PID: Turning within ±1°

[jasonappah]

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.