// *******************************************<br />
// Wattgovernor.nqc<br />
// Remco Leine, September 2004<br />
// *******************************************<br />
<br />
// sensors<br />
#define ANGLE SENSOR_1<br />
<br />
// motors<br />
#define MOTOR OUT_A<br />
<br />
// other constants<br />
#define KU 4<br />
#define KL 1<br />
#define ANGLEBAR 15<br />
<br />
int M;<br />
<br />
task main()<br />
{<br />
	// configure sensor<br />
	SetSensor(ANGLE, SENSOR_ROTATION);<br />
	ClearSensor(ANGLE);<br />
  SetPower(MOTOR,0);<br />
  OnFwd(MOTOR);<br />
  while(true)<br />
  {<br />
   M = (KU*(ANGLEBAR - abs(ANGLE)))/KL;<br />
   if (M<0) M=0;<br />
   if (M>7) M=7;<br />
   SetPower(MOTOR,M);<br />
  }<br />
}<br />