Line Follower Robot

Let's make a fully autonomous robot using Arduino and IR sensors. It can follow a black line on white surface. Watch video for more!

Components used:

• Piece of cardboard/ Acrylic sheet
• Arduino Uno
• IR sensor
• BO motor
• Wheels
• Caster wheel
• L293d IC
• PCB
• Flexible wire
• Battery

Fix all components on acrylic sheet and make a chassis as shown in pictures.

Now make all connection As per the circuit Diagram bellow.

you can make this circuit on dotted pcb like this.

or can use this type of professional looking PCB.

you can order PCB for this Shield from here https://www.pcbway.com/project/shareproject/How_to_Make_Arduino_Based_Edge_Avoiding_Robot.html

or for ready made shield contact us on: https://www.facebook.com/STROniXTechnologies

Now it's time to program this robot. upload this program to arduino and all done.

//program by Shubham Shinganapure on 05-08-2019
//
//for Line Following Robot using 2IR sensors  
int lm1=8; //left motor output 1
int lm2=9; //left motor output 2
int rm1=10;  //right motor output 1
int rm2=11;  //right motor output 2
int sl=13;    //sensor 1 input (left)
int sr=12;    //sensor 2 input (right)
int SlV=0;
int SrV=0;
int led=A0;
void setup()
{
 pinMode(lm1,OUTPUT);
 pinMode(lm2,OUTPUT);
 pinMode(rm1,OUTPUT);
 pinMode(rm2,OUTPUT);
 pinMode(led,OUTPUT);
 pinMode(sl,INPUT);
 pinMode(sr,INPUT);
sTOP();
}
void loop()
{
 SlV=digitalRead(sl);
 SrV=digitalRead(sr);
 if(SrV==LOW && SlV== LOW)
 {
  ForWard();
   }
 if(SrV==HIGH && SlV== LOW)
 {
  Left();
   }
 if(SrV==LOW && SlV== HIGH)
 { 
 Right();
  }
    if(SrV==HIGH && SlV== HIGH)
 {
  sTOP();
   }
}
void ForWard()
 {
  digitalWrite(lm1,HIGH);
  digitalWrite(lm2,LOW);
  digitalWrite(rm1,HIGH);
  digitalWrite(rm2,LOW);
 } 
 void BackWard()
 {
  digitalWrite(lm1,LOW);
  digitalWrite(lm2,HIGH);
  digitalWrite(rm1,LOW);
  digitalWrite(rm2,HIGH);
 }
 void Left()
 {
  digitalWrite(lm1,LOW);
  digitalWrite(lm2,HIGH);
  digitalWrite(rm1,HIGH);
  digitalWrite(rm2,LOW);
 } 
 void Right()
 {
  digitalWrite(lm1,HIGH);
  digitalWrite(lm2,LOW);
  digitalWrite(rm1,LOW);
  digitalWrite(rm2,HIGH);
 }  
   void sTOP()
 {
  digitalWrite(lm1,LOW);
  digitalWrite(lm2,LOW);
  digitalWrite(rm1,LOW);
  digitalWrite(rm2,LOW);
 }

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