files/thumbnails/4c650610-c8b2-11de-8cfd-000255111976.png 2009-11-03T14:51:38-05:00 f74582d8c8aa11debf46000255111976 4cb2acf8c8b211de8cfd000255111976 0 0 0.0 0 0.0 2009-11-03T14:53:32-05:00 Setpoint is 40cm (distance of left-wall) Y is sonar reading E is Error Up is proportional component of controller Ui is integral component of controller U is the signal of controller VelMe is the velocity of left motor in PWM VelMd is the velocity of right motor in PWM 2009-11-03T14:51:38-05:00 f74582d8c8aa11debf46000255111976 true 4cc9b254c8b211de8cfd000255111976 4c686e40c8b211de8cfd000255111976 Bookmark false 2009-11-03T14:51:38-05:00