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float yaw = 0, gyrZ = 0;

while(yaw < setpoint)
{
    get_tof();

    whilt(millis() - current_time < timelimit)
    {
        previous_time = current_time;
        current_time = millis();
        time_diff = current_time - previous;

        get_IMU();
        gyrZ += myICM.gyrZ() * time_diff / 1000.0;
        error = gyrZ - expected;

        // Perform PID calculations
        // ...
        // and turn slightly left/right
        spin();
        
        yaw += gyrZ;
    }
}

void spin()
{
    // Right turn
    if(PID_out > maxspeed)
    {
        analogWrite(A0, 0);
        analogWrite(A1, maxspeed);
        analogWrite(A2, 0);
        analogWrite(A3, maxspeed);
    }
    else if(PID_out >= 0)
    {
        analogWrite(A0, 0);
        analogWrite(A1, PID_out);
        analogWrite(A2, 0);
        analogWrite(A3, PID_out);
    }
    // Left turn
    else if(PID_out <= maxspeed)
    {
        analogWrite(A0, maxspeed);
        analogWrite(A1, 0);
        analogWrite(A2, maxspeed);
        analogWrite(A3, 0);
    }
    else
    {
        analogWrite(A0, -PID_out);
        analogWrite(A1, 0);
        analogWrite(A2, -PID_out);
        analogWrite(A3, 0);
    }
}