The software uses proportional and integral control (the PI part of a PID loop). Although the Arduino has a good selection ... the conclusion that while the basic hardware was cheaper, it was ...

At the simple extreme of the world of controls is the humble PID control. PID stands for Proportional ... he holds six U.S. patents and is author of several books including Basic Robotic Concepts.

The other innovation is the PID controller which uses feedback loops ... The whole lot is controlled by everyone's favorite robot brain, the Arduino. Both hardware and software will be open ...