STM32 Line Follower

HI,
this is the STM32 Line Follower project: an example of PID. It is a simple line follower robot driven by an STM 32 F411RE board, 1 motor shield (L298N), 2 DC motors and two IR sensors.
It is capable of executing three different line following algorithms with different approaches: the first one is the simplest one, without any PID controller implemented, the second one will use the Kp parameter of the PID while the third one will use a complete PID (Kp, Ki and Kd).

"A proportional–integral–derivative controller (PID controller or three-term controller) is a control loop mechanism employing feedback that is widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value e(t) as the difference between a desired setpoint (SP) and a measured process variable (PV) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respec