The coden that WORKS!!!

pid-example/pid-example.ino

@@ -4,9 +4,9 @@ QTRSensors qtr;
 const uint8_t SensorCount = 8;
 uint16_t sensorValues[SensorCount];
 
-float Kp = 0.06; //set up the constants value
+float Kp = 0.07; //set up the constants value
 float Ki = 0.0008;
-float Kd = 0.7;
+float Kd = 0.6;
 int P;
 int I;
 int D;
@@ -22,10 +22,10 @@ const uint8_t basespeedb = 100;
 
 //Set up the drive motor carrier pins
 int mode = 8;
-int aphase = 9;
-int aenbl = 6;
-int bphase = 5;
-int benbl = 3;
+int aphase = 5;
+int aenbl = 3;
+int bphase = 9;
+int benbl = 6;
 
 //Set up the buttons pins
 int buttoncalibrate = 17; //pin A3