So after some help from here and pololu I managed to come up with this little freak 
It gets his kP and kD values from BT from phone so I don’t have to reprogram it over and over and over and store the values in EEPROM.
the breaking system is something interesting, I got some drifting in the corner just by enable reverse in motors.
the PID is simply calculated without the Integral term… works as a charm…
if needed, I’ll post the code 
I leave the video to speak for itself
Line following
- Actuators / output devices: 30:1 HP micro metal gearmotors
- Control method: autonomous, Arduino, Bluetooth, PID
- CPU: Arduino
- Operating system: hand written java based hex file
- Power source: 4 AA batteries
- Programming language: Arduino C
- Sensors / input devices: QTRA 8A broken to 6A
- Target environment: indoor
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/insanity-pi