EPIC: Robot PID Control Stabilization (turning, straight-line, IMU, game-driven tests)

[jasonappah]

Goal: Achieve reliable, repeatable robot motion using PID control for heading and straight‑line travel, with IMU feedback and validation through server/game message flows.

Scope

• Implement and tune PID to meet accuracy targets for turning and straight‑line motion
• Integrate IMU sensor feedback into the control loop
• Validate behavior end‑to‑end using messages sent from the server during simulated/real games

Success Criteria

• Turn to target heading within ±1° in lab conditions
• Drive 15 ft straight with ≤ 6 in lateral/positional error
• IMU fusion/feedback is used by PID; drift handled or bounded
• Tests confirm commands sent from server during a game result in expected motion

Deliverables

• PID tuning parameters committed with rationale
• IMU-to-PID integration code and configuration
• Test harness/scripts and documented test procedure
• Metrics captured for the above criteria

Notes

• Derived from whiteboard items: "PID turning within 1°", "PID straight line 15 ft (≤6 in error)", "IMU feedback into PID", and "Test PID with messages sent from server during a game".