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C
wiki v1 lego chase demo Documentation Very well made.
EV3 Software Line Following Program with PID Controller Download Very well made.
Tune PID Controller Parameters Using Android Application for LEGO Very well made.
GitHub sudoariel PID controller for EV3 with arduino Arduino Very well made.
LEGO MOC EV3 Motorbike PID Controller by Artem 16 Rebrickable Very well made.