implement pid in this code please. The code works good with following the line but not very good. And I dont know how to implement pid into the code as I saw pid makes tracking of the line more accurate and fast : #define LM$\_$EN $8//$ Delay modified

#define LM$\_19$

#define LM$\_210$

#define RM$\_111$

#define RM$\_212$

#define RM$\_$EN $13$

#define TRIG $22$

#define ECHO $23$

#define UServo $24$

#define IR$\_$L$242$

#define IR$\_$L$141$

#define IR$\_$M $40$

#define IR$\_$R$139$

#define IR$\_$R$238$

#include

Servo US$\_$servo;

byte OUTPINS$[]=\{$LM$\_$EN$,$ LM$\_1,$ LM$\_2,$ RM$\_$EN$,$ RM$\_1,$ RM$\_2,$ TRIG$\}$;

byte INPINS$[]=\{$IR$\_$L$2,$ IR$\_$L$1,$ IR$\_$M$,$ IR$\_$R$1,$ IR$\_$R$2,$ ECHO$\}$;

void setup$()\{$

for $($int i $=0$; i $<$ sizeof$($OUTPINS$)$; i$++)$ pinMode$($OUTPINS$[$i$],$ OUTPUT$)$;

for $($int i $=0$; i $<$ sizeof$($INPINS$)$; i$++)$ pinMode$($INPINS$[$i$],$ INPUT$)$;

US$\_$servo.attach$($UServo$)$;

US$\_$servo.write$(90)$;

Serial.begin$(9600)$;

Serial$1.$begin$(9600)$; $//$ BT Module connected to RX$1$

$\}$

int dist, ldist, rdist;

byte spd;

boolean sL$2,$ sL$1,$ sM$,$ sR$1,$ sR$2$;

void loop$()\{$

sL$2=$ digitalRead$($IR$\_$L$2)$;

sL$1=$ digitalRead$($IR$\_$L$1)$;

sM $=$ digitalRead$($IR$\_$M$)$;

sR$1=$ digitalRead$($IR$\_$R$1)$;

sR$2=$ digitalRead$($IR$\_$R$2)$;

Serial.print$($sL$2)$;

Serial.print$("")$;

Serial.print$($sL$1)$;

Serial.print$("")$;

Serial.print$($sM$)$;

Serial.print$("")$;

Serial.print$($sR$1)$;

Serial.print$("")$;

Serial.println$($sR$2)$;

if $(!$sL$2$ && $!$sL$1$ && $!$sM && $!$sR$1$ && $!$sR$2)\{//00000$

$\{$

car$\_$control$($HIGH$,100,$ HIGH, $100)$; $//$ move back slowly

$\}$

$\}$ else if $(!$sL$2$ && $!$sL$1$ && $!$sM && $!$sR$1$ && sR$2)\{//00001$

$\{$

car$\_$control$($LOW$,250,$ HIGH, $155)$; $//$ turn right

delay$(0)$;

$\}$

$\}$ else if $(!$sL$2$ && $!$sL$1$ && $!$sM && sR$1$ && $!$sR$2)\{//00010$

$\{$

car$\_$control$($LOW$,250,$ LOW, $155)$; $//$ Sharp turn right

delay$(0)$;

$\}$

$\}$ else if $(!$sL$2$ && $!$sL$1$ && $!$sM && sR$1$ && sR$2)\{//00011$

$\{$

car$\_$control$($LOW$,250,$ LOW, $90)$; $//$ Wide turn right

delay$(0)$;

$\}$

$\}$ else if $(!$sL$2$ && $!$sL$1$ && sM && sR$1$ && sR$2)\{//00111$

$\{$

car$\_$control$($LOW$,255,$ HIGH, $155)$; $//$ right by $90$

delay$(600)$;

$\}$

$\}$ else if $(!$sL$2$ && sL$1$ && sM && sR$1$ && sR$2)\{//01111$

$\{$

car$\_$control$($LOW$,255,$ HIGH, $155)$; $//$ right by $90$

delay$(600)$;

$\}$

$\}$else if $(!$sL$2$ && $!$sL$1$ && sM && sR$1$ && $!$sR$2)\{//00110$

$\{$

car$\_$control$($LOW$,110,$ LOW, $100)$; $//$ go straight

delay$(0)$;

$\}$

$\}$ else if $(!$sL$2$ && $!$sL$1$ && sM && $!$sR$1$ && $!$sR$2)\{//00100$

$\{$

car$\_$control$($LOW$,100,$ LOW, $100)$; $//$ go straight

delay$(0)$;

$\}$

$\}$ else if $($sL$2$ && $!$sL$1$ && $!$sM && $!$sR$1$ && $!$sR$2)\{//10000$

$\{$

car$\_$control$($HIGH$,155,$ LOW, $250)$; $//$ turn left

delay$(0)$;

$\}$

$\}$ else if $(!$sL$2$ && sL$1$ && $!$sM && $!$sR$1$ && $!$sR$2)\{//01000$

$\{$

car$\_$control$($LOW$,155,$ LOW, $250)$; $//$ sharp turn left

delay$(0)$;

$\}$

$\}$ else if $($sL$2$ && sL$1$ && $!$sM && $!$sR$1$ && $!$sR$2)\{//11000$

$\{$

car$\_$control$($LOW$,90,$ LOW, $220)$; $//$ wide turn left

delay$(0)$;

$\}$

$\}$ else if $(!$sL$2$ && sL$1$ && sM && $!$sR$1$ && $!$sR$2)\{//01100$

$\{$

car$\_$control$($LOW$,100,$ LOW, $110)$; $//$ go straight

delay$(0)$;

$\}$

$\}$ else if $($sL$2$ && sL$1$ && sM && $!$sR$1$ && $!$sR$2)\{//11100$

$\{$

car$\_$control$($HIGH$,155,$ LOW, $255)$; $//$ turn left by $90$

delay$(600)$;

$\}$

$\}$ else if $($sL$2$ && sL$1$ && sM && sR$1$ && $!$sR$2)\{//11110$

$\{$

car$\_$control$($HIGH$,155,$ LOW, $255)$; $//$ turn left by $90$

delay$(600)$;

$\}$

$\}$else if $(!$sL$2$ && sL$1$ && sM && sR$1$ && $!$sR$2)\{//01110$

$\{$

car$\_$control$($LOW$,100,$ LOW, $100)$; $//$ go straight

delay$(0)$;

$\}$

$\}$ else if $($sL$2$ && sL$1$ && sM && sR$1$ && sR$2)\{//11111$

$\{$

car$\_$control$($HIGH$,255,$ LOW, $255)$; $//$ u turn

delay$(2000)$;

$\}$

$\}$

$\}$

void car$\_$control$($boolean Ldir, byte Lspd$,$ boolean Rdir, byte Rspd$)\{$

digitalWrite$($LM$\_1,$ Ldir$)$;

digitalWrite$($LM$\_2,!$Ldir$)$;

analogWrite$($LM$\_$EN$,$ Lspd$)$;

digitalWrite$($RM$\_1,$ Rdir$)$;

digitalWrite$($RM$\_2,!$Rdir$)$;

analogWrite$($RM$\_$EN$,$ Rspd$)$;

$\}$