In order to avoid a bang-bang control mechanism the two motors are applied a standard power `Tp`.
In order to avoid a bang-bang control mechanism the two motors are applied a standard power `Tp`. The set point for this application is determined by the light sensor value when it is placed exactly between a white and a black surface. In this case the set point is 48.
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.
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.
