Picking the best libraries is extremely important in code. Here is a short rundown of many popular libraries, as well as private libraries for NYAN. This will be updated as I have motivation to write and look into the libraries.
PintoPathing
This is a private NYAN library. It is generally the best to use for code because it is maintained every year and completely custom to our robots. Because it is completely custom, it makes it much more likely for us to win control by using it. This library includes both PID and a custom command scheduler.