[Steve Warner]

Actually, to correct Collin a little. we are currently using the P term of the PID control with very little or no overshoot. However, we do have a maximum and minimum speed and a small deadband around the target angle. This seems to work pretty well on the bench but we haven't tried it on the floor yet. I know it will be different on the floor but I'm wondering if we will see a difference when the robot is standing still and when it is moving.