"Digital," Proportional, Derivative, and Integral Control

You've already used "digital control" for line following ( on or off)
Using proportional control will come to you easily
Derivative control is conceptually easy to grasp, and may be more helpful than integral
Here's a nice slide show
Lisa P., you better use this now that I've gone to all the trouble to make this slide show!!
PID control is quite an advanced topic, but should be able to grasp (and use) P and PD control. Check out what wikipedia has on PID control systems...http://en.wikipedia.org/wiki/PID_controller#Proportional_term
Greg created a new stopwatch function track time at the millisecond level...
- cr8_stopwatch_time_ms();
- this function returns the time in milliseconds
- the value will range from 0 to 99 ms
- like the dist_mm and angle values, when the time rolls from 99 ms to 100 ms, cr8_stopwatch_time_ms(); will change from 99 to 0, and cr8_stopwatch_time(); will be incremented by one (1) (remember, cr8_stopwatch_time(); measures time in tenths of a second)
- Why might you want more accurate time? To implement Derivative control!!

PIDControl