# Getting Started

It's recommended to glance through the Java or Kotlin docs to get a feel for what kind of stuff is provided by this module, but here's a quick rundown:

• Basic geometry classes (Pose2d, Vector2d, and Angle)
• Kinematics for mecanum, tank, swerve, and differential swerve drives, as well as general robot kinematics
• A PID controller and DC motor feedforward
• Odometry localization for all the drives mentioned above and dead wheels (2 or 3)
• Path, motion profile, and trajectory generation
• State-of-the-art trajectory and path following algorithms
• JSON-serializable trajectories

Kinematics, localization, and the following algorithms all require robot-specific parameters which can only be found through tuning. For that, see the quickstart. It provides plenty of tuning OpModes to get you up and running.