| Description | This example illustrates how to write a proportional, integral controller for the NXT. On the front panel, the user inputs the desired position (in degrees) of the motor. The user can also adjust the control gains, Kp and Ki which affects the input power of the motor. Kp is a proportional gain, it scales the difference between the motor's current position and the desired position--this difference is known as the error. Ki is an integral gain, it scales the total accumulated error during the program. Play around with the gains to see what works the best.
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