Line Follower Robot

This Arduino project provides a modularized approach for controlling a robot using PID-based line following with sensor feedback.

Components

Attributes:
- normal_speed: Normal speed of the motors.
- min_speed: Minimum allowable speed.
- max_speed: Maximum allowable speed.
- Pins for left and right motor control (left_in1, left_in2, left_en, right_in1, right_in2, right_en).
Methods:
- initialize(): Sets up the motor control pins.
- set_motor(int in1, int in2, int en, int speed): Controls individual motors.
- get_direction(int speed): Determines motor direction.
- normalize_speed(int speed): Ensures speed stays within defined limits.
- drive(int speed_difference, bool debug): Drives the robot with a speed difference between left and right motors.

Attributes:
- KP: Proportional gain.
- KI: Integral gain.
- KD: Derivative gain.
- last_proportional, integral: Trackers for PID calculations.
Methods:
- calculate_speed_difference(int proportional): Computes the speed difference using PID control.

Attributes:
- threshold: Threshold value for line detection.
- sensors_count: Number of sensors.
- sensor_pins: Array of pins for individual sensors.
- errors: Array of error values corresponding to different line positions.
- previous_error: Tracks the previous error value.
Methods:
- calculate_error(): Calculates the error based on sensor readings.
- on_line(int sensor_pin): Checks if a sensor is on the line.
- get_line_position(): Determines the position of the line based on sensor readings.

User-configurable settings for threshold, sensor count, sensor pins, errors, motor speeds, PID gains, debugging, and delay time.

Initialize Components:
- Set up motor control and serial communication.
- Adjust PID and sensor settings.
Main Loop:
- Continuously calculate sensor error.
- Use PID controller to determine speed difference.
- Drive the motors accordingly.
Debugging:
- Optionally print error and speed difference values to Serial for debugging purposes.