Rename advanced-controls to controls

.github/workflows/inspector.json

@@ -26,5 +26,5 @@
       "latestVersion":"3b64aadee717c9f0566497a40fd0be7d0eaed96d"
     }
   ],
-  "ignoredFiles": ["source/docs/software/commandbased/command-scheduler.rst", "source/docs/software/hardware-apis/pneumatics/pressure.rst", "source/docs/software/hardware-apis/pneumatics/solenoids.rst", "source/docs/software/advanced-gradlerio/code-formatting.rst", "source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst", "source/docs/software/commandbased/pid-subsystems-commands.rst", "source/docs/software/commandbased/profilepid-subsystems-commands.rst", "source/docs/software/commandbased/subsystems.rst", "source/docs/software/hardware-apis/motors/wpi-drive-classes.rst", "source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst", "source/docs/software/telemetry/writing-sendable-classes.rst"]
+  "ignoredFiles": ["source/docs/software/commandbased/command-scheduler.rst", "source/docs/software/hardware-apis/pneumatics/pressure.rst", "source/docs/software/hardware-apis/pneumatics/solenoids.rst", "source/docs/software/advanced-gradlerio/code-formatting.rst", "source/docs/software/controls/state-space/state-space-pose-estimators.rst", "source/docs/software/commandbased/pid-subsystems-commands.rst", "source/docs/software/commandbased/profilepid-subsystems-commands.rst", "source/docs/software/commandbased/subsystems.rst", "source/docs/software/hardware-apis/motors/wpi-drive-classes.rst", "source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst", "source/docs/software/telemetry/writing-sendable-classes.rst"]
 }

source/docs/controls-overviews/control-system-software.rst

@@ -141,7 +141,7 @@ System Identification
 .. image:: images/control-system-software/sysid.png
    :alt: SysId UI showing diagnostics and analysis for a flywheel.
 
-This tool helps teams automatically calculate constants that can be used to describe the physical properties of your robot for use in features like robot simulation, trajectory following, and PID control.  For more information see the :ref:`System Identification section <docs/software/advanced-controls/system-identification/introduction:Introduction to System Identification>`.
+This tool helps teams automatically calculate constants that can be used to describe the physical properties of your robot for use in features like robot simulation, trajectory following, and PID control.  For more information see the :ref:`System Identification section <docs/software/controls/system-identification/introduction:Introduction to System Identification>`.
 
 OutlineViewer
 -------------

source/docs/software/basic-programming/cpp-units.rst

@@ -160,7 +160,7 @@ To convert a container type to its underlying value, use the ``value()`` method.
 
 Example of the Units Library in WPILib Code
 -------------------------------------------
-Several arguments for methods in new features of WPILib (ex. :ref:`kinematics <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is kinematics?>`) use the units library. Here is an example of :ref:`sampling a trajectory <docs/software/advanced-controls/trajectories/manipulating-trajectories:Sampling the trajectory>`.
+Several arguments for methods in new features of WPILib (ex. :ref:`kinematics <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is kinematics?>`) use the units library. Here is an example of :ref:`sampling a trajectory <docs/software/controls/trajectories/manipulating-trajectories:Sampling the trajectory>`.
 
 .. code-block:: c++
 

source/docs/software/basic-programming/java-units.rst

@@ -40,7 +40,7 @@ Java Generics
 ^^^^^^^^^^^^^
 Units of measurement can be complex expressions involving various dimension, such as distance, time, and velocity. Nested `generic type parameters <https://docs.oracle.com/javase/tutorial/java/generics/index.html>`__ allow for the definition of units that can represent such complex expressions. Generics are used to keep the library concise, reusable, and extensible, but it tends to be verbose due to the syntax for Java generics.
 
-For instance, consider the type ``Measure<Velocity<Distance>>``. This type represents a measurement for velocity, where the velocity itself is expressed as a unit of distance per unit of time. This nested structure allows for the representation of units like meters per second or feet per minute. Similarly, the type ``Measure<Per<Voltage, Velocity<Distance>>>`` represents a measurement for a ratio of voltage to velocity. This type is useful for representing quantities like volts per meter per second, the unit of measure for some :ref:`feedforward<docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` gains.
+For instance, consider the type ``Measure<Velocity<Distance>>``. This type represents a measurement for velocity, where the velocity itself is expressed as a unit of distance per unit of time. This nested structure allows for the representation of units like meters per second or feet per minute. Similarly, the type ``Measure<Per<Voltage, Velocity<Distance>>>`` represents a measurement for a ratio of voltage to velocity. This type is useful for representing quantities like volts per meter per second, the unit of measure for some :ref:`feedforward<docs/software/controls/controllers/feedforward:Feedforward Control in WPILib>` gains.
 
