Tired of tuning pesty PID loops for hours? Try Neural Networks!

[Ben Wolsieffer]

This looks really cool, and I'm planning to try to hack on it over April vacation (when I finally have some time). Since our team uses Java, I'm going to try to port it, which will hopefully help me understand the code better.

I have no previous experience with neural networks, so I'll probably have a lot of questions in the future, but for now I was wondering if there is some way to decide how to structure the hidden layers. In your example, you use 4 nodes, one for each wheel and two layers. What is the reason for this?

Thanks.