针对机器人的增量式PID算法，里面有具体的控制过程。-Incremental PID algorithm for the robot, which has a specific control process.

2012年机器人游中国比赛程序的最终版本。主要包括电机驱动、激光、路径识别算法等。-2012 robot swim the final version of the game program. Mainly includes a motor drive, laser path identification algorithm.