i want to make PID linefollower so i use the library of PID_V1 http://playground.arduino.cc/Code/PIDLibrary

make an PID linefollower i must make a formula for PID count like

KP KD KI

for example:

void pid_calc()

{ position = int(sensors_average / sensors_sum);

proportional = position - set_point; // Replace set_point by your set point

integral = integral + proportional;

derivative = proportional - last_proportional;

last_proportional = proportional;

void calc_turn()

{ //Restricting the error value between +256.

if (error_value < -256)

{

error_value = -256;

}

if (error_value > 256)

{

error_value = 256;

}

// If error_value is less than zero calculate right turn speed values

if (error_value < 0)

{

right_speed = max_speed + error_value;

left_speed = max_speed;

}

// If error_value is greater than zero calculate left turn values

else

{

right_speed = max_speed;

left_speed = max_speed - error_value;

}

}

the code i have copied from pdf build auto linefollower PID ,its famous PDF arduino but i cant use it and understand it because itus very complicated with too many errors

now i wanna use PID_V1 library but i dont understand what the function mean it eventhough i read from the arduino playround but i cant applicated to code above

can some one help to me?sorry if my english noob