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### References
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1. Sourcecode for the programs in this lesson can be found in [Lesson4programs.zip.](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson4.dir/Lesson4programs.zip)
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2. [A PID Controller For Lego Mindstorms Robots.](http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html)
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3. [Video 1: LineFollowerCal.java[1] test.](http://www.youtube.com/watch?v=lHlDTTMl_9s) |
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3. [Video 1: LineFollowerCal.java[1] test.](http://www.youtube.com/watch?v=lHlDTTMl_9s)
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4. [Video 2: Car following line and stops in green zone.](http://www.youtube.com/watch?v=a1tTYuLr3_0) |
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