Two-level or bang-bang controller
When we looked at the simplest of distance controllers, we simply used a Wait block to tell the robot to stop. However, as we are tracking a line, our conditions relative to the line are constantly changing as the line may move straight or curve. The simplest controller is called a two-level or bang-bang controller. If the sensor measures a reading greater than the setpoint, the robot will curve to the left. If the sensor measures a reading less than the setpoint, the robot will drive to the right.
When you execute the program in the following screenshot, you will notice that the robot will follow a zigzag type of motion along the line:
In the program itself, you may notice that we read the value of the setpoint ...
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