Picture of Line Follower Robot
TopRight View.JPG
TopLeft View.JPG
Front View.JPG
Back View.JPG
Top View.JPG
Bottom View.JPG
I made a line follower robot with PIC16F84A microprocessor equipped with 4 IR sensors. This robot can run on the black and white lines.

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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:

Step 2: Things You Need

Picture of Things You Need
MiniMotor 60RPM.JPG
To make this robot you need the following things:
  • Some copper board
  • Printed circuits
  • Saw
  • Sandpaper
  • Iron
  • Circuit board acid
  • 1mm drill
  • Soldering oil
  • Soldering wire
  • Soldering iron
  • Wire cutter
  • Some wire
  • 2x Plastic wheels
  • 1x Spherical front wheel
  • Glue
Circuit boards components:
  • A 4 AA battery holder
  • U1 = PIC16F84A Microcontroller + Socket
  • U2 = 7805 = 5V Voltage Regulator
  • U3 = LM324 Comparator
  • U4 = L298 Motor Driver + Aluminum Radiator
  • XT = 4MHz Crystal
  • C1 = C2 = 22pF Ceramic Capacitors
  • C3 = 100uF Electrolyte Capacitor
  • C4 = C5 = 100nF Ceramic Capacitors (104)
  • D = 8 x 1N4148 Diodes
  • R1 = 4.7K Resistor
  • R2 = R3 = 10K Resistors
  • R4 = R5 = R6 = R7 = 1K Resistors
  • R8 = 10K Resistor
  • R9 = 1K Resistor
  • R10 = R11 = 47K Resistors
  • R12 = R13 = R14 = R15 = 100ohm Resistors
  • R16 = R17 = R18 = R19 = 10K Resistors
  • RP = LP = MP = FP = 10K Potentiometers
  • L Motor = R Motor = 60rpm MiniMotors with Gearbox (6V)
  • R Sensor = L Sensor = M Sensor = F Sensor = TCRT5000 Infrared Sensors
  • ModeLED = LBLED = RBLED = Small Red LEDs
  • LFLED = RFLED = Small Green LEDs
  • Mode = Left = Right = Small Buttons
  • SW = Toggle Switch = On/Off Switch
  • J = Jumper = A piece of wire
PCB.pdf(595x842) 101 KB
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thanks for giving my first question's answer !!!!!!!!!!!!!!!!!

dear sir please me give a market price of following component

1)A 4 AA battery holder(with image)

2)PIC16F84A Microcontroller + Socket(with image)

3)LM324 Comparator(with image)

4)L298 Motor Driver + Aluminum Radiator(with image)

5)4MHz Crystal(with image)

6)TCRT5000 Infrared Sensors(with image)

7)60rpm MiniMotors with Gearbox (6V)

darshv9 days ago

sir please give me a image of gear box

vahid_you2004 (author)  darshv8 days ago
Sir, I just came across this project, and its the best line follower i have seen.
I tried to make it but having some doubts. Can you tell me where to connect the motor terminals, the bottom board terminals or back board terminals? or both?
having trouble . Please help
vahid_you2004 (author)  aneeshprasobhan1 year ago

Both boards.

I have the same doubts. Should the capacitor be in parallel with the motor? Can I ask why?

vahid_you2004 (author)  amshieee24 days ago

Yes, this is for motor noise reduction.

Can you pls post the full detailed schematic diagram. Showing the connections of all the ICs used.
You can find the only diagram that I have in older comments.
Thank you sir. I just want to ask if there is no really supply on the vdd and vss of 16f877a

ic won't work without supply, so there is a 5v supply.

amshieee29 days ago

If I use CNY70, is there something that I need to change, for example, the circuit connection and/or the source program???

vahid_you2004 (author)  amshieee28 days ago
You must compare the datasheet of two components.
imronmd71 month ago

sir plz i want line follower program code for arduino atmega8 by using tcrt 5000 analog array sensors which cotain 5 sensors and also for 7 segment timer display which start time when robot while on and stop time when robot while off

send code to

it's sir plz plz help me

code for this arena to find short path complete the trak

close event-L1.png
amshieee1 month ago

Good day Sir! May I clear, are the resistors 1/4 or 1/2 watt? Are those motors DC? Can we also use servo motors? =)

vahid_you2004 (author)  amshieee1 month ago
1/4. DC. Yes, but you must make them rotate 360°.
amshieee1 month ago

Can I use CNY70 instead of TCRT5000?

vahid_you2004 (author)  amshieee1 month ago
You can use any similar components.


Can you send me the schematic diagram.

Please mail to

You can find it in below comments.

can i use PIC16f887A as substitute?

vahid_you2004 (author)  avenidodaryl1 month ago
Yes, but you must compiler code again for your PIC
gursimran singhs made it!2 months ago

i have made line follower robot using ardiuno UNO , robodiuno motor shield , two ir sensor and two gear motors . sir plz send me the circuit diagram . i have code but

ven.reak3 months ago

i want to buy it. How much?

vahid_you2004 (author)  ven.reak3 months ago
Come on, it is a DIY project, try to make it yourself.
dody.mandy5124 months ago

sir ,, can u send me the code for this arena !! I wanna help plz !!
I use 4 IR sensors and DC geared motor

send me on

vahid_you2004 (author)  dody.mandy5124 months ago
You can find the program for any path in the instruct able.
tk.joe.94 months ago

sir , sorry to bother you , can you send the circuit diagram about this robot for me through email? it will be a great help. thanks in advance.

conorloveskat5 months ago

i want code for this arena ... im using ATmega 8 with 2 DC geared motors !!! and im using AVR STUDIO 4 as a complier an im writing code in simple c !!! please help me

vahid_you2004 (author)  conorloveskat5 months ago
The program code is so simple that you can change it for your microcontroller easily.
usama20005 months ago

Can you please give me the Proteus or any other software file

vahid_you2004 (author)  usama20005 months ago

I only have the files that are attached to step 3.

usama20006 months ago

The PCB tracks are too small and when i connect them to eatch other the copper strip off the board second the battery holder 6v and -6v ends are used and the other ends are not used plzzz answer me quick

vahid_you2004 (author)  usama20005 months ago
some of the copper parts beside battery holder are just for fastening the battery holder and doe not connected to electrical circuit.
tave037 months ago

¿Cómo puedo representar este robot en un diagrama de flujo?

saurabh_9511 months ago

sir please send me the circuit diagram

my email id is :

thanks in avdance

devilmanred11 months ago

how i can open the (.wmf) file ??

vahid_you2004 (author)  devilmanred11 months ago

wmf (windows metafile) is an image file. you can open it with image viewer or editors. BTW you did not need to open them, they are all in the pdf file too, just print the pdf.

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