hey everyone,

i am making a line follower using pololu QTR8RC and 30:1 metal gear motors, as im not a expert in coding i need help! please go through my code and let me know is my code is fine or not?

here is the code:

```
#include <QTRSensors.h>
#define NUM_SENSORS 8 // number of sensors used
#define TIMEOUT 2500 // waits for 2500 microseconds for sensor outputs to go low
#define EMITTER_PIN 0 // emitter is controlled by digital pin 2
// sensors 0 through 7 are connected to digital pins 3 through 12, respectively
QTRSensorsRC qtrrc((unsigned char[]) {9, 8, 7, 6, 5, 4, 3, 2},
NUM_SENSORS, TIMEOUT, EMITTER_PIN);
unsigned int sensorValues[NUM_SENSORS];
unsigned int position;
int error_value;
int last_proportional;
int proportional;
int integral;
int derivative;
int set_point;
int right_speed;
int left_speed;
int max_speed;
void setup()
{
pinMode(11, OUTPUT);
pinMode(10, OUTPUT);
for (int i = 0; i < 100; i++)
{
qtrrc.calibrate();
}
}
void sensors_read(){
position = qtrrc.readLine(sensorValues);
}
void pid_calc(){
proportional = position - 3400 ;
integral = integral + (proportional);
derivative = (proportional - last_proportional);
last_proportional = proportional;
error_value = int(proportional*1.2+integral*0+derivative*2);
}
void calc_turn(){
if (error_value< -100){
error_value = -100;
}
if (error_value> 100){
error_value = 100;
}
if (error_value< 0){
right_speed = 100+ error_value;
left_speed = 100;
}
else{
right_speed = 100;
left_speed = 100- error_value;
}
}
void motor_drive(int right_speed, int left_speed)
{
analogWrite(10, right_speed );
analogWrite(11, left_speed);
}
void loop(){
sensors_read();
pid_calc();
calc_turn();
motor_drive(right_speed, left_speed);
}
```