This project aims to design and implement a PID controller for a small mobile robot with 4 motors that are equipped with incremental encoders. The controller will be based on RP2040, a powerful microcontroller that can handle real-time control applications efficiently.

The PID controller will provide closed-loop feedback control for each motor, allowing the robot to move with precision and accuracy. The controller will take into account the speed and direction of each motor and make adjustments based on the error between the desired output and the actual output. This will help ensure that the robot moves smoothly and can navigate complex terrain with ease.

The incremental encoders will provide accurate feedback on the position and speed of each motor, allowing the controller to make rapid adjustments to keep the robot on track. The RP2040 microcontroller will handle the high-speed data processing required for this task and provide the necessary control signals to the motor drivers.

Overall, this project aims to create a robust and reliable PID motor controller for a small mobile robot, enabling it to navigate its environment with precision and accuracy.