Buy an Axon, Axon II, or Axon Mote and build a great robot, while helping to support SoR.
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accumulativeError = MAXIMUMVALUEdo{ bestAccumulativeError = accumulativeError accumulativeError = 0 while (less than .025 seconds since last iteration) foreach encoder, accumulativeError += encoder error }} while (accumulativeError < bestAccumulativeError)// The error has not gotten better over the last iterationDoGrasp()