Line Follower Robot

I made a line follower robot with PIC16F84A microprocessor equipped with 4 IR sensors. This robot can run on the black and white lines.

Step 1: First Step

Before everything you must know how to make a Printed Circuit Board and how to solder components on it. You also need to know how to program a PIC16F84A IC.
Here are the links to good instructables about making a PCB and Soldering:

• (Mostly) easy PCB manufacture
• How to Solder

Comments

[mazedm80]

Great robot.

[polkijain]

good
can i do this with an arduino(avr only)-and without sheilds(motor,etc...)

[vahid_you2004]

Yes, the most important part of this project is its algorithm.

[robo10302]

wow this robot rocks its sooo easy to make!!thanks for posting.

[gautamuv]

i mean in track some object is kept , it should detect and change it's dirrection. for that i
need to add one more sensor in front dirrection . were can i add and how can i change
the program??

[vahid_you2004]

There is only one pin free on PIC you can connect your sensor to A4 and add you code to the program before "Operate" part and change the value of lmb (left motor backward), lmf (left motor forward), rmb (lright motor backward) and rmf (right motor forward) variables.

[gautamuv]

what should be done to robot so that it should detect obstacle, for this robo? is it possible?
is there any change in programming?

[vahid_you2004]

As you can see in the path I made, this robot can pass through white or black area by moving forward on a straight line.

[ikrizzy]

can you give me a progam of this using micro c

[vahid_you2004]

Converting a program from Basic to C is a simple work and is very good for you to improve your programming skills.

[psantos9]

sir i have a question i can't find a TCRT5000 Infrared Sensors in the market what is the replacement to this component thanks and godbless

[vahid_you2004]

You can use any thing that is made of one IR transmitter beside one IR receiver, you can also make it yourself (see older comments).

[GeniusDevils]

Have a look at a different concept - A wall Following Robot

[vahid_you2004]

Good Idea

[heraldbaby]

is this circuits right...this programme will be compatable ryt? now i just wanna ground the ports?

[vahid_you2004]

Yes, thats right and it works fine. You have not to ground the ports.

[heraldbaby]

CAN I USE L293D motor driver.Also can i get a ciricuit diagram please

[vahid_you2004]

Yes, You can use any dual (or more) motor driver.
I have not drawn a complete circuit diagram for this robot but you can find a simple symbolic diagram in older comments.

[Abhijith(97)]

what are its applications????????????????????????

[vahid_you2004]

In some big factories or stores there were lines on the ground and a machine follows that line and carries things. You can find lot of applications for this robot i.e. transporting passengers in airplane, following colorful lines in hospitals, ...

[bond31]

hello sir! can u please send us the schematic diagram?
its urgent

[vahid_you2004]

I have no exact circuit diagram, but there is a symbolic diagram you can find in below comments.

[ajefferson2]

I am very intrested in making this project. Could you please upload the schematic diagram...plz

[vahid_you2004]

I did not draw any circuit diagram, my diagram is just a symbolic diagram you can find in below comments.

[jtaupan]

good day sir,,,i dont see yet the program,,i wud just ask kung compatible ba ito sa Remote Controlled car...need it asap,tnx

[vahid_you2004]

"kung compatible ba ito sa"???? I can't understand what you mean?

[Shadow Killer Ninja]

Sir, Please tell me in detail that how to change the states, if possible with pictures because i have made it but dont know how to change the states....i have entered a contest so require reply urgently....

[Shadow Killer Ninja]

Sir, Please tell me in detail that how to change the states, if possible with pictures because i have made it but dont know how to change the states....i have entered a contest so require reply urgently....

[vahid_you2004]

By pressing the mode button (button on the front board) you can switch between 3 modes:

• Mode1 (Mode LED is off): In this mode robot follows a line using the algorithm in the program and you did not need to do anything.
• Mode2(Mode LED is on): In this mode robot follows a line using the algorithm in the program but you can customize the motors state (for example if the robot placed on a turning to left, the left motor became off and the right motor runs forward, hold the robot in this state with you hand, now you can change this behavior by pressing motors buttons, for example making left motor run backward and make right motor run forward to turn faster and etc).
• Mode3(Mode LED is blinking): This mode is the same as Mode2 but the robot ignores algorithm in the program and changes the motors just according to the sensors state.

[ajefferson2]

thnk you sir,,,

[jtaupan]

good day,,,i dont see yet the program,,i wud just ask kung compatible ba ito sa Remote Controlled car...need it asap,tnx

[bismillah786]

Sir, my left motor does not coordinate with sensors. it is on and on does not change its state even with the mode buttons so what can be the fault...if you can give me some suggestions please...would be very thankful to you!!!

[vahid_you2004]

Remove PIC from its socket, use a piece of wire to connect +5V pin to pin 6 (B0) of PIC the left motor should run backward, now test forward run by connecting +5V to pin 7 (B1), by this way you can check that you have no problem in you circuit.
If you made your sensors yourself you must place a dark thick plastic wall among IR transmitter and receiver, I suggest to use a piece of aluminum foil as the wall.

[bismillah786]

is it must compulsory for placing a wall or a strip of paper between IR transmitter and IR receiver

[Shadow Killer Ninja]

can i use simple infra red sensors???

[vahid_you2004]

Yes, you can build you own sensor using an IR transmitter and an IR receiver. (look at below comments)

[Shadow Killer Ninja]

Sir, Please tell me in detail that how to change the states, if possible with pictures because i have made it but dont know how to change the states....i have entered a contest so require reply urgently....

[nikolas10]

Can anybody help me? Could the robot be made to reverse around a track ? How could this be achieved and what changes to the logic might be required?

[vahid_you2004]

Press the Mode button to make its LED on, hold the robot over the path and move it backward with your hand and change the motors direction in different states with motor buttons, now it can follow the path reverse. I tried to do it myself but it could not follow the sharp turnings because the sensors are in the front of the robot, if you make the robot with sensors on the middle of it you will get better result.

[Shadow Killer Ninja]

Sir, Please tell me in detail that how to change the states, if possible with pictures because i have made it but dont know how to change the states....i have entered a contest so require reply urgently....