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To improve sampling time, you can usually avoid the full $180^o$ sweep, resorting to it only when the bot has no idea of where the light is. Otherwise the world has continuity you can use: the light is probably near where it was the last time you located it, and it's probably about as bright as it was then. So you can probably make a pretty good guess where ...


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I don't have full a solution for your problem, but I expect that this will improve performance... I'll suggest that you decrease speed as the Absolute value of the Error increases. something like... speed = maxSpeed - abs(Error) you would also need to ensure that speed never goes to zero, something like this... speed = max(speed,minSpeed)


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