I need help creating a 4 sensor PID wall follower, which has two walls either side of the robot and the goal is to keep the robot central and not crash into the walls, the sensors are positioned in the following photo:
So far I have successfully created a right side PID wall follower using sensors 1 and 3 but I am not sure how I should combine the right and left side, I am not sure if I should work out the total error rate for the right and left side then take it away, or work out the total PID by taking the PID from the right and left values.
Any help would be greatly appreciated : )