PropWare  3.0.0.229
C++ objects and CMake build system for Parallax Propeller
libabcalibrate Directory Reference
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file  abcalibrate.h [code]
 This library has a function you can call to calibrate your ActivityBot. Example code that uses this library to calibrate the ActivityBot is here:

http://learn.parallax.com/activitybot

Calibration instructions that accompany the example code are included in the tutorial.