This is an Arduino-based project for a line follower robot with an 8-sensor array. The robot uses PID control to follow a line on the ground and can make sharp turns when necessary.

• ESP32
• QTR-8RC or QTR-8A sensor array
• SparkFun TB6612 motor driver
• DC motors
• Jumper wires
• Breadboard
• Battery pack

• Platform IO
• QTRSensors library
• SparkFun_TB6612 library
• TaskScheduler library
• QuickPID library
• JLed library

1. Install the required libraries in the Platform IO.
2. Connect the QTR-8RC or QTR-8A sensor array to the Arduino board according to the pin connections in the setup() function.
3. Connect the SparkFun TB6612 motor driver to the Arduino board according to the pin connections in the Motor constructor.
4. Connect the DC motors to the motor driver.
5. Upload the main.cpp file to the Arduino board.

1. Power on the robot.
2. Place the robot on a line on the ground.
3. The robot will follow the line using PID control.
4. If the robot loses the line, it will continue moving forward for a certain number of iterations before attempting to find the line again using the findWhereLastLineWentFromHistory() function.
5. The robot can make sharp turns when necessary by adjusting the motor speeds based on the line error.

Contributions to this project are welcome. Please submit a pull request with your changes.

This project is licensed under the MIT License. See the LICENSE file for details.