[PD] PID loops/controlling robots with PD

[Hans-Christoph Steiner]

I am working with http://www.amorphicrobotworks.org to help them move 
from Max/MSP on MacOS 9 to Pd on Windows so that don't need two 
computers for each robot.  Currently the set up is two computers: one 
Windows PC running ShowFlow/HRBox (http://www.mediamat.com/) responding 
to MIDI input; and one Mac running Max/MSP to control the HRBox 
software using MIDI.  By using PD, we can have both programs running on 
one computer.  Also, we can save money by not having to buy Max/MSP for 
each robot.

So this got me thinking.   The ShowFlow/HRBox software is expensive and 
we are basically only using the PID loop control features of it, so if 
I could do this in Pd, as well as the data aquisition, then I could run 
the whole robot using Pd alone.  So I am wondering whether anyone else 
has tried using Pd to control robots?

.hc