traj_Exec.vi │ │ │ │ ├── RamCtrl_DffDrive_Exec.vi │ │ │ │ ├── RamCtrl_Rel_Traj_Exec.vi │ │ │ │ ├── RamCtrl_SimDiffDrive_Exec.vi │ │ │ │ ├── Traj_Creation │ │ │ │ │ ├── RamCtrl_Abs_TrajCreation.vi │ │ │ │ │ └── RamCtrl_Rel_TrajCreation.vi │ │ │ │ └── Traj_Exec_DiffDrive │ │ │ │ │ ├── RamCtrl_AbsPoseEst_Work.vi │ │ │ │ │ ├── RamCtrl_AbsTraj_Work.vi │ │ │ │ │ ├── RamCtrl_RelTraj_Begin.vi │ │ │ │ │ ├── RamCtrl_RelTraj_Work.vi │ │ │ │ │ ├── RamCtrl_RelTraj_Work_Rev.vi │ │ │ │ │ ├── RamCtrl_Traj_DashWrite.vi │ │ │ │ │ ├── RamCtrl_Traj_Get_DiagGlobals.vi │ │ │ │ │ ├── RamCtrl_Traj_Globals.vi │ │ │ │ │ ├── RamCtrl_Traj_ProcAuto.vi │ │ │ │ │ ├── RamCtrl_Traj_SetAuto.vi │ │ │ │ │ ├── RamCtrl_Traj_Traj_FGV.vi │ │ │ │ │ └── RamCtrl_Traj_UpdDiagGlobals.vi │ │ │ └── VI │ │ │ │ ├── Ramsete_Ctrl_Absolute_Example.vi │ │ │ │ └── Ramsete_Ctrl_Relative_Example.vi │ │ ├── Simple Motor Feedforward │ │ │ ├── SimpleMotorFeedForward_Example.lvproj │ │ │ ├── SubVI │ │ │ │ ├── smff-calc-rate.vi │ │ │ │ ├── smff-ka-autotune.vi │ │ │ │ ├── smff-setpoint-state-machine.vi │ │ │ │ ├── smff-simulate-motor.vi │ │ │ │ └── smff_TimeInterpDouble_GetTimeForValue.vi │ │ │ └── VIs │ │ │ │ └── SimpleMotorFeedForward_Example.vi │ │ ├── Slew Rate Limiter │ │ │ ├── SlewRateLimiterSample2.png │ │ │ ├── SlewRateLimiter_Example.lvproj │ │ │ └── VIs │ │ │ │ └── SlewRateLimiter_Example.vi │ │ └── Trapezoid Profile │ │ │ ├── SubVI │ │ │ └── trap-prof-simple-motor-sim.vi │ │ │ ├── TrapezoidProfile_Example.lvproj │ │ │ └── VIs │ │ │ └── TrapezoidProfile_Position_Control_Example.vi │ ├── Analog State Space │ │ ├── DC Motor Control │ │ │ ├── DCMotorControl_Example.lvproj │ │ │ └── VI │ │ │ │ └── DCMotorCtrl_example.vi │ │ ├── Differential Drive Control │ │ │ ├── DiffDriveControl_Example.lvproj │ │ │ └── VI │ │ │ │ └── DiffDriveCtrl_example.vi │ │ ├── Elevator Control │ │ │ ├── Elevator_Control_Example.lvproj │ │ │ └── VI │ │ │ │ └── ElevatorCtrl_example.vi │ │ ├── FlyWheel Control │ │ │ ├── FlyWheel_Control_Example.lvproj │ │ │ ├── SubVI │ │ │ │ ├── fwc-battery-sim-exec.vi │ │ │ │ ├── fwc-fly-sim-exec.vi │ │ │ │ ├── fwc-fly-sim-init-load.vi │ │ │ │ ├── fwc-fly-sim-init.vi │ │ │ │ └── fwc-fly-sim-replace-ab.vi │ │ │ └── VI │ │ │ │ └── FlyWheelCtrl_Example.vi │ │ ├── Kalman Filter │ │ │ └── read-me.txt │ │ ├── Linear Quadratic Regulator │ │ │ └── read-me.txt │ │ ├── Linear System Loop │ │ │ └── read-me.txt │ │ ├── Single Jointed Arm Control │ │ │ ├── SingleJointedArm_Ctrl_Example.lvproj │ │ │ ├── SubVI │ │ │ │ ├── armctrl-arm-ctrl-exec.vi │ │ │ │ ├── armctrl-arm-ctrl-init.vi │ │ │ │ ├── armctrl-arm-simulation-execute.vi │ │ │ │ ├── armctrl-arm-simulation-read-sensors.vi │ │ │ │ ├── armctrl-arm-system-simulation-init.vi │ │ │ │ ├── armctrl-battery-simulation-exec.vi │ │ │ │ └── armctrl-select-setpoint.vi │ │ │ └── VI │ │ │ │ └── SingleJointedArmCtrl_example.vi │ │ └── Walk Through Example │ │ │ ├── StateSpace_WalkThrough_Example.lvproj │ │ │ ├── SubVI │ │ │ ├── ss_walk_through_flywheel_sim.vi │ │ │ └── ss_walk_through_lin_sys_execute.vi │ │ │ ├── VIs │ │ │ └── StateSpace_WalkThrough_Example.vi │ │ │ └── images │ │ │ ├── 01-LinearSystem.png │ │ │ ├── 01Alt-LinearFlywheelSystem.png │ │ │ ├── 02-KalmanFilter.png │ │ │ ├── 03-LinearQuadraticRegulator.png │ │ │ ├── 04-LinearSystemLoop.png │ │ │ ├── 04Oper-LinearSystemLoop-RunTime.png │ │ │ └── FlyWheelSim.png │ ├── Auto Helper │ │ ├── Auto Delayed Action │ │ │ ├── AutoHelperDelayedAction_Example.lvproj │ │ │ └── VIs │ │ │ │ └── AutoHelperDelayedAction_Example.vi │ │ └── Auto Sequencer │ │ │ ├── AutoHelperSequencer_Example.lvproj │ │ │ └── VIs │ │ │ ├── AutoHelperSequencer_Example.vi │ │ │ └── AutoHelperSequencer_ExternalStepDone_Example.vi │ ├── Command │ │ ├── Boolean Command Multiplexer │ │ │ ├── BooleanCmdMux_Example.lvproj │ │ │ └── VIs │ │ │ │ └── BooleanCmdMux_Example.vi │ │ ├── Boolean Command │ │ │ ├── BooleanCommand_Example.lvproj │ │ │ └── VIs │ │ │ │ └── BooleanCommand_Example.vi │ │ └── Numeric Command │ │ │ ├── NumericCommand_Example.lvproj │ │ │ └── VIs │ │ │ └── NumericCommand_Example.vi │ ├── Dashboard │ │ └── FieldDisplay │ │ │ ├── FieldInfo │ │ │ ├── 2018-field.jpg │ │ │ ├── 2018-powerup.json │ │ │ ├── 