line following robot matlab code example

Example: line following robot matlab

program LINE FOLLOWING
              white = 0, black = 0
              CALIBRATE()
              midpoint = ( white - black ) / 2 + black
              kp = 1, ki = 1, kd = 1
              lasterror=0
              repeat
                value = Read Light Sensor
                error = midpoint - value
                integral = error + integral
                derivative = error - lasterror
                correction = kp * error + ki * integral + kd * derivative
                Turn B+C Motors by correction
                lasterror = error
              done repeat
            done program