 It's important to note that not all measurements require such complex nested types. For example, the type ``Measure<Distance>`` is sufficient for representing simple units like meters or feet. However, for more complex units, the use of nested generic type parameters is essential.
 

source/docs/software/commandbased/binding-commands-to-triggers.rst

@@ -188,7 +188,7 @@ The ``Trigger`` class can be composed to create composite triggers through the `
 Debouncing Triggers
 -------------------
 
-To avoid rapid repeated activation, triggers (especially those originating from digital inputs) can be debounced with the :ref:`WPILib Debouncer class <docs/software/advanced-controls/filters/debouncer:Debouncer>` using the `debounce` method:
+To avoid rapid repeated activation, triggers (especially those originating from digital inputs) can be debounced with the :ref:`WPILib Debouncer class <docs/software/controls/filters/debouncer:Debouncer>` using the `debounce` method:
 
 .. tab-set-code::
 

source/docs/software/commandbased/pid-subsystems-commands.rst

@@ -3,9 +3,9 @@
 PID Control through PIDSubsystems and PIDCommands
 =================================================
 
-.. note:: For a description of the WPILib PID control features used by these command-based wrappers, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
+.. note:: For a description of the WPILib PID control features used by these command-based wrappers, see :ref:`docs/software/controls/controllers/pidcontroller:PID Control in WPILib`.
 
-One of the most common control algorithms used in FRC\ |reg| is the :term:`PID` controller. WPILib offers its own :ref:`PIDController <docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib>` class to help teams implement this functionality on their robots. To further help teams integrate PID control into a command-based robot project, the command-based library includes two convenience wrappers for the ``PIDController`` class: ``PIDSubsystem``, which integrates the PID controller into a subsystem, and ``PIDCommand``, which integrates the PID controller into a command.
+One of the most common control algorithms used in FRC\ |reg| is the :term:`PID` controller. WPILib offers its own :ref:`PIDController <docs/software/controls/controllers/pidcontroller:PID Control in WPILib>` class to help teams implement this functionality on their robots. To further help teams integrate PID control into a command-based robot project, the command-based library includes two convenience wrappers for the ``PIDController`` class: ``PIDSubsystem``, which integrates the PID controller into a subsystem, and ``PIDCommand``, which integrates the PID controller into a command.
 
 PIDSubsystems
 -------------

source/docs/software/commandbased/profile-subsystems-commands.rst

@@ -1,7 +1,7 @@
 Motion Profiling through TrapezoidProfileSubsystems and TrapezoidProfileCommands
 ================================================================================
 
-.. note:: For a description of the WPILib motion profiling features used by these command-based wrappers, see :ref:`docs/software/advanced-controls/controllers/trapezoidal-profiles:Trapezoidal Motion Profiles in WPILib`.
+.. note:: For a description of the WPILib motion profiling features used by these command-based wrappers, see :ref:`docs/software/controls/controllers/trapezoidal-profiles:Trapezoidal Motion Profiles in WPILib`.
 
 .. note:: The ``TrapezoidProfile`` command wrappers are generally intended for composition with custom or external controllers.  For combining trapezoidal motion profiling with WPILib's ``PIDController``, see :doc:`profilepid-subsystems-commands`.
 

source/docs/software/commandbased/profilepid-subsystems-commands.rst

@@ -3,9 +3,9 @@
 Combining Motion Profiling and PID in Command-Based
 ===================================================
 
-.. note:: For a description of the WPILib PID control features used by these command-based wrappers, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
+.. note:: For a description of the WPILib PID control features used by these command-based wrappers, see :ref:`docs/software/controls/controllers/pidcontroller:PID Control in WPILib`.
 
