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I recorded this video as part of the tutorial I wrote about line following at http://thetechnicgea...ing-mindstorms/ I find it quite interesting the different behavior of the tuned and untuned PID Controller. This weekend I have tried building a robot with bigger wheels ( the one from 42007 Motorbike ) and it missed the line quite easily... because a little correction moved the robot too much but too small Kp make the robot lose the line easily. Any ideas about what can I do?