Newbie level 1
I am using ATmega16(L). I have incorporated PID control in my line tracer code, but its not working for gaps and light angle turns. i would like suggestions on how to modify it for the same. also i was thinking of using interrupts by connecting the interrupt pins to the port pins where sensors are joined but i'm not able to mask the interrupts which are not required. this is my first ever attempt in making a bot. please give some tips on PID control line tracing.