Hey all, this is my first post in this forum. I'm writing because I am concerned on a project that I was given in my uni. We are given a bug and some instructions, so we need to make the circuit to the bug in order to follow this instructions. Time delay circuit of 8 seconds - this has been sorted out by an RC circuit. Follow the black line in a white table - Has been sorted out with gates However my main problem is on the last part, when the bug finishes the white line it has to turn by a decreasing radius until it stops. So that means that I have to decrease its power in order to make it zero but linearly, (we dont care how many seconds it will take). So I am thinking of an attenuator or a differential amplifier. Will they help me to succeed the circuit? Any other possible analogue implementations?