2019-deepspace.json │ │ │ ├── 2019-field.jpg │ │ │ ├── 2020-Field.png │ │ │ ├── 2020-infiniterecharge.json │ │ │ ├── 2021-barrel.png │ │ │ ├── 2021-barrelracingpath.json │ │ │ ├── 2021-bounce.png │ │ │ ├── 2021-bouncepath.json │ │ │ ├── 2021-galacticsearcha.json │ │ │ ├── 2021-galacticsearcha.png │ │ │ ├── 2021-galacticsearchb.json │ │ │ ├── 2021-galacticsearchb.png │ │ │ ├── 2021-slalom.png │ │ │ ├── 2021-slalompath.json │ │ │ ├── 2022-field-capture-cropped.png │ │ │ ├── 2022-field.png │ │ │ ├── 2022-rapidreact.json │ │ │ ├── 2023-chargedup.json │ │ │ ├── 2023-field.png │ │ │ ├── 2024-Crescendo-Miklast-rotated.png │ │ │ ├── 2024-field.png │ │ │ ├── 2025-field.png │ │ │ ├── BlankField.png │ │ │ ├── Grid-1-Foot-Light.png │ │ │ ├── Grid-1-Foot.png │ │ │ └── field_info.ini │ │ │ ├── Field_Display.lvproj │ │ │ ├── Robot_kitbot_4.png │ │ │ ├── Robot_kitbot_5.png │ │ │ └── VI │ │ │ ├── Field_Display_Main_Constant.vi │ │ │ └── Field_Display_Main_Selector.vi │ ├── Digital │ │ ├── Debouncer │ │ │ ├── DigitalDebouncer_Example.lvproj │ │ │ └── VIs │ │ │ │ └── DigitalDebouncer_Example.vi │ │ ├── Delay │ │ │ ├── DigitalDelay_Example.lvproj │ │ │ └── VIs │ │ │ │ └── DigitalDelay_Example.vi │ │ ├── Double Solenoid Pulse │ │ │ ├── DoubleSolenoidPulse_Example.lvproj │ │ │ └── VIs │ │ │ │ └── DoubleSolenoidPulse_Example.vi │ │ ├── Drum Sequencer │ │ │ ├── DrumSequencer_Example.lvproj │ │ │ └── VIs │ │ │ │ ├── DrumSeq_Continuous_Example.vi │ │ │ │ ├── DrumSeq_Pulsed_Example.vi │ │ │ │ └── DrumSeq_Pulsed_Multiple_Example.vi │ │ ├── Edge Change │ │ │ ├── EdgeChange_Example.lvproj │ │ │ └── VIs │ │ │ │ └── EdgeChange_Example.vi │ │ ├── Edge Off │ │ │ ├── EdgeOff_Example.lvproj │ │ │ └── VIs │ │ │ │ └── EdgeOff_Example.vi │ │ ├── Edge On │ │ │ ├── EdgeOn_Example.lvproj │ │ │ └── VIs │ │ │ │ └── EdgeOn_Example.vi │ │ ├── Off Delay │ │ │ ├── OffDelay_Example.lvproj │ │ │ └── VIs │ │ │ │ └── OffDelay_Example.vi │ │ ├── On Delay │ │ │ ├── OnDelay_Example.lvproj │ │ │ └── VIs │ │ │ │ └── OnDelay_Example.vi │ │ ├── One Shot │ │ │ ├── OneShot_Example.lvproj │ │ │ └── VIs │ │ │ │ └── OneShot_Example.vi │ │ └── SR Flip Flop │ │ │ ├── SR_FlipFlop_Example.lvproj │ │ │ └── VIs │ │ │ └── SR_FlipFlop_Example.vi │ ├── Geometry │ │ ├── Geometry_Demo.lvproj │ │ ├── SubVIs │ │ │ ├── Field_Calc_Ball_Pixel_Location.vi │ │ │ ├── Field_Calc_Robot_Pixel_Location.vi │ │ │ ├── Field_Dist_Pixel_Const.vi │ │ │ ├── ROBOT_PICTURE.ctl │ │ │ ├── Robot_top4.png │ │ │ ├── Rotated_Picture_TypeDef.ctl │ │ │ ├── rotated_picture_init.vi │ │ │ └── rotated_picture_rotate.vi │ │ └── VIs │ │ │ └── Geometry_Sample.vi │ ├── Kinematics │ │ ├── Differential Drive Kinematics │ │ │ ├── DiffDriveKinematics_Sample.lvproj │ │ │ └── VIs │ │ │ │ └── DiffDriveKinematics_Example.vi │ │ ├── Mecanum Drive Kinematics │ │ │ ├── Mecanum_Drive_Kinematics.lvproj │ │ │ └── VIs │ │ │ │ └── MecaDriveKinematics_Example.vi │ │ └── Swerve Drive Kinematics │ │ │ ├── Swerve_Drive_Kinematics.lvproj │ │ │ └── VIs │ │ │ └── SwerveDriveKinematics_Example.vi │ ├── Model and Simulation │ │ ├── DC Motor Simulation │ │ │ ├── DCMotorSimulation_Example.lvproj │ │ │ └── VI │ │ │ │ └── DCMotorSim_example.vi │ │ ├── Differential Drive Simulation │ │ │ ├── DiffDriveSimulation_Example.lvproj │ │ │ └── VI │ │ │ │ └── DiffDriveSim_example.vi │ │ ├── Elevator Simulation │ │ │ ├── Elevator_Simulator_Example.lvproj │ │ │ └── VI │ │ │ │ └── ElevatorSim_example.vi │ │ ├── FlyWheel Simulation │ │ │ ├── FlyWheel_Simulation_Example.lvproj │ │ │ ├── SubVI │ │ │ │ ├── fw-battery-sim-exec.vi │ │ │ │ ├── fw-fly-ctrl-exec.vi │ │ │ │ ├── fw-fly-ctrl-init.vi │ │ │ │ ├── fw-fly-sim-exec.vi │ │ │ │ ├── fw-fly-sim-init-load.vi │ │ │ │ ├── fw-fly-sim-init.vi │ │ │ │ └── fw-fly-sim-replace-ab.vi │ │ │ └── VI │ │ │ │ └── FlyWheelSim_Example.vi │ │ ├── Single Jointed Arm Simulation │ │ │ ├── SingleJointedArm_Sim_Example.lvproj │ │ │ ├── SubVI │ │ │ │ ├── armsim-arm-ctrl-exec.vi │ │ │ │ ├── armsim-arm-ctrl-init.vi │ │ │ │ ├── armsim-arm-simulation-execute.vi │ │ │ │ ├── armsim-arm-simulation-read-sensors.vi │ │ │ │ ├── armsim-arm-system-simulation-init.vi │ │ │ │ ├── armsim-battery-simulation-exec.vi │ │ │ │ └── armsim-select-setpoint.vi │ │ │ └── VI │ │ │ │ └── SingleJointedArmSim_example.vi │ │ └── Swerve Drive Simulation │ │ │ ├── ReadMe.txt │ │ │ └── SwerveDriveSimulation_Example.lvproj │ ├── Odometry │ │ ├── Differential Drive Odom │ │ │ ├── DiffDriveOdom_Example.lvproj │ │ │ ├── FieldInfo │ │ │ │ ├── 2018-field.jpg │ │ │ │ ├── 2018-powerup.json │ │ │ │ ├── 2019-deepspace.json │ │ │ │ ├── 2019-field.jpg │ │ │ │ ├── 2020-Field.png │ │ │ │ ├── 2020-infiniterecharge.json │ │ │ │ ├── 2021-barrel.png │ │ │ │ ├── 2021-barrelracingpath.json │ │ │ │ ├── 2021-bounce.png │ │ │ │ ├── 2021-bouncepath.json │ │ │ │ ├── 2021-galacticsearcha.json │ │ │ │ ├── 2021-galacticsearcha.png │ │ │ │ ├── 2021-galacticsearchb.json │ │ │ │ ├── 2021-galacticsearchb.png │ │ │ │ ├── 2021-slalom.png │ │ │ │ ├── 2021-slalompath.json │ │ │ │ ├── 2022-field-capture-cropped.png │ │ │ │ ├── 2022-field.png │ │ │ │ ├── 2022-rapidreact.json │ │ │ │ ├── 2023-chargedup.json │ │ │ │ ├── 2023-field.png │ │ │ │ ├── 2024-Crescendo-Miklast-rotated.png │ │ │ │ ├── 2024-field.png │ │ │ │ ├── 2025-field.png │ │ │ │ ├── BlankField.png │ │ │ │ ├── Grid-1-Foot-Light.png │ │ │ │ ├── Grid-1-Foot.png │ │ │ │ └── field_info.ini │ │ │ ├── Robot_kitbot_4.png │ │ │ ├── Robot_kitbot_5.png │ │ │ ├── SubVI │ │ │ │ ├── DDOdom_Abs_Odom_Exec.vi │ │ │ │ ├── DDOdom_Abs_Traj_Exec.vi │ │ │ │ ├── DDOdom_DffDrive_Exec.vi │ │ │ │ ├── DDOdom_Rel_Traj_Exec.vi │ │ │ │ ├── DDOdom_SimDiffDrive_Exec.vi │ │ │ │ ├── Traj_Creation │ │ │ │ │ ├── DDOdom_Abs_TrajCreation.vi │ │ │ │ │ └── DDOdom_Rel_TrajCreation.vi │ │ │ │ └── Traj_Exec_DiffDrive │ │ │ │ │ ├── DDOdom_AbsOdom_Work.vi │ │ │ │ │ ├── DDOdom_AbsTraj_Work.vi │ │ │ │ │ ├── DDOdom_RelTraj_Begin.vi │ │ │ │ │ ├── DDOdom_RelTraj_Work.vi │ │ │ │ │ ├── DDOdom_RelTraj_Work_Rev.vi │ │ │ │ │ ├── DDOdom_Traj_DashWrite.vi │ │ │ │ │ ├── DDOdom_Traj_Get_DiagGlobals.vi │ │ │ │ │ ├── DDOdom_Traj_Globals.vi │ │ │ │ │ ├── DDOdom_Traj_ProcAuto.vi │ │ │ │ │ ├── DDOdom_Traj_SetAuto.vi │ │ │ │ │ ├── DDOdom_Traj_Traj_FGV.vi │ │ │ │ │ └── DDOdom_Traj_UpdDiagGlobals.vi │ │ │ └── VI │ │ │ │ ├── DiffDriveOdom_Absolute_Example.vi │ │ │ │ └── DiffDriveOdom_Relative_Example.vi │ │ ├── Differential Drive PoseEst │ │ │ ├── DiffDrivePoseEst2_Example.lvproj │ │ │ ├── FieldInfo │ │ │ │ ├── 2018-field.jpg │ │ │ │ ├── 2018-powerup.json │ │ │ │ ├── 2019-deepspace.json │ │ │ │ ├── 2019-field.jpg │ │ │ │ ├── 2020-Field.png │ │ │ │ ├── 2020-infiniterecharge.json │ │ │ │ ├── 2021-barrel.png │ │ │ │ ├── 2021-barrelracingpath.json │ │ │ │ ├── 2021-bounce.png │ │ │ │ ├── 2021-bouncepath.json │ │ │ │ ├── 2021-galacticsearcha.json │ │ │ │ ├── 2021-galacticsearcha.png │ │ │ │ ├── 2021-galacticsearchb.json │ │ │ │ ├── 2021-galacticsearchb.png │ │ │ │ ├── 2021-slalom.png │ │ │ │ ├── 2021-slalompath.json │ │ │ │ ├── 2022-field-capture-cropped.png │ │ │ │ ├── 2022-field.png │ │ │ │ ├── 2022-rapidreact.json │ │ │ │ ├── 2023-chargedup.json │ │ │ │ ├── 2023-field.png │ │ │ │ ├── 2024-Crescendo-Miklast-rotated.png │ │ │ │ ├── 2024-field.png │ │ │ │ ├── 2025-field.png │ │ │ │ ├── BlankField.png │ │ │ │ ├── Grid-1-Foot-Light.png │ │ │ │ ├── Grid-1-Foot.png │ │ │ │ └── field_info.ini │ │ │ ├── Robot_kitbot_4.png │ │ │ ├── Robot_kitbot_5.png │ │ │ ├── SubVI │ │ │ │ ├── DDPoseEst2_Abs_PoseEst_Exec.vi │ │ │ │ ├── DDPoseEst2_Abs_Traj_Exec.vi │ │ │ │ ├── DDPoseEst2_DffDrive_Exec.vi │ │ │ │ ├── DDPoseEst2_Rel_Traj_Exec.vi │ │ │ │ ├── DDPoseEst2_SimDiffDrive_Exec.vi │ │ │ │ ├── Traj_Creation │ │ │ │ │ ├── DDPoseEst2_Abs_TrajCreation.vi │ │ │ │ │ └── DDPoseEst2_Rel_TrajCreation.vi │ │ │ │ └── Traj_Exec_DiffDrive │ │ │ │ │ ├── DDPoseEst2_AbsPoseEst_Work.vi │ │ │ │ │ ├── DDPoseEst2_AbsTraj_Work.vi │ │ │ │ │ ├── DDPoseEst2_RelTraj_Begin.vi │ │ │ │ │ ├── DDPoseEst2_RelTraj_Work.vi │ │ │ │ │ ├── DDPoseEst2_RelTraj_Work_Rev.vi │ │ │ │ │ ├── DDPoseEst2_Traj_DashWrite.vi │ │ │ │ │ ├── DDPoseEst2_Traj_Get_DiagGlobals.vi │ │ │ │ │ ├── DDPoseEst2_Traj_Globals.vi │ │ │ │ │ ├── DDPoseEst2_Traj_ProcAuto.vi │ │ │ │ │ ├── DDPoseEst2_Traj_SetAuto.vi │ │ │ │ │ ├── DDPoseEst2_Traj_Traj_FGV.vi │ │ │ │ │ └── DDPoseEst2_Traj_UpdDiagGlobals.vi │ │ │ └── VI │ │ │ │ ├── DiffDrivePoseEst2_Absolute_Example.vi │ │ │ │ └── DiffDrivePoseEst2_Relative_Example.vi │ │ ├── Swerve Drive