Duane Brantley wrote:
.......
>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!
>

Duane, if you have access to "Mobile Robots" by Jones & Flynn,
they have some simple examples in C code.

oy,
- dan michaels
www.oricomtech.com
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