Init commit with many years of arduino sketches and projects. I dont know if the esp8266 includes much, but there are also libraries. I hope they dont have crazy automatic versioning through the Arduino IDE.

Projects/ProgLab/Zumo_1/Zumo_1.ino

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+#include <PLab_ZumoMotors.h>
+#include <Pushbutton.h>
+#include <QTRSensors.h>
+#include <ZumoBuzzer.h>
+#include <ZumoMotors.h>
+#include <ZumoReflectanceSensorArray.h>
+
+ZumoReflectanceSensorArray reflectanceSensors;
+unsigned int sensor_values[6];
+ZumoMotors motors;
+Pushbutton button(ZUMO_BUTTON);
+int lastError = 0;
+
+const int MAX_SPEED = 800;
+// Set constants for PID control
+const float KP = 0.5;  // Proportional constant
+const float KD = 6;    // Derivative constant
+const int SV = 2500; // Set-value for position (in the middle of sensors)
+
+unsigned long Timer;   //"ALWAYS use unsigned long for timers, not int"
+
+void setup()
+{
+  Serial.begin(9600);
+  reflectanceSensors.init();
+  pinMode(13, OUTPUT);
+  digitalWrite(13, HIGH);
+  button.waitForButton();
+  for(int i = 0; i < 80; i++)
+  {
+    if ((i > 10 && i <= 30) || (i > 50 && i <= 70))
+      motors.setSpeeds(-200, 200);
+    else
+      motors.setSpeeds(200, -200);
+      
+    reflectanceSensors.calibrate();
+
+    // Since our counter runs to 80, the total delay will be
+    // 80*20 = 1600 ms.
+    delay(20);
+  }
+  motors.setSpeeds(0, 0);
+  button.waitForButton();
+
+  digitalWrite(13, LOW);
+}
+
+void loop()
+{
+  reflectanceSensors.read(sensor_values);
+  if (sensor_values[5] < 1800)
+  {
+    motors.setSpeeds(-100, -100);
+    delay(1000);
+    motors.setSpeeds(-100, 100);
+    delay(1000);
+  }
+  else if (sensor_values[0] < 1800)
+  {
+    motors.setSpeeds(-100, -100);
+    delay(1000);
+    motors.setSpeeds(100, -100);
+    delay(1000);
+  }
+  else
+  {
+    motors.setSpeeds(100, 100);
+  }
+  
+  int pv = reflectanceSensors.readLine(sensor_values);
+  // Our "error" is how far we are away from the center of the line, which
+  // corresponds to position 2500.
+  int error = pv - SV; 
+  // do PD computation ( Integral is not used)
+  int speedDifference = KP*error + KD * (error - lastError);
+  
+  
+  //Serial.println(error);
+  lastError = error;
+
+  // Get individual motor speeds.  The sign of speedDifference
+  // determines if the robot turns left or right.
+  int m1Speed = MAX_SPEED + speedDifference;
+  int m2Speed = MAX_SPEED - speedDifference;
+
+  
+
+  motors.setSpeeds(m1Speed, m2Speed);
+}