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So after some help from here and pololu I managed to come up with this little freak :D It gets his kP and kD values from BT from phone so I don't have to reprogram it over and over and over and store the values in EEPROM. the breaking system is something interesting, I got some drifting in the corner just by enable reverse in motors. the PID is simply calculated without the Integral term... works as a charm... if needed, I'll post the code :) I leave the video to speak for itself
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/insanity-pi