Shugam dagadag robot PID

 #include <QTRSensors.h>

QTRSensors qtrrc((unsigned char[]) {A0, A1, A2, A3, A4, A5, A6, A7},  // sensor inputs

                 8, // number of sensors

                 2500, // timeout

                 EMITTER_PIN);  // emitter pin

// Motor pins

const int motor1Pin1 = 9;

const int motor1Pin2 = 10;

const int motor2Pin1 = 11;

const int motor2Pin2 = 12;

// PID constants

float Kp = 0.2;

float Ki = 0.001;

float Kd = 0.1;

float error, lastError, errorSum;

void setup() {

  // Initialize serial communication

  Serial.begin(9600);

  // Initialize QTR sensors

  qtrrc.setTypeRC();

  // Initialize motor pins as outputs

  pinMode(motor1Pin1, OUTPUT);

  pinMode(motor1Pin2, OUTPUT);

  pinMode(motor2Pin1, OUTPUT);

  pinMode(motor2Pin2, OUTPUT);

}

void loop() {

  // Read sensor values

  unsigned int sensorValues[8];

  qtrrc.read(sensorValues);

  // Calculate error (simplified example)

  error = sensorValues[2] - (sensorValues[0] + sensorValues[4]) / 2;

  // Calculate PID output

  float P = Kp * error;

  float I = Ki * errorSum;

  float D = Kd * (error - lastError);

  float output = P + I + D;

  // Control motors

  if (output > 0) {

    // Turn right

    digitalWrite(motor1Pin1, HIGH);

    digitalWrite(motor1Pin2, LOW);

    digitalWrite(motor2Pin1, LOW);

    digitalWrite(motor2Pin2, HIGH);

  } else if (output < 0) {

    // Turn left

    digitalWrite(motor1Pin1, LOW);

    digitalWrite(motor1Pin2, HIGH);

    digitalWrite(motor2Pin1, HIGH);

    digitalWrite(motor2Pin2, LOW);

  } else {

    // Go straight

    digitalWrite(motor1Pin1, HIGH);

    digitalWrite(motor1Pin2, LOW);

    digitalWrite(motor2Pin1, HIGH);

    digitalWrite(motor2Pin2, LOW);

  }

  lastError = error;

  errorSum += error;

}