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  • For a good explantion google PID controller. The letters stand for proportional, integral, and derivitive. It's a feeback loop controller that "learns" over time.

  • http://en.wikipedia.org/wiki/PID_controller

    Read wikipedia to get an overview of what it is.

    P I D terms are values that define the motor behaviure in relation to the input control signal.

    P proportional error : The output power is multiplied to this P konstant

    I Integral error : The error accumulated over time, reduses steady state error.

    D Derivative error, the D is the rate of change value.

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