-A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile for setpoint generation with a PID controller for setpoint tracking.  To facilitate this, WPILib includes its own :ref:`ProfiledPIDController <docs/software/advanced-controls/controllers/profiled-pidcontroller:Combining Motion Profiling and PID Control with ProfiledPIDController>` class.  To further aid teams in integrating this functionality into their robots, the command-based framework contains two convenience wrappers for the ``ProfiledPIDController`` class: ``ProfiledPIDSubsystem``, which integrates the controller into a subsystem, and ``ProfiledPIDCommand``, which integrates the controller into a command.
+A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile for setpoint generation with a PID controller for setpoint tracking.  To facilitate this, WPILib includes its own :ref:`ProfiledPIDController <docs/software/controls/controllers/profiled-pidcontroller:Combining Motion Profiling and PID Control with ProfiledPIDController>` class.  To further aid teams in integrating this functionality into their robots, the command-based framework contains two convenience wrappers for the ``ProfiledPIDController`` class: ``ProfiledPIDSubsystem``, which integrates the controller into a subsystem, and ``ProfiledPIDCommand``, which integrates the controller into a command.
 
 ProfiledPIDSubsystem
 --------------------

source/docs/software/advanced-controls/controllers/bang-bang.rst → source/docs/software/controls/controllers/bang-bang.rst

@@ -58,7 +58,7 @@ Using a bang-bang controller is easy:
 Combining Bang Bang Control with Feedforward
 --------------------------------------------
 
-Like a PID controller, best results are obtained in conjunction with a :ref:`feedforward <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` controller that provides the necessary voltage to sustain the system output at the desired speed, so that the bang-bang controller is only responsible for rejecting disturbances.  Since the bang-bang controller can *only* correct in the forward direction, however, it may be preferable to use a slightly conservative feedforward estimate to ensure that the shooter does not over-speed.
+Like a PID controller, best results are obtained in conjunction with a :ref:`feedforward <docs/software/controls/controllers/feedforward:Feedforward Control in WPILib>` controller that provides the necessary voltage to sustain the system output at the desired speed, so that the bang-bang controller is only responsible for rejecting disturbances.  Since the bang-bang controller can *only* correct in the forward direction, however, it may be preferable to use a slightly conservative feedforward estimate to ensure that the shooter does not over-speed.
 
 .. tab-set-code::
 

source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst → source/docs/software/controls/controllers/combining-feedforward-feedback.rst

@@ -31,14 +31,14 @@ Users may add any feedforward they like to the output of the controller before s
      // Adds a feedforward to the loop output before sending it to the motor
      motor.setVoltage(pid.calculate(encoder.getDistance(), setpoint) + feedforward)
 
-Moreover, feedforward is a separate feature entirely from feedback, and thus has no reason to be handled in the same controller object, as this violates separation of concerns.  WPILib comes with several helper classes to compute accurate feedforward voltages for common FRC\ |reg| mechanisms - for more information, see :ref:`docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib`.
+Moreover, feedforward is a separate feature entirely from feedback, and thus has no reason to be handled in the same controller object, as this violates separation of concerns.  WPILib comes with several helper classes to compute accurate feedforward voltages for common FRC\ |reg| mechanisms - for more information, see :ref:`docs/software/controls/controllers/feedforward:Feedforward Control in WPILib`.
 
 Using Feedforward Components with PID
 -------------------------------------
 
 .. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` (`Java <https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e>`__) method when applying them to motors to compensate for "voltage sag" from the battery.
 
-What might a more complete example of combined feedforward/PID control look like?  Consider the :ref:`drive example <docs/software/advanced-controls/controllers/feedforward:Using Feedforward to Control Mechanisms>` from the feedforward page.  We can easily modify this to include feedback control (with a ``SimpleMotorFeedforward`` component):
+What might a more complete example of combined feedforward/PID control look like?  Consider the :ref:`drive example <docs/software/controls/controllers/feedforward:Using Feedforward to Control Mechanisms>` from the feedforward page.  We can easily modify this to include feedback control (with a ``SimpleMotorFeedforward`` component):
 
 .. tab-set-code::
 

source/docs/software/advanced-controls/controllers/feedforward.rst → source/docs/software/controls/controllers/feedforward.rst

