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There was a website where you entered little snippets of code IIRC to adjust how a cube moves with friction and then the examples move on to a car moving up a ramp. It was a very sneaky and intuitive way to learn about PID controllers.

I think that was posted here on HN but I can't find the link...

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Here it is http://janismac.github.io/ControlChallenges/

And discussion https://news.ycombinator.com/item?id=37637006

I dont know how I messed up my first search.

Thank you for sharing, those are awesome exercises.

https://docs.wpilib.org/en/stable/docs/software/advanced-con...

Here's another. These pages interactively go over tuning pid controllers for position, velocity, and position with gravity compensation.

These docs are designed for high schoolers to learn about programming PID.

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