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Message: <blockquote data-quote="gembaknb" data-source="post: 20633209" data-attributes="member: 515883">[CODE] void loop(){  int lastError;  // read calibrated sensor values and obtain a measure of the line position from 0 to 5000  unsigned int position = qtrrc.readLine(sensorValues);  //compute error from line position. error will be near-zero when robot is centered  //over line.  int error = position - 2460;  delay(250);  // set the motor speed based on proportional and derivative PID terms (experimentally determined)  // KP is the a floating-point proportional constant  // KD is the floating-point derivative constant  float KP = 0.05;  float KD = 2.0;  lastError = error;  int motorSpeed = KP * error + KD * (error - lastError);  //change our motor speeds based on PD calculation  int m1Speed = 100 + motorSpeed;  int m2Speed = 100 - motorSpeed;  //force motor speeds to be positive  if (m1Speed < 0)    m1Speed = 0;  if (m2Speed < 0)    m2Speed = 0;  // set motor speeds using the two motor speed variables above  digitalWrite(E1, m2Speed);  digitalWrite(E2, m1Speed);}[/CODE] machan meke error eka gannawa.. ita passe laaterror=error walata.. Motorspeed eka ganiddi KD(error-lasterror )wenawa.. e kiyanne eeka always 0 ne bn.. ithn eeka wadak na ne.. ai bn ehema karala thiyenne?</blockquote>

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