2002-Lidar-Bot/Important Things to Rememember.txt at master · Ulnad/2002-Lidar-Bot · GitHub

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Motor Info
	20- full forward
	160- full backward

Encoder Info
	Add encoder ticks is forward
	Subtract Encoder ticks is backwards
	1500 ticks/rev
	Wheel Diam = 64mm
	Wheel Circum = 201.06mm
	mm/tick = 0.1340413

PID INFO
	when setpoints are positive have to do 180 - output for motor values


prev1 = 0
prev2=0
prev3


bool isStable(input, desired, range){
if(){
}
else{
prev10 = prev9
...
prev1 = input