@@ -3,7 +3,7 @@
 Feedforward Control in WPILib
 =============================
 
-.. note:: This article focuses on in-code implementation of feedforward control in WPILib. For a conceptual explanation of the feedforward equations used by WPILib, see :ref:`docs/software/advanced-controls/introduction/introduction-to-feedforward:Introduction to DC Motor Feedforward`
+.. note:: This article focuses on in-code implementation of feedforward control in WPILib. For a conceptual explanation of the feedforward equations used by WPILib, see :ref:`docs/software/controls/introduction/introduction-to-feedforward:Introduction to DC Motor Feedforward`
 
 You may have used feedback control (such as PID) for reference tracking (making a system's output follow a desired reference signal). While this is effective, it's a reactionary measure; the system won't start applying control effort until the system is already behind. If we could tell the controller about the desired movement and required input beforehand, the system could react quicker and the feedback controller could do less work. A controller that feeds information forward into the plant like this is called a feedforward controller.
 
@@ -14,7 +14,7 @@ The WPILib Feedforward Classes
 
 WPILib provides a number of classes to help users implement accurate feedforward control for their mechanisms.  In many ways, an accurate feedforward is more important than feedback to effective control of a mechanism.  Since most FRC\ |reg| mechanisms closely obey well-understood system equations, starting with an accurate feedforward is both easy and hugely beneficial to accurate and robust mechanism control.
 
-The WPILib feedforward classes closely match the available mechanism characterization tools available in the :ref:`SysId toolsuite <docs/software/advanced-controls/system-identification/introduction:Introduction to System Identification>`.  The system identification toolsuite can be used to quickly and effectively determine the correct gains for each type of feedforward.  If you are unable to empirically characterize your mechanism (due to space and/or time constraints), reasonable estimates of ``kG``, ``kV``, and ``kA`` can be obtained by fairly simple computation, and are also available from `ReCalc <https://www.reca.lc/>`__.  ``kS`` is nearly impossible to model, and must be measured empirically.
+The WPILib feedforward classes closely match the available mechanism characterization tools available in the :ref:`SysId toolsuite <docs/software/controls/system-identification/introduction:Introduction to System Identification>`.  The system identification toolsuite can be used to quickly and effectively determine the correct gains for each type of feedforward.  If you are unable to empirically characterize your mechanism (due to space and/or time constraints), reasonable estimates of ``kG``, ``kV``, and ``kA`` can be obtained by fairly simple computation, and are also available from `ReCalc <https://www.reca.lc/>`__.  ``kS`` is nearly impossible to model, and must be measured empirically.
 
 WPILib currently provides the following three helper classes for feedforward control:
 

source/docs/software/advanced-controls/controllers/pidcontroller.rst → source/docs/software/controls/controllers/pidcontroller.rst

@@ -1,7 +1,7 @@
 PID Control in WPILib
 =====================
 
-.. note:: This article focuses on in-code implementation of PID control in WPILib. For a conceptual explanation of the working of a PIDController, see :ref:`docs/software/advanced-controls/introduction/introduction-to-pid:Introduction to PID`
+.. note:: This article focuses on in-code implementation of PID control in WPILib. For a conceptual explanation of the working of a PIDController, see :ref:`docs/software/controls/introduction/introduction-to-pid:Introduction to PID`
 
 .. note:: For a guide on implementing PID control through the :ref:`command-based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>`, see :ref:`docs/software/commandbased/pid-subsystems-commands:PID Control through PIDSubsystems and PIDCommands`.
 
@@ -100,7 +100,7 @@ It is sometimes desirable to clear the internal state (most importantly, the int
 Setting a Max Integrator Value
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. note:: Integrators introduce instability and hysteresis into feedback loop systems.  It is strongly recommended that teams avoid using integral gain unless absolutely no other solution will do - very often, problems that can be solved with an integrator can be better solved through use of a more-accurate :ref:`feedforward <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>`.
+.. note:: Integrators introduce instability and hysteresis into feedback loop systems.  It is strongly recommended that teams avoid using integral gain unless absolutely no other solution will do - very often, problems that can be solved with an integrator can be better solved through use of a more-accurate :ref:`feedforward <docs/software/controls/controllers/feedforward:Feedforward Control in WPILib>`.
 
 A typical problem encountered when using integral feedback is excessive "wind-up" causing the system to wildly overshoot the setpoint.  This can be alleviated in a number of ways - the WPILib ``PIDController`` class enforces an integrator range limiter to help teams overcome this issue.