1. Function abstraction

write a class that takes care of updating the raw sensor data instead of
https://github.com/mavabene/JamAutoKart/blob/main/EncoderVandA/src/main.cpp#L39 to https://github.com/mavabene/JamAutoKart/blob/main/EncoderVandA/src/main.cpp#L43 where you do it manually in the main.cpp file

  SteeringPot->SensorVal = getAnalogInt(STEERING_ANGLE_POT);
  SteeringPot->Setpoint = 30;
  CtrlLoop(SteeringPID,SteeringPot,SteeringMotor);
  current_angle = SensorInputToUnitsFloatPtr(SteeringPot);
  SteeringPot->EngVal = current_angle;

2. extract config variables all to a single file, such as time interval for getting dx
   https://github.com/mavabene/JamAutoKart/blob/main/EncoderVandA/src/main.cpp#L75

  SteeringPID->Kp = 4;
  SteeringPID->Kd = 1;
  SteeringPID->Ki = 0;
  SteeringPot->SensorMin = 350;
  SteeringPot->SensorMax = 850;
  SteeringPot->MinEngVal = -45;
  SteeringPot->MaxEngVal = 45;

3. use more verbose variable naming

if (init1==true)
    {
      
      init1=false;
    }

what does ini1 mean?

4. it's okay to debug, but put debug code in a seperate function plz, to reduce the amount of code in the main loop
   Line 35-73

5. provide documentation for functions in header fileshttps://github.com/mavabene/JamAutoKart/blob/main/EncoderVandA/include/utilities.h#L101

6. arduino level just process raw data, don't do any PID controls. Let's do it in ROS
   void CtrlLoop(PidLoop *loop, Sensor *sens, Actuator *act)