[ctrl] line following + self balancing

[nilay994]

https://github.com/SRA-VJTI/Wall-E_v2.2-beta/blob/e941ee6b972d7a36fa6d28c94547fff3bf159392/self_balancing_with_line_following/main/self_balancing_with_line_following.c#L147
I see from the youtube that line following is quite slow.

I think it can be made to go faster by bounding pitch command to a different limit on self balancing while line tracking:

-10 deg (pitch forward) to -3 deg (still pitch forward) could result in better line tracking...
Usually, you'd only want to pitch lesser (-3 deg) when you are on a turn or if the heading of the bot is not aligned with the line. Bounding from -10 deg to 0 degree makes the bot stop at one point. Any opinions?

[nilay994]

Inactive..