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I thought it would be a fun little project to create a remote controlled car using an NXT and my cell phone. Little did I know that getting the steering motor to behave nicely would be very difficult. Luckily, the folks at HiTechnic have created a PID block that allows you to control NXT motors like servos. I built their car and then controlled it with the following program on the NXT and the Segway program on my phone.