EPIC: Robot PID Control Stabilization (turning, straight-line, IMU, game-driven tests) #32
Description
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".