@@ -78,7 +78,8 @@ In order to avoid a bang-bang control mechanism the two motors are applied a sta
The control algorithm is wrapped in an LeJOS NXT application that is able to communicate with a PC running a LeJOS GUI application letting us choose values for `kp`,`ki`,`kd` and `Tp` remotely. Due to the complexity of the physical world many factors affect the controlling of the Lego car and it is therefore beneficial to modify control parameters on the fly.
⋅⋅⋅By repeatly tuning the paramters we ended up with the optimal setting of:
By repeatly tuning the paramters we ended up with the optimal setting of:
