Notes

#include <QTRSensors.h>

#define NUM_SENSORS 6 // number of sensors used
#define NUM_SAMPLES_PER_SENSOR 4 // average 4 analog samples per sensor reading
#define EMITTER_PIN 2 // emitter is controlled by digital pin 2

QTRSensorsAnalog qtra((unsigned char[]) {0, 1, 2, 3, 4, 5, 6, 7},
NUM_SENSORS, NUM_SAMPLES_PER_SENSOR, EMITTER_PIN);
unsigned int sensorValues[NUM_SENSORS];

#define PWM_LEFT 11
#define PWM_RIGHT 9
#define LEFT_UP 6
#define LEFT_DOWN 8
#define RIGHT_UP 3
#define RIGHT_DOWN 10
#define SHARP D4 //DEĞİŞTİR


int BASE_SPEED = 60;
int max_speed = 255;
#define KP 30
#define KD 10
#define KI 0

void setLeftDirection(bool);
void setRightDirection(bool);

float TIME_DIFF;
float total_distance_error = 0;
float last_distance_error = 0;

int beyaz = 0;

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////// S E T U P /////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void setup() {
pinMode(PWM_LEFT, OUTPUT);
pinMode(PWM_RIGHT, OUTPUT);
pinMode(LEFT_UP, OUTPUT);
pinMode(LEFT_DOWN, OUTPUT);
pinMode(RIGHT_UP, OUTPUT);
pinMode(RIGHT_DOWN, OUTPUT);
//pinMode(SHARP, INPUT);

digitalWrite(13, HIGH); // turn on Arduino's LED to indicate we are in calibration mode
for (int i = 0; i < 200; i++) // make the calibration take about 10 seconds
{
qtra.calibrate(); // reads all sensors 10 times at 2.5 ms per six sensors (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(qtra.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(qtra.calibratedMaximumOn[i]);
Serial.print(' ');
}
Serial.println();
Serial.println();
delay(1000);

TIME_DIFF = millis();
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////// L O O P //////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void loop() {

float average_distance = 2500;
//checkifwhite(); //Zemin rengini kontrol ediyor.
beyaz = 0;

unsigned int distance = qtra.readLine(sensorValues,1,beyaz); //beyaz = 0 ise beyaz üzerne siyah zemin, 1 ise tersi.
float distance_error = (distance - average_distance) / average_distance;
Serial.println(distance);

//Serial.println(front_distance);
TIME_DIFF = millis() - TIME_DIFF;
if (TIME_DIFF == 0){
TIME_DIFF = 0.001;
}
TIME_DIFF /= 1000;
/*TIME_DIFF -= millis(); //ÖNCEKİ KOD
TIME_DIFF /= -1000;
TIME_DIFF += 0.1;*/
float error_derivative = (distance_error - last_distance_error) / TIME_DIFF;


setLeftDirection(true);
setRightDirection(true);

float PID = (KP * distance_error) + (KD * error_derivative) + (KI * total_distance_error);
int left_speed = BASE_SPEED + PID;
int right_speed = BASE_SPEED - PID;

if (left_speed > max_speed){
left_speed = max_speed;
}
else if (left_speed < 0){
left_speed = 0;
}
if (right_speed > max_speed){
right_speed = max_speed;
}
else if (right_speed < 0){
right_speed = 0;
}

Serial.print(left_speed);
Serial.print(", ");
Serial.print(right_speed);
Serial.print(" ----------- ");
Serial.print(distance_error);
Serial.print(", ");
Serial.println(error_derivative);

analogWrite(PWM_LEFT, left_speed);
analogWrite(PWM_RIGHT, right_speed);

last_distance_error = distance_error;
total_distance_error += distance_error;

TIME_DIFF = millis();
}


/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////// F U N C T I O N S /////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

int checkifwhite()
{
if (sensorValues[0] > 500 && sensorValues[1] > 500 && sensorValues[3] < 500 && sensorValues[5] > 500 && sensorValues[6] > 500){

Serial.print("Siyah üstünde beyaz çizgi");
beyaz = 1;
return;
} else if (sensorValues[0] < 500 && sensorValues[1] < 500 && sensorValues[3] > 500 && sensorValues[5] < 500 && sensorValues[6] < 500){
Serial.print("Beyaz üstünde siyah çizgi");
beyaz = 0;
return;
} else{
Serial.print("Degisim yok");
return;
}
}

void setLeftDirection(bool is_forward){
if (is_forward){
digitalWrite(LEFT_UP, HIGH);
digitalWrite(LEFT_DOWN, LOW);
} else{
digitalWrite(LEFT_UP, LOW);
digitalWrite(LEFT_DOWN, HIGH);
}
}

void setRightDirection(bool is_forward){
if (is_forward){
digitalWrite(RIGHT_UP, HIGH);
digitalWrite(RIGHT_DOWN, LOW);
} else{
digitalWrite(RIGHT_UP, LOW);
digitalWrite(RIGHT_DOWN, HIGH);
}
}