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No joy on finding the code on the Wiki. Paul, if I PM my email do you mind sending it to me? Also, I implemented PI on my personal robot. Honestly I can't see why you would need a PI controller in this instance as the human is the controller. In my robot I use it to slave the two motors together so that when I want it to go straight, it will. I use the Mega128 so I could have expansion but as you already know moving from one chip to another is very easy.
Jay
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