For more details on this project, you can view this slideshow, which includes a demo video: https://docs.google.com/presentation/d/1hjx7DvasWITczxGNxLeCABDH9W_4Omh2VBG0KKkbbG0/edit?usp=sharing

For the original project, as shown in the presentation we used an FSM for "bang-bang" control. I have since updated the code to utilize a PID to make the turning smoother. The PID code is what is on this repo.