The pid controllers need to be properly tuned so that they are stable. Also the way the correction values are combined may need to be changed - [x] Speed Control - [ ] Distance Control (was working but adding the centering control messed up the tuning a bit) - [x] Straight and Centered (untested in maze-like environment)
The pid controllers need to be properly tuned so that they are stable.
Also the way the correction values are combined may need to be changed