PID

#include <PID_v1.h>
//PORT 4
#define LEFT_IR A1
#define RIGHT_IR A0
double SetpointLeft, InputLeft, OutputLeft;
double SetpointRight, InputRight, OutputRight;

PID leftPID(&InputLeft, &OutputLeft, &SetpointLeft,0.5,0.2,0, DIRECT);
PID rightPID(&InputRight, &OutputRight, &SetpointRight,0.5,0.2,0, DIRECT);

void setup()
{
double sum_left = 0, sum_right = 0;
 int i;
for (i = 0; i < 10; i++) 
{
    InputRight = analogRead(RIGHT_IR);
    InputLeft = analogRead(LEFT_IR);
    sum_left += InputLeft;
    sum_right += InputRight;
    delay(100);
 }
 SetpointLeft = sum_left/10;
 SetpointRight = sum_right/10;
 // turn PID on
 leftPID.SetMode(AUTOMATIC);
 rightPID.SetMode(AUTOMATIC);
}