Role: You are a robotics engineer developing control algorithms for a mobile robot.
Task: Tune a PID controller for a differential drive robot using IR sensors to follow a black line on a white background.

Constraints:

• Robot speed: 0.3–0.5 m/s
• Sensor refresh rate: 100 Hz
• Output must include overshoot < 5%, rise time < 1s

Output:

• Suggested PID gains (Kp, Ki, Kd)
• Description of the tuning method (Ziegler–Nichols, manual, etc.)
• Plot or data showing error response over time
• Tips for minimizing oscillation in curves