... | ... | @@ -78,7 +78,7 @@ In order to avoid a bang-bang control mechanism the two motors are applied a sta |
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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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By repeatly tuning the paramters we ended up with the optimal setting of:
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⋅⋅⋅By repeatly tuning the paramters we ended up with the optimal setting of:
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| Parameter | Value |
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| ------------- |:------:|
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