16 lines
317 B
Markdown
16 lines
317 B
Markdown
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```blocks
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let lasterror = 0
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let D = 0
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let I = 0
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let P = 0
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let error = 0
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loops.forever(function () {
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error = sensors.color3.light(LightIntensityMode.Reflected) - 35
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P = error * 5
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I = I + error * 0.01
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D = (error - lasterror) * 0.2
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motors.largeBC.steer(P + (I + D), 100)
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lasterror = error
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})
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```
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