This is the latest control code for my robot.
http://184.108.40.206/robot/ The source code should compile on Linux without any special libraries.
The code: i2cdev.cpp and i2cdev.h, a class to interface I2C devices. k8000.cpp and k8000.h, a class to use the i2cdev to interface to a Velleman K8000 I/O board. mencoder.cpp and mencoder.h. a class to use a PS/2 mouse as an encoder. mfkbd.cpp and mfkbd.h, a class to interface with the keyboard. motorctl.cpp and motorctl.h, a generic class to implement a PID control loop on a number of motors. mousecode.h, info about PS/2 mice. mouse.cpp and mouse.h, a class to interface to a PS/2 mouse. mpid.cpp and mpid.h, a class to implement PID calculations per motor. pcmctl.cpp and pcmctl.h, a subclass of motorctl, for the robot. robot.cpp and robot.h, a simple program to run the motors. util.cpp and util.h, simple utilities functions.