I have a doubt about the integral value in code i found online…

The integral is the sum of all the error throughout the program correct?

So here is my doubt, For a line follower robot wont the Integral affect the equation drastically over time?

To a point where its completely stops the robot?

Here is the code

```
oid calculate_pid()
{
P = error;
I = I + error;
D = error – previous_error;
PID_value = (Kp*P) + (Ki*I) + (Kd*D);
previous_error=error;
}
```

Than you!