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Using PID control in Line Follower of course require you to define the Error value for every condition of sensors, treat empty line just like straight line: which is 0 error. You should provide more info about your sensor setup, though it is better to have many sensors aligned in the front of the robot. following is simple illustration example of the error ...


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I have seen this behaviour using the NxtMMX with the EV3 (while writing the driver for ev3dev). I am fairly certain that this is the speed regulation PID overshooting and then slowing down. In NXC you can use MMX_SetPerformanceParameters to change the PID parameters and possibly get rid of the overshoot.


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