Hello everyone,

I found out this weekend that I a PID loop for the motor control on my bot.
I'm using the F877's PWM output to control my drive motors thru an H-bridge
setup.  The motor has a shaft protruding from both sides.  The wheel will go
on one side and I'll put a shaft encoder of some type of the other side.
With the shaft encoder, I'll be able to determine speed, direction, stall,
and whatever else I need.

I have NO clue about a PID loop, so if someone could give me some code to
look at and get an understanding, I'd greatly appreciate it!

Thanks,

Duane Brantley

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