Mohammad Hassan thank you so much,😊

Have you made any changes in program ?? Then its is working??

what changes you made, can you share with me please ??? reply as soon as possible share me circuit connections also

share circuit diagram please

Are mere bhai reply to deee

Trial and error. You have to set all of them zero at first. Then increase kp by small steps. Then do the same with kd, and finally with ki. Do these until your robot is stable.

They are using the Arduino QTR Sensors library which sets up the pins for you, no need to set them up in setup()

robotresearchlab.com/2019/02/16/pid-line-follower-tuning/

@@geoffberlThank you

Aqib Abbasi sure

Neel Raajgor to the enable pins of the two motors

the 3500 is the mean value for my middle ir LEDs to stay on the line... so now that is my setpoint..!

#include #define NUM_SENSORS 6 // number of sensors used #define TIMEOUT 2500 // waits for 2500 microseconds for sensor outputs to go low #define EMITTER_PIN 2 // emitter is controlled by digital pin 2 // sensors 0 through 7 are connected to digital pins 3 through 10, respectively QTRSensorsRC qtrrc((unsigned char[]) {A0, A1, A2, A3, A4, A5}, NUM_SENSORS, TIMEOUT, EMITTER_PIN); unsigned int sensorValues[NUM_SENSORS]; void setup() { delay(500); pinMode(13, OUTPUT); digitalWrite(13, HIGH); // turn on Arduino's LED to indicate we are in calibration mode for (int i = 0; i < 400; i++) // make the calibration take about 10 seconds { qtrrc.calibrate(); // reads all sensors 10 times at 2500 us per read (i.e. ~25 ms per call) } digitalWrite(13, LOW); // turn off Arduino's LED to indicate we are through with calibration // print the calibration minimum values measured when emitters were on Serial.begin(9600); for (int i = 0; i < NUM_SENSORS; i++) { Serial.print(qtrrc.calibratedMinimumOn[i]); Serial.print(' '); } Serial.println(); // print the calibration maximum values measured when emitters were on for (int i = 0; i < NUM_SENSORS; i++) { Serial.print(qtrrc.calibratedMaximumOn[i]); Serial.print(' '); } Serial.println(); Serial.println(); delay(100); } void loop() { // read calibrated sensor values and obtain a measure of the line position from 0 to 5000 // To get raw sensor values, call: // qtrrc.read(sensorValues); instead of unsigned int position = qtrrc.readLine(sensorValues); unsigned int position = qtrrc.readLine(sensorValues); // print the sensor values as numbers from 0 to 1000, where 0 means maximum reflectance and // 1000 means minimum reflectance, followed by the line position for (unsigned char i = 0; i < NUM_SENSORS; i++) { Serial.print(sensorValues[i]); Serial.print('\t'); } //Serial.println(); // uncomment this line if you are using raw values Serial.println(position); // comment this line out if you are using raw values delay(250); }

They are using digital IR sensors so they connected them to digital pins. You can get analog or digital versions of the IR sensor arrays. The most common ones I've seen are QTR sensors from Pololu.com. Digital sensors are QTR-8RC and analog are QTR-8A but digital are usually faster which is good for Arduino since it's a slower processing speed.

Analog

drive.google.com/open?id=0B7EOw_4YEaP7eGpCUUNFb2pmZ2s

Thanks for the link. I have made same connections with all same sensors and all but still robot is not working properly. Its actually trying to follow the path but getting offtrack within few seconds.

try adjusting the Kp Ki and Kd values

how to find pid ki kp kd values

Chinmay Electronics can u tell me where u connected the sensor pins.

increase the max to 250

adil shaikh are u able to run your lfr