Implement PID Controller

[jackparsonss]

We need to do more research and then implement a PID controller for initial control. We may move to MPC in the future but PID is the simpler option for now to test how well it works. Lab 3 from f1tenth will be the best material to learn this

Implementation(tentative):

• Implement Lateral PID controller(steering)
• Implement Longitudinal PID controller(speed)

[jackparsonss]

Page 4-5 of this is a great resource alongside f1tenth: https://link.springer.com/chapter/10.1007/978-981-99-0071-8_1

[jackparsonss]

Another one: https://www.crystalinstruments.com/blog/2020/8/23/pid-control-theory#:~:text=It%20computes%20the%20output%20value,it%20by%20a%20constant%20K&text=Integral%20term%3A%20take%20the%20cumulative,it%20by%20a%20constant%20K&text=Derivative%20term%3A%20take%20the%20rate,it%20by%20a%20constant%20K

[jackparsonss]

Implementation resource: https://github.com/hfoffani/PID-controller

[jackparsonss]

This will actually come later, the PID controller will be needed after we complete the first lap and have a SLAM map. We don't need it for the first lap because pure_pursuit will handle the control for the first lap