Issues with line following robot

hi. im new to robotics, and im building a line follower robot. i wrote the code, but the robot doesnt do what i expected to do. need help.
carrinho_SegundaParte_B_PID_B.ino (1.6 KB)

I moved your post to be in its own thread. Can you explain specifically what behavior you expect and what your line follower is actually doing? If you have a video that shows this behavior, please post it so I can take a look.