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軟體的前置作業 
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以下是一些你需要熟悉的軟體概念。

WPILib Command Based 的結構：
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- WPILib Command Based `紀錄 <https://docs.wpilib.org/en/latest/docs/software/commandbased/index.html>`_.

.. note::
    好的軟體不一定需要 command based ，但這個紀錄會用 command based。

PID:
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- WPILib `文章 <https://docs.wpilib.org/en/latest/docs/software/advanced-controls/controllers/pid-controller.html>`_.

- George Gillard `文章 <https://www.georgegillard.com/component/osdownloads/routedownload/robotics/introduction-to-pid-controllers-2nd-edition>`_.

.. figure:: ../Photos/PID.png
    :alt: Diagram of PID
    :target: https://maldus512.medium.com/pid-control-explained-45b671f10bc7
    :scale: 40%

    的圖表； `來源 <https://maldus512.medium.com/pid-control-explained-45b671f10bc7>`_