LINUSBot - Line Follower Robot - With PID Control

LINUSBot - PID Control

This is a supplement to the first "instructables" of the LINUSBot (line following robot).

Now the robot has movement control done by a PID controller, control Proportional, Integral and Derivative. This makes the movements at the bends much smoother and during the straights, it can develop faster, reaching maximum speed.
PID control provides the robot a "learning", causing the robot to develop better cornering and straight circuit.

Now, a brief introduction and overview of PID control.
Basically, this type of controller performs the following actions:
1 - Proportional Control:
This controler Multiplies the current "error" by a constant Kp.
The "error" is the difference between actual output and the desired output and is fed back into the system, ie:
The actual output is subtracted from the output desired (the set point), so the error is calculated. This error is inserted into the PID controller as input, and the PID controller (calculating the terms P, I and D), commands the system  to eliminate this error.
Thus ensuring gain needed to get close to the desired output signal as fast as possible and with the best stability.
2 - Integral Control:
The term Integral multiplies the current error and its duration by a constant Ki, making a summation of all that information.
The Integral term when added to the proportional term; accelerates the process of reaching the steady state of the system, besides providing a signal closer to the desired output. In other words, it also eliminates (or at least try to eliminate) the residual error, arriving faster to the desired result.
3 - Derivative Control:
The Derivative term, causes the rate of change of the error signal be multiplied by a constant Kd. The intension is to predict the error and thus decrease the rate at which errors produces changes in the system.

We may use these three terms together to form a PID controller, or their variaçãoes such as:
P controller (sometimes used):
In this case the use of small values of the constant Kp is the best way of get to the desired value, but its control is slow (that it takes to get to the desired value). If you increase the value of Kp an overshot can occur.
PI controller (most commonly used):
It removes the residual portion of error in the steady-state case (improving transient response), but in this case you may have more overshoot and also inversion state, occurring system oscillation and causing instability, the system may be over-damped, or under-damped or oscillatory.
This type of control makes the system slower. Using larger values ​​of Ki, you can leave the system faster, however, increases the overshoot and decrease the margin of stability of your system.
PD controller (rarely used):
Used to decrease the overshoot magnetude of the  systems that uses integral controller and improve system stability. But Derivative controllers amplifies the noise error term and can leave the system process unstable. The PD controller decreases the time to reach the desired value considerably .... for that the derivative gain Kd should be high. This decreases the control time, but increases the bandwidth of the system, leaving the system susceptible to noise.
PID controller (sometimes used):
Using PID (combination of PI + PD), we can remove the system errors ratio and decrease the response time with a reasonable response transistória (without oscillations or instabilities).

This study can be found at:

This is the basic way of implementing a PID via software:

previous_error = 0
integral = 0
  error = setpoint - measured_value
  integral = integral + error*dt
  derivative = (error - previous_error)/dt
  output = Kp*error + Ki*integral + Kd*derivative
  previous_error = error
  goto start

In the "LINUSBot" design was used the following parameters:
Kp = 1/20
Ki = 1/10000
Kd = 3/2

The complete code for Arduino can be downloaded from the link:

Watch the video and check out the results.

See you in the next project.
Thank You

Others projects:


SureshR13 (author)2016-03-14

Hello. Could you please mail me the code as the given link is not working. My email is Thanks in advance.

amitk68 (author)2016-03-09

Please can you send me the code and library at my email

jicc (author)2015-10-05

actually i making line follower robot with l298n drive and IR sensor so how to do programing use of pid controller

Hisajarif (author)2015-08-25

Iam having trouble on my line following robo

Hisajarif (author)2015-08-25

Iam having trouble on my line following robo

Hisajarif (author)2015-08-25

Sir can you please send the ino code used in LINUSBot-pid line following robot
In the mail ''

KarthickR3 (author)2015-08-01

ur great can u mail me

circuit and programming code

also ur instruction for me

bcause in my colge day i like to perform

mail me to

thanks in advance

SabharieR (author)2015-03-22

can you please mail me the pid coding for line follower at

dinho2020 (author)2015-03-10


Can you please email me the code for this project at

anirban_paridhi (author)2015-01-16

hey....can you please mail me the PID code of a line following bot.....!?!?
i do need it very urgently...!!
thank you... :)

Hi Anirban

Request this project by sending an email to


Marcelo Moraes

tathagatabiswas9 (author)2015-01-12

can u mail me the codes at ?
Thank you :)

kaan sahin (author)2015-01-08


Can you explain, how did you decide controller parameters (Kp, Kd, Ki) ? Did you do any calculation or did you find just trying values?

karan13 (author)2014-11-28

hi ,can u please send me the code on


VTuT (author)2014-11-17

Hello, can you please send me the code on thank you

nirmalauwucst (author)2014-11-07

Hello, It is very kind of you if you can send me the code on thanks a lot

BIGDOG1971 (author)nirmalauwucst2014-11-16


I sent the code and libraries for you. Check your email inbox, please.

Best Regards

Marcelo Moraes
Skype: marcelo.moraes

erdalozenc (author)2014-06-27

Hello, can you please send me the code on thank you

BIGDOG1971 (author)erdalozenc2014-07-05

I just have sent the code and libraries to you.
Check your email inbox, please.

Best Regards.

Marcelo Moraes

erdalozenc (author)BIGDOG19712014-07-09

Thank you very much . İ have received the code and libraries.

paijo londo (author)2014-01-08

when i try to compile, i got some messages:
LINUSBot_9_3pi_modelo_PID:13: error: 'Button' does not name a type
LINUSBot_9_3pi_modelo_PID:17: error: 'QTRSensorsRC' does not name a type
LINUSBot_9_3pi_modelo_PID:17: error: expected unqualified-id before ',' token
LINUSBot_9_3pi_modelo_PID:17: error: expected unqualified-id before numeric constant
LINUSBot_9_3pi_modelo_PID.ino: In function 'void setup()':
LINUSBot_9_3pi_modelo_PID:77: error: 'button' was not declared in this scope
LINUSBot_9_3pi_modelo_PID:98: error: 'qtr' was not declared in this scope
LINUSBot_9_3pi_modelo_PID.ino: In function 'void loop()':
LINUSBot_9_3pi_modelo_PID:126: error: 'button' was not declared in this scope
LINUSBot_9_3pi_modelo_PID:138: error: 'qtr' was not declared in this scope

can you explain that? thx..

BIGDOG1971 (author)paijo londo2014-02-07

Hello Paijo Londo,

This issue seems to be a libraries installation problem.

Follows the steps below:
* close the Arduino's IDE interface;
** remove all project libraries installed from the "libraries" folder (just the libraries of this project)
*** uncompress the libraries into the "libraries" folder
**** open the Arduino's IDE interface and open the .ino file and then compile the code.

A lot of people with the same error have fixed the problem with the steps above.

I hope I have helped you. Feel free to ask me your doubs regard the project.

Best Regards

Marcelo Moraes

paijo londo (author)BIGDOG19712014-02-11

you're right Mr. Moraes, i did exactly what you said, and now it's done compiling.

i think my library was out of date.

when i finish this project, i will tell you the result.

thank you

About This Instructable




Bio: I am 43 years old and I live in Brazil. I am a Telecommunication / Electronics Engineer. Sixteen years acting in the industry of "Telecommunication and ... More »
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