A peak into the PID tuning process. A good demonstration of the various effects changes in the parameters have on the behavior of the robot.
It is important to note that while the Proportional controller seemed to work the best on the short line, in the long run it might lead to oscillations. Implementing the I and D parts is important in order to achieve balance. Until now I have had some bad experiences dealing with the Integral part of the PID controller, but I will persist on trying to include it as well, as it is an integral part of the controller.