tj Can you recommend a book for Robots, and programming PID, with C or C++?

Hi All,
Could you recommend a book on how to program a robot PID controller? [And perhaps also have more on sensors of various kinds?]
Preferably with C/C++.
I'm using 20Amp H-Bridges that are controlled by PWM.
Thanks, 486DX
Add pictures here
<% if( /^image/.test(type) ){ %>
<% } %>
Add image file
Upload is a website by engineers for engineers. It is not affiliated with any of manufacturers or vendors discussed here. All logos and trade names are the property of their respective owners.