What control laws are you using?

[jesusrambo]

We're using the standard PID controller that comes from WPILIBJ in several places in our code. We just had a random thought, wondering what you other teams might be using for control law. Are your mentors having you do anything more advanced or different? Is it all code, or math-based like a PID controller?

If you're willing, please go into as much detail as you can. It's just an interesting question for us, and maybe it'll help some other teams too.

Thanks!