Unique PID Parameters for each Robot

[shourikb]

Description

Changed the sim and real params .yamls to use per robot PID values for rotation and translation, kp, kd, ki for robots 0-5. Modified the motion_control cpp and hpp files for this change, removed the constant DEFINES.

Associated / Resolved Issue

https://app.clickup.com/t/86b6w4xcu

Steps to Test

1. Source, make, and make run-sim
2. In another terminal window, open up RQT using the rqt command after sourcing
3. Run the simulator and note which robots are moving
4. Change the kp value for one of the moving robots to 100000

Expected result:
Should see the robot that had it's value change start moving weirdly, while the other robots remain fine.

Key Files to Review

• sim_params.yaml
• real_params.yaml
• motion_control.cpp
• motion_control.hpp

[CameronLyon]

Worked out of sim so that's a success on many more levels 😅

[Squid5678]

works