Odometry │ │ │ ├── FieldInfo │ │ │ │ ├── 2018-field.jpg │ │ │ │ ├── 2019-field.jpg │ │ │ │ ├── 2020-Field.png │ │ │ │ ├── 2021-barrel.png │ │ │ │ ├── 2021-bounce.png │ │ │ │ ├── 2021-galacticsearcha.png │ │ │ │ ├── 2021-galacticsearchb.png │ │ │ │ ├── 2021-slalom.png │ │ │ │ ├── 2022-field-capture-cropped.png │ │ │ │ ├── 2022-field.png │ │ │ │ ├── 2023-field.png │ │ │ │ ├── 2024-Crescendo-Miklast-rotated.png │ │ │ │ ├── 2024-field.png │ │ │ │ ├── 2025-field.png │ │ │ │ ├── BlankField.png │ │ │ │ ├── Grid-1-Foot-Light.png │ │ │ │ ├── Grid-1-Foot.png │ │ │ │ └── field_info.ini │ │ │ ├── Field_Simulation │ │ │ │ ├── Robot_kitbot_5.png │ │ │ │ ├── Robot_top4.png │ │ │ │ ├── simulate-dashboard.vi │ │ │ │ └── simulate-robot-on-field.vi │ │ │ ├── Miscellaneous_Control │ │ │ │ ├── SDO_RATE_CALC.vi │ │ │ │ └── SDO_motor_threshold.vi │ │ │ ├── Simulation │ │ │ │ ├── SDO_SIM_ENCODER_ALLOC.vi │ │ │ │ ├── SDO_SIM_ENCODER_OPEN.vi │ │ │ │ ├── SDO_SIM_ENCODER_READ.vi │ │ │ │ ├── SDO_SIM_Gyro_Open.vi │ │ │ │ ├── SDO_SIM_Gyro_Read.vi │ │ │ │ ├── SDO_SIM_MOTOR_ALLOC.vi │ │ │ │ ├── SDO_SIM_Motor_Open.vi │ │ │ │ ├── SDO_SIM_Motor_Write.vi │ │ │ │ ├── SDO_SIM_SIM_Execute.vi │ │ │ │ ├── SDO_SIM_SIM_Globals.vi │ │ │ │ ├── SDO_SIM_SIM_Gyro_EXECUTE.vi │ │ │ │ ├── SDO_SIM_SIM_INIT.vi │ │ │ │ ├── SDO_SIM_SIM_MODULE_EXECUTE.vi │ │ │ │ ├── SDO_SIM_SIM_MODULE_INIT.vi │ │ │ │ ├── SDO_SIM_SIM_ODOM_BEGIN.vi │ │ │ │ ├── SDO_SIM_SIM_ODOM_EXECUTE.vi │ │ │ │ └── SDO_SIM_SIM_ODOM_FIELD_CLAMP.vi │ │ │ ├── SubVI │ │ │ │ ├── Autonomous Independent.vi │ │ │ │ ├── Begin.vi │ │ │ │ ├── Disabled.vi │ │ │ │ ├── Finish.vi │ │ │ │ ├── Periodic Tasks.vi │ │ │ │ ├── Robot Global Data.vi │ │ │ │ ├── SDO_Elapsed Times.vi │ │ │ │ ├── Teleop.vi │ │ │ │ └── Test.vi │ │ │ ├── SwerveDriveOdometry_Example.lvproj │ │ │ ├── Swerve_Drive_System │ │ │ │ ├── SDO_DRIVE_BEGIN.vi │ │ │ │ ├── SDO_DRIVE_DASH_WRITE.vi │ │ │ │ ├── SDO_DRIVE_EXECUTE.vi │ │ │ │ ├── SDO_DRIVE_GET_GYRO.vi │ │ │ │ ├── SDO_DRIVE_GET_MAX.vi │ │ │ │ ├── SDO_DRIVE_GET_SPEED_DEMAND.vi │ │ │ │ ├── SDO_DRIVE_GLOBALS.vi │ │ │ │ ├── SDO_DRIVE_Get_KINEMATIC.vi │ │ │ │ ├── SDO_DRIVE_Get_ModulePositions.vi │ │ │ │ ├── SDO_DRIVE_Get_ModuleStates.vi │ │ │ │ ├── SDO_DRIVE_MODULE_ACQUIRE.vi │ │ │ │ ├── SDO_DRIVE_MODULE_ACT.vi │ │ │ │ ├── SDO_DRIVE_MODULE_GETREG.vi │ │ │ │ ├── SDO_DRIVE_MODULE_OPEN.vi │ │ │ │ ├── SDO_DRIVE_MODULE_TYPDEF.ctl │ │ │ │ ├── SDO_DRIVE_NORMALIZE_CHASSIS.vi │ │ │ │ ├── SDO_DRIVE_ORIENT_CORRECT.vi │ │ │ │ ├── SDO_DRIVE_SET_GYRO.vi │ │ │ │ ├── SDO_DRIVE_Set_KINEMATIC.vi │ │ │ │ ├── SDO_DRIVE_Set_ModulePositions.vi │ │ │ │ └── SDO_DRIVE_Set_ModuleStates.vi │ │ │ ├── Teleop_System │ │ │ │ ├── SDO_Teleop_System_Begin.vi │ │ │ │ ├── SDO_Teleop_System_CalcDriveMode.vi │ │ │ │ └── SDO_Teleop_System_Execute.vi │ │ │ ├── Trajectory Following │ │ │ │ ├── SDO_TRAJECTORY_DASH_WRITE.vi │ │ │ │ ├── SDO_TRAJECTORY_EXECUTE_ABS.vi │ │ │ │ ├── SDO_TRAJECTORY_EXECUTE_REL.vi │ │ │ │ ├── SDO_TRAJECTORY_GET_ABS_ODOM.vi │ │ │ │ ├── SDO_TRAJECTORY_GET_ABS_POSE.vi │ │ │ │ ├── SDO_TRAJECTORY_GET_CLOSED_LOOP.vi │ │ │ │ ├── SDO_TRAJECTORY_GET_REL_TRAJ.vi │ │ │ │ ├── SDO_TRAJECTORY_GLOBALS.vi │ │ │ │ ├── SDO_TRAJECTORY_SET_ABS_ODOM.vi │ │ │ │ ├── SDO_TRAJECTORY_SET_ABS_POSE.vi │ │ │ │ ├── SDO_TRAJECTORY_SET_CLOSED_LOOP.vi │ │ │ │ ├── SDO_TRAJECTORY_SET_REL_TRAJ.vi │ │ │ │ ├── SDO_TRAJ_ABS_ODOM_BEGIN.vi │ │ │ │ ├── SDO_TRAJ_ABS_ODOM_EXECUTE.vi │ │ │ │ ├── SDO_TRAJ_BEGIN.vi │ │ │ │ ├── SDO_TRAJ_CALC_ORIENTATION.vi │ │ │ │ ├── SDO_TRAJ_Creation_AbsSwerve.vi │ │ │ │ └── SDO_TRAJ_Creation_RelSwerve.vi │ │ │ ├── VI │ │ │ │ └── Robot Main.vi │ │ │ ├── Vision_Interface │ │ │ │ ├── SDO_Vision_Get_Pose.vi │ │ │ │ ├── SDO_Vision_Globals.vi │ │ │ │ └── SDO_Vision_Set_Pose.vi │ │ │ ├── images │ │ │ │ ├── sample5_bookmarks-A.PNG │ │ │ │ ├── sample5_bookmarks-B.PNG │ │ │ │ ├── sample_5_dash_drive.PNG │ │ │ │ ├── sample_5_dash_traj.PNG │ │ │ │ ├── sample_5_main_pgm.PNG │ │ │ │ ├── sample_5_misc_code.PNG │ │ │ │ ├── sample_5_simulated_robot.PNG │ │ │ │ ├── sample_5_simulation.PNG │ │ │ │ ├── sample_5_traj_code.PNG │ │ │ │ ├── sim_robot.PNG │ │ │ │ └── xbox-360_controller.png │ │ │ └── readme.md │ │ └── Swerve Drive Pose Est │ │ │ ├── ReadMe.txt │ │ │ └── SwerveDrivePoseEst_Example.lvproj │ ├── Time │ │ └── Timer │ │ │ ├── Timer_Example.lvproj │ │ │ └── VIs │ │ │ ├── Timer_Example_1.vi │ │ │ ├── Timer_StateMachine_Complex_Example.vi │ │ │ └── Timer_StateMachine_Simple_Example.vi │ └── Trajectory │ │ ├── Create Trajectory │ │ ├── CreateTrajectory_Example.lvproj │ │ ├── SubVI │ │ │ ├── StoreTrajectory_FGV.vi │ │ │ └── StoreTrajectory_GlobalVariable.vi │ │ └── VIs │ │ │ ├── CreateTrajectory_Example.vi │ │ │ ├── CreateTrajectory_WriteFGV_Example.vi │ │ │ └── CreateTrajectory_WriteGlobal_Example.vi │ │ ├── Read Trajectory CSV File │ │ ├── Deploy │ │ │ └── SampleTrajectory.csv │ │ ├── ReadTrajectory_CSV_File_Example.lvproj │ │ ├── SubVI │ │ │ ├── read_csv_StoreTrajectory_FGV.vi │ │ │ └── read_csv_StoreTrajectory_GlobalVariable.vi │ │ └── VI │ │ │ ├── ReadTrajectory_CSV_FIle_WriteGlobal_Example.vi │ │ │ ├── ReadTrajectory_CSV_File_Example.vi │ │ │ └── ReadTrajectory_CSV_File_WriteFGV_Example.vi │ │ ├── Read Trajectory JSON File │ │ ├── Deploy │ │ │ ├── JavaPath1.json │ │ │ ├── JavaPath1_orig.json │ │ │ ├── LabVIEWpath1.json │ │ │ └── SampleTrajectory.json │ │ ├── ReadTrajectory_JSON_File_Example.lvproj │ │ ├── SubVI │ │ │ ├── read_json_StoreTrajectory_FGV.vi │ │ │ └── read_json_StoreTrajectory_GlobalVariable.vi │ │ └── VI │ │ │ ├── ReadTrajectory_JSON_FIle_WriteGlobal_Example.vi │ │ │ ├── ReadTrajectory_JSON_File_Example.vi │ │ │ └── ReadTrajectory_JSON_File_WriteFGV_Example.vi │ │ ├── Use Trajectory Diff Drive │ │ ├── ReadMe.txt │ │ └── UseTrajectoryDifferential_Example.lvproj │ │ └── Use Trajectory Swerve Drive │ │ ├── ReadMe.txt │ │ └── UseTrajectorySwerve_Example.lvproj └── examples_exbin │ └── WPIlibMathExamples.bin3 ├── WPIlibMath_Test ├── License.rtf ├── README.md ├── WPIlibMath_Test.lvproj ├── _RunAllTests │ ├── RunAllTests.vi │ ├── Run_1_of_X_Tests.vi │ ├── Run_2_of_X_Tests.vi │ ├── Run_3_of_X_Tests.vi │ ├── Run_4_of_X_Tests.vi │ ├── Run_5_of_X_Tests.vi │ ├── Run_6_of_X_Tests.vi │ ├── Run_7_of_X_Tests.vi │ ├── Run_8_of_8_Tests.vi │ ├── report-test-completed.vi │ ├── report-test-results.vi │ └── report-test-started.vi ├── readme_project.txt └── test-programs │ ├── AprilTag │ ├── test-AprilTag-ALL-TESTS.vi │ ├── test-AprilTag-Test1.vi │ └── test-AprilTag-Test2.vi │ ├── BangBang │ ├── test-bang-bang-input-output.vi │ └── test-bang-bang-tolerance.vi │ ├── CentripitalAccelerationConstraint │ └── test-diff-centripital-acceleration-constraint.vi │ ├── ChassisSpeeds │ └── chassis-speed-test.vi │ ├── Controller-Utility │ ├── test-ControllerUtil-manual-entry.vi │ └── test-ControllerUtil.vi │ ├── CubicHermiteSpline │ ├── all-cubic-spline-test.vi │ ├── test-cubic-spline-00.vi │ ├── test-cubic-spline-01.vi │ ├── test-cubic-spline-02.vi │ ├── test-cubic-spline-03.vi │ ├── test-cubic-spline-04A.vi │ └── test-cubic-spline-04B.vi │ ├── DC-Motor-sim-test │ ├── test-DC-Motor-Sim-ALL-TESTS.vi │ ├── test-DC-Motor-Sim-Test1.vi │ └── test-DC-Motor-Sim-Test2.vi │ ├── Debouncer │ └── test-debouncer.vi │ ├── Leadlag │ ├── test-LeadLag-ALL-TESTS.vi │ └── test-leadLag-test1.vi │ ├── PID-input-output │ └── test-PID-input-output.vi │ ├── PID-tolerance │ └── test-PID-tolerance.vi │ ├── PID │ ├── test-PID-ALL_TESTS.vi │ ├── test-PID-generateData.vi │ ├── test-PID-getClassLogger.vi │ ├── test-PID-logger.vi │ ├── test-PID-pidData.vi │ ├── test-PID-pidTest.vi │ ├── test-PID-privateGlobalData.vi │ ├── test-PID-setUp.vi │ ├── test-PID-setUpBeforeClass.vi │ ├── test-PID-setupIntegratorRange.vi │ ├── test-PID-setupTolerance.vi │ ├── test-PID-tearDown.vi │ ├── test-PID-tearDownAfterClass.vi │ ├── test-PID-test-00-InitialSettings.vi │ ├── test-PID-test-01-SetSetpoint.vi │ ├── test-PID-test-02-RotateToTarget.vi │ └── test-PID-test-03-OnTargetNoToleranceSet.vi │ ├── VisionUtilities │ ├── test-Vision-Utils-ALL-TESTS.vi │ ├── test-Vision-Utils-Test1.vi │ ├── test-Vision-Utils-Test2.vi │ └── test-Vision-Utils-Test3.vi │ ├── angle-statistics-test │ └── angle-statstics-test.vi │ ├── coordinate-system │ ├── test-Coordinate-System-ALL-TESTS.vi │ ├── test-Coordinate-System-Test1.vi │ ├── test-Coordinate-System-Test2.vi │ ├── test-Coordinate-System-Test3.vi │ ├── test-Coordinate-System-Test4.vi │ ├── test-Coordinate-System-Test5.vi │ ├── test-Coordinate-System-Test6.vi │ ├── test-CoordinateSystem-checkPose3dConvert.vi │ └── test-CoordinateSystem-checkTransform3dConvert.vi │ ├── differential-drive-acceleration-limiter │ ├── test-Diff-Drive-Accel-Limiter-ALL-TESTS.vi │ ├── test-Diff-Drive-Accel-Limiter-Test1.vi │ └── test-Diff-Drive-Accel-Limiter-Test2.vi │ ├── differential-drive-kinematics │ └── test-diff-drive-kinematics.vi │ ├── differential-drive-odometry-2 │ ├── test-diff-drive-odom-2-ALL-TESTS.vi │ └── test-diff-drive-odom-2-Test1.vi │ ├── differential-drive-odometry │ └── test-diff-drive-odom.vi │ ├── differential-drive-pose-estimator-2 │ ├── test-DiffDrvPoseEst2-ALL-TESTS.vi │ ├── test-DiffDrvPoseEst2-Test1-genChassisSpeed.vi │ ├── test-DiffDrvPoseEst2-Test1-genVisionMeasurement.vi │ ├── test-DiffDrvPoseEst2-Test1.vi │ ├── test-DiffDrvPoseEst2-Test2.vi │ ├── test-DiffDrvPoseEst2-TestX.vi │ ├── test-DiffDrvPoseEst2-next-gaussian-rand.vi │ └── test-DiffDrvPoseEst2-testFollowTrajectory.vi │ ├── differential-drive-pose-estimator │ └── differential-drive-pose-est-test.vi │ ├── differential-drive-voltage-constriant │ └── test-diff-drive-voltage-constraint.vi │ ├── differential-drives-kinematics-constraint │ └── test-diff-drive-kine-constraint.vi │ ├── differential-drivetrain-sim │ ├── test-DiffDriveSim-ALL-TESTS.vi │ ├── test-DiffDriveSim-convergence.vi │ ├── test-DiffDriveSim-current.vi │ └── test-DiffDriveSim-stability.vi │ ├── discretization-test │ ├── test-discretization-12-callback.vi │ ├── test-discretization-12.vi │ ├── test-discretization-13.vi │ ├── test-discretization-14.vi │ ├── test-discretization-15.vi │ ├── test-discretization.vi │ ├── test-discretizations-OLD-DELETE.vi │ └── test-state-space-util--XXX-OLD.vi │ ├── elevator-sim-test │ ├── test-ElevatorSim-ALL-TESTS.vi │ ├── test-ElevatorSim-min-max.vi │ ├── test-ElevatorSim-stability.vi │ └── test-ElevatorSim.vi │ ├── elliptical-region-constraint │ ├── test-Ellip-Region-Constraint-ALL-TESTS.vi │ ├── test-Ellip-Region-Constraint-Test1.vi │ └── test-Ellip-Region-Constraint-Test2.vi │ ├── flywheel-sim │ ├── test-FlyWheel-Sim-ALL-TESTS.vi │ ├── test-FlyWheel-Sim-Test1.vi │ └── test-FlyWheel-Sim-Test2.vi │ ├── function-generator-matrix │ ├── test-Function-Generator-Matrix-ALL-TESTS.vi │ └── test-Function-Generator-Matrix-Test1.vi │ ├── function-generator │ ├── test-Function-Generator-ALL-TESTS.vi │ ├── test-Function-Generator-Test1.vi │ ├── test-Function-Generator-Test2.vi │ └── test-Function-Generator-Test3.vi │ ├── holonomic-drive │ └── holonomic-drive-test.vi │ ├── implicit-model-follow │ ├── test-Implicit-Model-Follower-Test1.vi │ ├── test-Implicit-Model-Follower-Test2.vi │ └── test-implicit-model-follower-ALL-TESTS.vi │ ├── kalman-filter │ ├── kal-test-elev-system.vi │ └── test-kalman-filter.vi │ ├── linear-filter │ ├── test-linear-filter-ALL.vi │ ├── test-linear-filter-assert-results.vi │ ├── test-linear-filter-get-data.vi │ ├── test-linear-filter-get-pulse-data.vi │ ├── test-linear-filter-noise-reduction-test-01A.vi │ ├── test-linear-filter-noise-reduction-test-01B.vi │ ├── test-linear-filter-output-test-02A.vi │ ├── test-linear-filter-output-test-02B.vi │ ├── test-linear-filter-output-test-02C.vi │ ├── test-linear-filter-output-test-02D.vi │ ├── test-linear-filter-test-00.vi │ ├── test-linear-filter-test-03-derivA.vi │ ├── test-linear-filter-test-03-derivB.vi │ ├── test-linear-filter-test-03-derivC.vi │ ├── test-linear-filter-test-03-derivD.vi │ ├── test-linear-filter-test-03-derivE.vi │ ├── test-linear-filter-test-03-derivF.vi │ ├── test-linear-filter-test-03-func.vi │ ├── test-linear-filter-test-03-funcA.vi │ ├── test-linear-filter-test-03-funcB.vi │ ├── test-linear-filter-test-03-funcC.vi │ ├── test-linear-filter-test-03-funcD.vi │ ├── test-linear-filter-test-03-funcE.vi │ ├── test-linear-filter-test-03-funcF.vi │ ├── test-linear-filter-test-03A.vi │ ├── test-linear-filter-test-03B.vi │ ├── test-linear-filter-test-03C.vi │ ├── test-linear-filter-test-03D.vi │ ├── test-linear-filter-test-03E.vi │ └── test-linear-filter-test-03F.vi │ ├── linear-plant-inversion-feedforward │ └── test-linear-plant-inversion-feedforward.vi │ ├── linear-quadratic-regulator │ └── test-linear-quadratic-regulator.vi │ ├── linear-system-id │ └── test-linear-system-id.vi │ ├── linear-system-loop │ ├── test-linear-system-loop-01.vi │ ├── test-linear-system-loop-02.vi │ ├── test-linear-system-loop-All.vi │ └── test-linear-system-loop-udpate-two-state.vi │ ├── ltv-differential-drive-controller │ ├── test-ltv-differential-drive-controller-ALL-TESTS.vi │ ├── test-ltv-differential-drive-controller-Test1.vi │ └── test-ltv-differential-drive-controller-dynamics.vi │ ├── ltv-unicycle-controller │ ├── test-ltv-unicycle-controller-ALL-TESTS.vi │ ├── test-ltv-unicycle-controller-Test1.vi │ └── test-ltv-unicycle-controller-Test2.vi │ ├── math-utils-test │ └── test-math-utils.vi │ ├── matrix-test │ └── test-matrix.vi │ ├── mecanum-drive-kinematics │ ├── test-Mecanum-Kinematics-ALL-TESTS.vi │ ├── test-Mecanum-Kinematics-Test1.vi │ └── test-Mecanum-Kinematics-Test2.vi │ ├── mecanum-drive-odometry │ ├── test-Mecanum-Odometry-ALL-TESTS.vi │ └── test-Mecanum-Odometry-Test1.vi │ ├── mecanum-drive-pose-estimator-2 │ ├── test-MecaDrvPoseEst2-ALL-TESTS.vi │ ├── test-MecaDrvPoseEst2-Test1-genChassisSpeed.vi │ ├── test-MecaDrvPoseEst2-Test1-genVisionMeasurement.vi │ ├── test-MecaDrvPoseEst2-Test1.vi │ ├── test-MecaDrvPoseEst2-Test2.vi │ ├── test-MecaDrvPoseEst2-next-gaussian-rand.vi │ └── test-MecaDrvPoseEst2-testFollowTrajectory.vi │ ├── mecanum-drive-pose-estimator │ └── mecanum-drive-pose-est-test.vi │ ├── median-filter │ └── test-median-filter.vi │ ├── merwe-scaled-sigma-points │ └── test-merwe-scaled-sigma.vi │ ├── numerical-integration │ ├── numerical-integration-test.vi │ ├── numerical-integration-test0-callback.vi │ └── numerical-integration-test1-callback.vi │ ├── numerical-jacobian │ ├── test-numerical-jacobian-AXBU-func.vi │ ├── test-numerical-jacobian-CxDu-func.vi │ ├── test-numerical-jacobian-ab-callback-func.vi │ └── test-numerical-jacobian.vi │ ├── pose2d │ └── test-pose2d.vi │ ├── pose3d │ └── test-pose3d.vi │ ├── profiled-PID-input-output │ └── test-profiled-PID-input-output.vi │ ├── profiled-PID │ └── test-profiled-PID.vi │ ├── quintic-hermite-spline │ ├── all-quintic-spline-test.vi │ ├── test-quintic-spline-00.vi │ ├── test-quintic-spline-01.vi │ ├── test-quintic-spline-02.vi │ ├── test-quintic-spline-03a.vi │ ├── test-quintic-spline-03b.vi │ ├── test-quintic-spline-04.vi │ ├── test-quintic-spline-05.vi │ └── test-quintic-spline-06.vi │ ├── ramsete │ └── test-ramsete.vi │ ├── rectangular-region-constraint │ ├── test-Rect-Region-Constraint-ALL-TESTS.vi │ ├── test-Rect-Region-Constraint-Test1.vi │ └── test-Rect-Region-Constraint-Test2.vi │ ├── riccati │ ├── dare_Make_QRN.vi │ ├── dare_verify.vi │ ├── dare_verify_N.vi │ ├── test_all_riccati.vi │ ├── test_riccat_01Ni.vi │ ├── test_riccat_01i.vi │ ├── test_riccat_02Ni.vi │ ├── test_riccat_02i.vi │ ├── test_riccat_03Ni.vi │ ├── test_riccat_03i.vi │ ├── test_riccat_04Ni.vi │ ├── test_riccat_04i.vi │ └── test_riccat_05i.vi │ ├── rotation2d │ └── test-rotation2d.vi │ ├── rotation3d │ ├── Matrix_ExtractCol_To_1D_Array.vi │ └── test-rotation3d.vi │ ├── runge-kutta-time-varying │ ├── test-runge-kutta-time-varying-callback.vi │ ├── test-runge-kutta-time-varying-solution.vi │ └── test-runge-kutta-time-varying.vi │ ├── simple-motor-feedforward │ └── test-simple-motor-feedforward.vi │ ├── single-jointed-arm-sim │ └── test-single-jointed-arm-sim.vi │ ├── slew-rate-limiter │ ├── test-slew-rate-limiter-demo.vi │ ├── test-slew-rate-limiter-exec.vi │ └── test-slew-rate-limiter.vi │ ├── state-space-util │ └── test-state-space-util.vi │ ├── swerve-drive-kinematics │ ├── test-swerve-drive-kinematics-01.vi │ ├── test-swerve-drive-kinematics-02.vi │ ├── test-swerve-drive-kinematics-03.vi │ ├── test-swerve-drive-kinematics-04.vi │ ├── test-swerve-drive-kinematics-05.vi │ ├── test-swerve-drive-kinematics-06.vi │ ├── test-swerve-drive-kinematics-07.vi │ ├── test-swerve-drive-kinematics-08.vi │ ├── test-swerve-drive-kinematics-09.vi │ ├── test-swerve-drive-kinematics-10.vi │ ├── test-swerve-drive-kinematics-11.vi │ ├── test-swerve-drive-kinematics-12.vi │ ├── test-swerve-drive-kinematics-13.vi │ ├── test-swerve-drive-kinematics-14.vi │ ├── test-swerve-drive-kinematics-15.vi │ ├── test-swerve-drive-kinematics-16.vi │ ├── test-swerve-drive-kinematics-17.vi │ ├── test-swerve-drive-kinematics-module-state-almost-equal.vi │ └── test-swerve-drve-kinematics-ALL.vi │ ├── swerve-drive-odometry │ ├── test-swerve-drve-odometry-01.vi │ ├── test-swerve-drve-odometry-02.vi │ ├── test-swerve-drve-odometry-03.vi │ └── test-swerve-drve-odometry-ALL.vi │ ├── swerve-drive-pose-estimator-2 │ ├── test-SwerveDrvPoseEst2-ALL-TESTS.vi │ ├── test-SwerveDrvPoseEst2-Test1-genChassisSpeed.vi │ ├── test-SwerveDrvPoseEst2-Test1-genVisionMeasurement.vi │ ├── test-SwerveDrvPoseEst2-Test1.vi │ ├── test-SwerveDrvPoseEst2-Test2.vi │ ├── test-SwerveDrvPoseEst2-next-gaussian-rand.vi │ └── test-SwerveDrvPoseEst2-testFollowTrajectory.vi │ ├── swerve-drive-pose-estimator │ └── swerve-drive-pose-est-test.vi │ ├── swerve-module-position │ └── test-SwerveModulePosition.vi │ ├── swerve-module-state │ └── test-SwerveModuleState.vi │ ├── time-interpolatable-buffer-boolean │ ├── test-TimeInterpBoolean-ALL-TESTS.vi │ └── test-TimeInterpBoolean-Test1.vi │ ├── time-interpolatable-buffer-double │ ├── test-TimeInterpDouble-ALL-TESTS.vi │ ├── test-TimeInterpDouble-Test1.vi │ └── test-TimeInterpDouble-Test2.vi │ ├── time-interpolatable-buffer-pose │ ├── test-TimeInterpPose-ALL-TESTS.vi │ ├── test-TimeInterpPose-Test1.vi │ └── test-TimeInterpPose-Test2.vi │ ├── time-interpolatable-buffer-rotation │ ├── test-TimeInterpRotation-ALL-TESTS.vi │ ├── test-TimeInterpRotation-Test1.vi │ └── test-TimeInterpRotation-Test2.vi │ ├── timer │ └── test-timer-all.vi │ ├── trajectory-concatenate │ └── test-trajectory-concatenate.vi │ ├── trajectory-generator │ ├── test-trajectory-generator-01.vi │ ├── test-trajectory-generator-02.vi │ ├── test-trajectory-generator-ALL.vi │ ├── test-trajectory-generator-JAS-CONSTRAINT-PLAY.vi │ ├── test-trajectory-generator-get-test.vi │ ├── test-trajectory-generator-get.vi │ └── test-trajectory-generator-initial-config.vi │ ├── trajectory-json │ ├── Pose_AlmostEquals.vi │ ├── Rotation_AlmostEquals.vi │ ├── TrajectoryState_AlmostEquals.vi │ ├── Trajectory_AlmostEquals.vi │ ├── Translation_AlmostEquals.vi │ └── test-trajectory-json.vi │ ├── trajectory-transform │ ├── test-trajectory-transform-01.vi │ ├── test-trajectory-transform-02.vi │ ├── test-trajectory-transform-ALL.vi │ └── test-trajectory-transform-same-shape-verify.vi │ ├── transform2d │ └── test-transform2d.vi │ ├── transform3d │ └── test-transform3d.vi │ ├── translation2d │ └── test-translation2d.vi │ ├── translation3d │ └── test-translation3d.vi │ ├── trapezoid-profile │ ├── test-trapezoid-profile-ALL.vi │ ├── test-trapezoid-profile-backwards.vi │ ├── test-trapezoid-profile-cont-under-vel-change.vi │ ├── test-trapezoid-profile-execute.vi │ ├── test-trapezoid-profile-reaches-goal.vi │ ├── test-trapezoid-profile-switch-goal-in-middle-2.vi │ ├── test-trapezoid-profile-switch-goal-in-middle.vi │ ├── test-trapezoid-profile-timing-before-goal.vi │ ├── test-trapezoid-profile-timing-before-negative-goal.vi │ ├── test-trapezoid-profile-timing-to-current.vi │ ├── test-trapezoid-profile-timing-to-goal.vi │ ├── test-trapezoid-profile-timing-to-negative-goal.vi │ └── test-trapezoid-profile-top-speed.vi │ ├── twist2d │ └── test-twist2d.vi │ ├── twist3d │ └── test-twist3d.vi │ ├── units-test │ └── test-units.vi │ ├── unscented-kalman-filter │ ├── test-UKF-GetDynamics.vi │ ├── test-UKF-GetGlobalMeasurementModel.vi │ ├── test-UKF-GetLocalMeasurementModel.vi │ ├── test-UKF-test1-callback.vi │ ├── test-unscented-kalman-filter-0.vi │ ├── test-unscented-kalman-filter-1.vi │ ├── test-unscented-kalman-filter-1a.vi │ ├── test-unscented-kalman-filter-2.vi │ ├── test-unscented-kalman-filter-3.vi │ ├── test-unscented-kalman-filter-ALL.vi │ └── test-unscented-kalman-filter-test2-callback-func-f.vi │ └── vector │ ├── test-vector-ALL-TESTS.vi │ └── test-vector-Test1.vi └── images ├── Advanced_PID_Execute.PNG ├── DiffSim_1.png ├── DiffSim_2.png ├── GeneralControl.png ├── GeneralControlAnalog.png ├── GeneralControlDigital.png ├── GeneralControlTrajectory.png ├── InstalledProgramMenu.png ├── LabVIEWFindHelp.png ├── MacroSample.png ├── SampleInstall.png ├── 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