PID Line Following Robot

Hi everyone this is a line following robot I made. It uses PID control.

The robot is running at a sixth of its actual speed. I have an onboard buck converter which boosts the input to a stable 9v no matter what the input is; so the speed is always the same. The hardest part was tuning the PID constants I started off with the pololu 3pi constants and changed them until they were perfect for the speed and weight of this bot. I wish I could increase the speed since the current speed is pretty stupid compared to how fast it can really go. The problem with increasing the speed is that it was impossible for me to find sufficent PID constants. I am going to change the chassis in one or two days to a custom one which I am going to cut using my school's laser cutter.

I also had to put a battery on the front since the speed is making it do wheelies even at a sixth of the full speed; Oh Yeah the thing is a speed demon!

My next idea is to build a line maze solving robot which finds the shortest path. Then my next plan is to make a beaglebone black self balancing robot which I am having a little trouble with.