The cntrl My Block is used to control the left and right motors and to update the mPos variable block. This updating of mPos is identical to what was done in the EQ My Block, where the motor position is calculated by integrating the speed. The Math block multiplies the tInt variable block by the Cdrv variable block. This factor is subtracted from the previous value of the mPos variable block to return a new value for the motor position. This new value for mPos is used for the next run of the balance loop.
The program takes the settings from the pwr variable block as the base power level for each motor. The code then uses the Math blocks to either increase or decrease the power to each motor so that the robot can turn. Even for turning, you increase the power of one motor and decrease the power of the other. The multiply Math block multiplies the Cstr variable block, the control steering variable by 0.1, so it has a lesser influence when it is added (or subtracted) to the...
