Here is the structured, solid content for , positioned as a lightweight, modular, and extensible robotics control framework or firmware (depending on your target use — I’ve kept it hardware-agnostic but engineering-focused).
// PID gains (tuned for 3kg differential drive) #define PID_KP 2.5f #define PID_KI 0.8f #define PID_KD 0.05f ze-robot v0.2