PID based linefollower with Arduino Nano

Hi ppl, am trying to make a PID based line follower with the components, Arduino Nano, QTR-8 IR Array module, L298N motor driver, N20 motor driver. I am trying to implement the PID algorithm in the line follower. I have all the hardware ready with me and seeking help for the program. I took the below blog as reference.

What do you have already ?

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