Re: questions Joe Marie J. Maja wrote:
> Does anyone have a PID Control code in Handyboard? (I mean using the
> smooth PWM and shaft encoder routine).

Sure.  I wrote the attached program to keep my robot tracking in a
straight line (it used to arc across the floor).  It's not very elegant
code, but it works.  Note that some of the constants will need to be
tweaked for your particular application.  Hope this helps.  Good luck!

--  Will
                                          , ,
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Wendy Parson,                      Few things are harder to put up with
Will Bain,                        than the annoyance of a good example.
& Tatoosh                                                  --Mark Twain