Code & PID Control Modifications

The proportional-integral-derivative (PID) controller is a closed-loop control system design that performs its namesake on the error and sums the results with an assigned weight. The proportional control scheme is very popular in many systems due to its simplicity and reliability, however, there are systems where a proportional controller is insufficient. Our robot is one of these cases. and a PID is used.  Our robot operates with a high P weight relative to the ID weights.  The P part (value of 170) provides most of the response with I (value of 0) slowing down the response, and D (value of 3960) dampening the P oscillations.