Line Follower Robot

Line Follower Robot

Recently, many line following robots have been designed and utilized. Line follower robot is a self operating mobile machine that follows a line drawn on the floor. The path can be a visible black line on white surface or vice versa. Using ultrasonic sensors and IR array sensors which are set up inside the robot, the path location can be easily detected and followed. Line follower robot can be used in many industrial purposes. It can be used in carrying heavy and risky products. It can also transport radioactive material in a nuclear power plant. In restaurant, this robot can take orders and serve food accordingly.

Components

IR Sensor(2)
L298 Motor Driver
4Pcs Smart Robot Car Tyres Wheels
Male to Female jumper Wires
On/Off Switch
18650 Battery Cell 3.7V (2)
18650 Battery Holder – 2 Cell
5mm Acrylic Sheet 20cm x 12cm

Components	Hexkart	Flipkart
Arduino	Buy Now	Buy Now
Bo motor (4)	Buy Now	Buy Now
1003	Buy Now	Buy Now
1001	Buy Now	Buy Now
1002	Buy Now	Buy Now
1003	Buy Now	Buy Now

Circuit Diagram

Arduino Code

#define enA 10//Enable1 L298 Pin enA
#define in1 9 //Motor1 L298 Pin in1
#define in2 8 //Motor1 L298 Pin in1
#define in3 7 //Motor2 L298 Pin in1
#define in4 6 //Motor2 L298 Pin in1
#define enB 5 //Enable2 L298 Pin enB
#define R_S A0 //ir sensor Right
#define L_S A1 //ir sensor Left
void setup(){ // put your setup code here, to run once
pinMode(R_S, INPUT); // declare if sensor as input
pinMode(L_S, INPUT); // declare ir sensor as input
pinMode(enA, OUTPUT); // declare as output for L298 Pin enA
pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB
analogWrite(enA, 150); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed
analogWrite(enB, 150); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed
delay(1000);
}
void loop(){
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){forword();} //if Right Sensor and Left Sensor are at White color then it will call forword function
if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();} //if Right Sensor is Black and Left Sensor is White then it will call turn Right function
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();} //if Right Sensor is White and Left Sensor is Black then it will call turn Left function
if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 1)){Stop();} //if Right Sensor and Left Sensor are at Black color then it will call Stop function
}
void forword(){ //forword
digitalWrite(in1, HIGH); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, HIGH); //Left Motor forword Pin
}
void turnRight(){ //turnRight
digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, HIGH); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, HIGH); //Left Motor forword Pin
}
void turnLeft(){ //turnLeft
digitalWrite(in1, HIGH); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, HIGH); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
}
void Stop(){ //stop
digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
}