BTW, here's the meat of my steering code. (Prepare to be amazed.)
pid_output = self.pid_captured(self.cross_track_distance)
desired_heading = (self.course + minmax(-90, 90, pid_output)) % 360
bearing = degdiff(desired_heading - heading)
steer_for_bearing(bearing) # horribly uncalibrated
Yup, that's right; I send the cross-track distance into a PID and then use the PID output to determine how big my intercept angle should be. This was basically my first shot at a steering algorithm and it worked so well that I just kept using it. But it's not working well enough now and there are so many parts that need improvement.
I'm thinking that if I throw an IMU into the mix, I could still use my algorithm but make the steering changes in response to IMU updates (at a very high rate). So I'd use the old code to say "Steer 385 degrees" but use the IMU to help me direct the steering wheels there.
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