Changed main.ino to test.ino, added values to the PID constants.

test/test.ino

@@ -0,0 +1,115 @@
+
+#include <QTRSensors.h>
+
+QTRSensors qtr;
+
+const uint8_t SensorCount = 8;
+uint16_t sensorValues[SensorCount];
+
+
+int MODE = 8;
+
+int left_motor_in = 6;
+int left_motor_out = 9;
+
+int right_motor_in = 3;
+int right_motor_out = 5;
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println("Start");
+  init_motor();
+  
+  qtr.setTypeRC();
+  qtr.setSensorPins((const uint8_t[]){10, 11, 12, 14, 15, 16, 18, 19}, SensorCount);
+  qtr.setEmitterPin(7);
+
+  delay(500);
+  pinMode(LED_BUILTIN, OUTPUT);
+  digitalWrite(LED_BUILTIN, HIGH);// turn on Arduino's LED to indicate we are in calibration mode
+  Serial.println("Starting Calibration");
+
+  // 2.5 ms RC read timeout (default) * 10 reads per calibrate() call
+  // = ~25 ms per calibrate() call.
+  // Call calibrate() 400 times to make calibration take about 10 seconds.
+  for (uint16_t i = 0; i < 400; i++)
+  {
+    qtr.calibrate();
+  }
+  digitalWrite(LED_BUILTIN, LOW); // turn off Arduino's LED to indicate we are through with calibration
+  Serial.println("Calibration finished");
+
+  // print the calibration minimum values measured when emitters were on
+  Serial.begin(9600);
+  for (uint8_t i = 0; i < SensorCount; i++)
+  {
+    Serial.print(qtr.calibrationOn.minimum[i]);
+    Serial.print(' ');
+  }
+  Serial.println();
+
+  // print the calibration maximum values measured when emitters were on
+  for (uint8_t i = 0; i < SensorCount; i++)
+  {
+    Serial.print(qtr.calibrationOn.maximum[i]);
+    Serial.print(' ');
+  }
+  Serial.println();
+  Serial.println();
+  delay(1000);
+}
+
+void loop() {
+  uint16_t position = qtr.readLineBlack(sensorValues);
+  
+   for (uint8_t i = 0; i < SensorCount; i++)
+      {
+        Serial.print(sensorValues[i]);
+        Serial.print('\t');
+      }
+      Serial.println(position);
+
+      delay(250);
+
+      if (position >= 3000 and position <= 4300) {
+        left_motor_go(200);
+        right_motor_go(200);
+        Serial.print(position);Serial.println("center");
+      }
+
+      if (position < 3000) {
+        left_motor_go(200);
+        right_motor_go(0);
+        Serial.print(position);Serial.println("left");
+      }
+
+      if (position > 4300) {
+        left_motor_go(0);
+        right_motor_go(200);
+        Serial.print(position);Serial.println("right");
+      }
+
+      
+}
+  
+void init_motor(){
+  pinMode(left_motor_in, OUTPUT);
+  pinMode(left_motor_out, OUTPUT);
+  
+  pinMode(right_motor_in, OUTPUT);
+  pinMode(right_motor_out, OUTPUT);
+
+  pinMode(MODE, OUTPUT);
+  digitalWrite(MODE, HIGH);
+  }
+
+//range:0<value<255
+void left_motor_go(int motor_speed){
+  analogWrite(left_motor_in, motor_speed);
+  digitalWrite(left_motor_out, LOW);
+ }
+//range:0<value<255
+void right_motor_go(int motor_speed){
+  analogWrite(right_motor_in, motor_speed);
+  digitalWrite(right_motor_out, LOW);
+}