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PID Line Following of Original 3pi

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Hi! I have been trying to learn PID over the following weeks, I already understand the concept behind PID, but I’m still confused about how to balance the numbers or something. I really have a hard time understanding how to program it, so maybe can someone give me tips or advice?

Other than that, can I also ask if it is possible in Atmel studio to have a specific program to run through a specific time, then that program would stop in order for the robot to follow another program?

It would be a huge help for someone to give me some guidance here. Thank you so much.

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