Several programming and electrical questions

[bf2416]

Hey guys,

My team, 4058, finished a few weeks ago, so I figured I should start learning some more in depth programming and electrical techniques (yes, I do both, on a small team) so that I can pass on knowledge to the younger members of the team

To start, I read a lot of teams were using PIDs on their shooters, and I am not sure what they are or what they do, so if someone could enlighten me it would be greatly appreciated.

Another thing I would like to learn is how to use vision tracking. At boilermaker regional, we were relegated to putting a piece of tape in the center of the camera image to aim (crudely), and I figured using vision tracking could make scoring exponentially easier in all games, not just rebound rumble.

The last thing I would like to know would be how encoders are used, how they are hooked up, and how they are programmed.

I apologize if some of the things I said make no sense. If they do, let me know and I will try to reword the question.

Thanks in advance for the help.