One of the more difficult programming problems to solve in FIRST robotics is accurate control of systems. For example in the 2006 Game (“Aim High”) robots used a low-resolution digital camera with a serial output to track a green light. A series of globally accessible variables allowed the robot program to access the results of that tracking while processing. Now here’s where control theory comes in, in order to target the goal with a shooter mechanism we need some way to get it there. Many people recommend PID and this paper goes over the basic math and principles behind using it. It’s meant to be a general overview to help you to develop your own PID control programming.