This program would nudge the car until it got to the line. We needed to add this onto the proportional control for distance because the car would always stop short. This is because the motor would not have enough power by the end to overcome friction. With the nudging, the car power on the motors would turn on and off and the car would inch up the the line until the shaft encoders hit a certain number.
The program worked very well just on the ground of the lab. Going uphill the program worked reasonably well but was always a little bit short of reaching the full ten feet. The nudging also was very crooked on the uphill for some reason. The car was constantly veering off in its nudges. On the other hand, going downhill, the program seemed to always overshoot by a little but and also have some trouble stopping.
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