Autonomous Obstacle Avoidance and Line Following Robot

The robot was Pololu 3pi+ 32U4 with Arduino as the microcontroller. I used 2 PID controllers for the task in the video: one that follows the black line using line sensors underneath the robot, one that avoids obstacles (i.e. keeps a certain distance with obstabcles) using sonar attached. The switch of the 2 controllers happen when sonar’s staright-facing reading shows too close to something / far enough that shows nothing ahead. Apprarently as shown by the video my kp for line following was too high and I muted the sound because I was talking with my teammate xD.