Picture of Line Follower Robot
     This is my second Line Follower Robot and as its name suggest, it is a robot whose purpose is following a line. This robot can be used in contests where a robot must follow a route delimited by a black line on a white background in the shortest time possible.
     This robot is really simple to make and then you can use this platform for other purposes.
     Below is a video of the robot running on a track similar to one used in contests.

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Step 1: The mechanics

Picture of The mechanics

     The motors I used for this robot are 2 servomotors modified for speed. You can also use other motor if it' s good enough... I didn't have any so I modded 2 servomotors.

HOW TO MOD THE SERVOMOTORS (look at the pictures)

1. Remove the four screws from the servo and take it all apart.
2. Remove the electronics keeping only the wires from the motor (I kept the other 3 wires from the potentiometer but you don't have to).
3. Try to fit the gears except for one. I glued the big gear to the one beneath it so as to be high enogh to "get out" of the case. It isn't exactly a rule for how to do this... various servos will have various gears so you will need to try until you will find the best "combination".
4. Put everything toghether.

The BODY (look at the picture):

 The base of the robot is made of PCB cutted to the properly size.
You will also need 5 screws:
     - 2 for putting together the front and the base of the robot
     - one for lifting the sensors off the ground (you can use something else here, if you have)
     - 2 for lifting and fixing the microcontroller PCB

bishal.bishal2 months ago

I have a question regarding the arduino program. I can't get it why are the values for p1 p2 p3 p4 p5 p6 set. I also don't know what are those for. I see that you are using analog sensor. And at last how can I modify the program to use digital sensors.

good bot

khalouda9155 months ago

is there a site i can buy all the components all once ?

kruwee9 months ago

swich on sensor not respond help me

Photo on 6-11-2557 BE at 23.17.jpg
kruwee made it!9 months ago

it run streng only not follow line.

Photo on 6-11-2557 BE at 23.02 #2.jpgPhoto on 6-11-2557 BE at 23.02 #3.jpgPhoto on 6-11-2557 BE at 23.02.jpg

I've built this, but without sucess. Did someone managed to get it working?

If i stick my finger in one of the sensors it does power both motors, but the steering does not react to anything else. Once that sensor goes of motors stop.

tpatel71 year ago

cann u send me the eagle.sch and .brd files i want to add some things my email is

dbhalerao1 year ago
I got L14G2. It is 3 terminal photo transistor....
Which photo diode did you use???
u can send it to me? please.
i really need this circuit :)
bro i think #nbinest is not gonna reply for our queries soon i think it will be better for u to search the internet.....

i am also into making of this one....till now i have found everything i need to make this one just by surfing the net .....:) but still have many questions left to ask #nbibest>>>>>>>>>>:(
adi-sreyaj1 year ago
how can i make this robot follow white lines on black background?
aprasad141 year ago
Dear sir, i am school student.i am using atmega 328 ic.programme with arduino uno.sir Robot not working.Sir please worked arduino uno programme file.

my e-mail -

Sir please reply urgently....
Hello could you please tel whether i can use this

or should i use this

Please answer quickly thank you
Well... you need to have a microcontroller that is compatible with arduino. One of the microcontrolers that are used in arduino. I think atmega328 is used in Arduino Uno maybe?
mazedm801 year ago
u can make a good design...
bhanuka101 year ago
what is the program you used to draw the pcb ?
Do you have the C or assembly code(for understanding the code) other than hex for atemega 8?
rch52 years ago
Plzz tell me about its programing and also pcb!
nbibest (author)  rch52 years ago
vinodkp2 years ago
thanks for such good i'ble, Please put the PCB layout for us to diy
nbibest (author)  vinodkp2 years ago
disheet2 years ago
plzzzz send me high speed line follower robot details like circuit diagram,component,etc.
nbibest (author)  disheet2 years ago
Here. Everything you need.
prithvinath2 years ago
nbibest (author)  prithvinath2 years ago
Hello, thank you for your interest in my robot. And sorry for the late answer.

J5 and J6 is just a switch. J7 is used for connecting to battery, so when J5 is not shorted to J6, the circuit is open and the robot is stopped.
prithvinath2 years ago
prithvinath2 years ago
in the circuit diagram explain the terminals j5,j6 etc
Have a look at a new concept - A wall follower robot
agupta522 years ago
If i want to use arduino for this, how will the schematic change please tell
msalamti2 years ago
well done
enrrsell2 years ago
how are those components connected on the PCB layout. it will be great if its visible. tnx
svasu12 years ago
Why do you use the 6-pin SIL in the circuit?
nbibest (author)  svasu12 years ago
It's for programming. I have built an USBasp programmer and that's my "standard" for programming :D
svasu1 nbibest2 years ago
k..den i wont hav that in my circuit..coz i wanna keep it simple..
Bro.. it would be nice if you send me the schematic for the sensor too..coz i wanna make some modifications...nd u hav only uploaded the design
you can upload it here or mail it to me at Thanks.
canutemark2 years ago
plsssssssss can i have the connecting circuit diagrme. send it to me.


canutemark2 years ago
can u please give me the circuit diagrame. plsssssssssssssssssss. im still a kid
rohaanzahid2 years ago
I have make this project through your guidance just what to know what was your
ir sensor reading on black and white line mine was approx 2v on shinny black and 4.6 volt on shinny white what distance you keep from surface to sensors.also what rpm of motor do you use?

ALSO please tell what does variable nr do in your program?
türk ?
bakermiro3 years ago