... | ... | @@ -74,7 +74,7 @@ protected void controlSignal(float controlledValue) { |
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}
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````
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In order to avoid a bang-bang control mechanism the two motors are applied a standard power `Tp`.
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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.
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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.
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