Following advice found at Larry Ballero's site, I fine tuned the various parameters in my Philo-inspired program and voila! My little guy stood there for about 30 seconds. No wheel rotation involved. You have to be carefull with the lighting so you don't confuse the light sensor.
This whole thing relies on an algorithm called PID (Proportional Integral Derivative). Looks like one of the terms actually takes care of that by minimizing the accumulated error.
See my web site for a more detailed description.
Hynerview Challenge 50K Race Report
11 months ago