PID: Turning within ±1° #30
Description
Objective
Achieve heading control such that the robot can turn to a commanded angle within ±1° under lab conditions.
Acceptance Criteria
- From various starting headings, robot settles within ±1° of target within a reasonable settle time (recorded)
- Overshoot and oscillation bounded; no continuous hunting
- PID gains and limits committed with notes
Work
- Implement/verify angular PID loop (uses IMU yaw)
- Add anti-windup and output limiting
- Create repeatable turn test script and log results
Artifacts
- Plots/logs of error over time for multiple targets
- Final tuned gains and explanation
Risks/Notes
- IMU bias and magnetic interference; ensure calibration procedure is documented.