NextControl
A WPIMath-style control theory library for FTC robots, built on units for dimensioned measurements and linalg for matrix/vector math. It has the usual closed-loop building blocks: feedback controllers, feedforward models, signal filters, motion profiling, and typed 2D geometry for tracking robot pose and motion.
The model and util packages hold the state-space plumbing underneath — linear plant models, continuous-to-discrete conversion, Riccati equation solving, and interpolation — that the feedback and filter classes depend on. In practice you model a system, estimate or filter its state, and drive it toward a target with feedback plus feedforward, all in typed units and geometry.