Controlling the driving
We have set up the heading and proximity values with their respective k values. We can now use these values to control the driving of the tank.
Add a move steering block after the second math block that you just placed. By default, it will be set to control the drive motors in port B + C; this is correct, so we will not change the port assignment. We will need to change the mode of the motor block to On.
Drag a data wire from result, the output of the first math block (the one with the value of k1) and plug it into the steering input of the move steering block. Plug the result of the second math block into the power input of the move steering block.
Now, the heading and proximity values measured by IR 1 can adjust the speed and steering angle of the tank and enable it to follow the beacon! You have completed your proportional beacon follower, and it should look something like this:
