Azbot-1C is a project to create a robot for primary school. The code shared is an attempt to using (cascade) PID controllers to provide a control of differencial motors with the less error as possible. Motors have enconders (odometry)
#ver. 1.0 Two PID controllers independent from each other, one for each motor drive. #ver. 2.0 Add a third PID to adjust differences #ver. 3.0 Add a IMU device