Hi, I used only P control to make a line follower robot , which is like if (000001) do pwm on the faster wheel .. i think that's only P control , at fast speed i found my robot overshoots and crawls over the line , and after searching i found that i need to add the D term to compensate for that shoots .. how do i implement the idea in C code ? i already read the tutorial here about pid but its only for motors ...