Picture of LINUSBot - Line Follower Robot
The operation of this Robot is quite simple.

Infra-red sensors placed at the front of the chassis  will monitor when our Robot is over a black line or when it is over a white background.
In this project we will use the appropriate rounded chassis to the Robot.
In case the robot being on the black line, it will always go ahead, and in the case of out of line and fall into a white area, it will determine whether to correct to the left or right, and thus remain on the black line.

The sensors that will be used is  the array infrared sensor Pololu (also called reflectance sensors) QTRx8RC, that consists of eight sensors (only five are used) QRE1113GR.

This array has a digital output and can easily be managed using the appropriate library of Pololu, for determine the position of the line relative to the sensors.

This array of sensors can be broken in a array with 6 sensors and another with 2 sensors.
For more information about the sensors array , visit:


In this first project, we will use a raw control for our robot, ie we are concerned to keep the robot following the line ...
The Robot will run in a track and we will note that the motions of the robot will be somewhat "robotic", ie: not very smooth, but jerky.

See http://arduinobymyself.blogspot.com.br for more projects.

Step 1: The track

Picture of The track
Pista 2.jpg
The track will be made of a piece of white cardstock and black electrical tape.
The bend ought to a minimum diameter 6" or greater.
Below we have two examples of track
AnojithanP5 days ago

hello sir, I have a issue saying

sketch_aug25b:14: error: 'BUTTON_PULLUP_INTERNAL' was not declared in this scope

'BUTTON_PULLUP_INTERNAL' was not declared in this scope

how can i fix this one.
my email address is : ano.tech2@gmail.com

AnojithanP5 days ago

Sir this is an awesome project,

May i have the code and the libraries for this project.


Thank you

sahmed716 months ago
Can you please send me the code and library for the line follower robot you built? I'm still on the learning stage and this would help me a lot.
I've send an request via email which is shafayat.ahmed24@gmail.com.
Thanks in advance.

,hello , can you please send me the code on


BIGDOG1971 (author)  ibraheem.alkaebi7 months ago
Hi Ibraheem,

Request the ocde and libraries by sending an email to arduinobymyself@gmail.com


Marcelo Moraes
NitishK27 months ago

for coding:


Nandev1 year ago

Hello, can you please send me the code on nandevbundhoo@gmail.com

BIGDOG1971 (author)  Nandev1 year ago
As you have requested, the code and libraries are sent for you.
Check your email inbox, please.


Hello BIGDOG1971 and or Nandev, could one of you send me the libraries for this project. Much appreciated.

ihvan35351 year ago

Very nice project! ,hello , can you please send me the code on mustafaaaakin35@hotmail.com

achand81 year ago

You zip tied the motors to the chassis? I am looking for a way to fix it to the chassis

BIGDOG1971 (author)  achand81 year ago
Hi Achand8,
Yes, in a first instance, I zipped and tied the motors to the chassis but after I glued the motors to the chassis (in the acrylic version).

I hope I have helped you.

Feel free to send me comments/questions/problems.

Best Regards

Marcelo Moraes

I am trying to make this one from scratch and I want mine to go fast like 3pi, around 400 rpm. I am looking for better ways to mount to motors to the acrylic. Something like this!

mortezaab1 year ago

Send me an email and I will provide you the ".ino" file.


jrd2102 years ago
Interesting but getting to the download of software is a nightmare, can you just add the *ino to the pdf??
BIGDOG1971 (author)  jrd2102 years ago
Send me an email and I will provide you the ".ino" file.


Have a look at a new concept - A wall follower robot

CPRSJ2 years ago
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