PID Line Following Robot Aruduino/Sparkfun Array

PID (only using P and I) Line Following Robot with Arduino Uno and sparkfun line sensing array. This code senses the line and makes a turn at a speed and intensity that corresponds to how far the sensors are from the line and how fast the robot is leaving the line. The D would institute a change in speed and intensity that corresponds to how fast the robot is returning to the line as to not overshoot it.