在这次演习中，每个小组都要计划和实施一个封闭的

代码说明：

In this exercise, each group has to program and implement a closed-loop motion controller for a differential-drive robot. The controller can first be simulated in Matlab and then be tested on a real Lego robot, which communicates with the PC through a Bluetooth connection. This connection allows to get the sensor reading and to set the motor speed more or less in real time directly from Matlab.