Amazing Open Source Raspberry Pi Pico 2 Synth, Cutting Edge Power over Skin Research, and much more!

0:00:00 / -

Watch now on YouTube Watch now

Line Following Robot

Made by alya-batrisya / Robotics

About the project

Project info

Difficulty: Moderate

Platforms: Arduino

Estimated time: 7 days

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

	ARDUINO NANO V3	x 1
	DRV3245Q-Q1 Automotive 3-Phase Motor Gate Driver Evaluation Module	x 1
	DC Gear Motor 12V 100RPM	x 1
	Reflective Infrared IR Optical Sensor with 470 and 10K Resistors	x 1
	WIRE JUMPER MALE TO MALE 15CM 10PK	x 1
	WIRE JUMPER MALE TO FEMALE 15CM 10PK	x 1
	Half-size Breadboard	x 1
	Two Wheels Balance Car Chassis with JGA25 Motor Kit	x 1
	swivel wheel	x 1
	Robot car Kit- RC Smart Car Chassis	x 1

View all

Software apps and online services

arduino IDE

Hand tools and fabrication machines

screw and nuts

x 1

Story

Our 2WD smart line following robot is a mobile machine that can detect and follow lines drawn on the ground. Usually, the path is predefined and can be displayed as a black line on a white surface with a high-contrast color, or it can be invisible as a magnetic field. Of course, this type of robot should use an infrared (IR) sensor installed under the robot to detect the line. After that, the data is transferred to the processor through a specific conversion bus. So, the processor will decide the appropriate compliments and then send them to the controller, so the line following robot will follow the route. In this project, we walk through the 2WD Smart Robot Car design, implementation, and testing process.

Schematics, diagrams and documents

Code

// Black Line Follower 
int IR1=A0;      //Right sensor
int IR2=A2;    //left Sensor
// motor one
int enA = 5;    //Right motor
int MotorAip1=2;
int MotorAip2=4;
// motor two
int enB = 6;    //Left motor
int MotorBip1=7;
int MotorBip2=8;
void setup() 
{
  // put your setup code here, to run once:
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(IR1,INPUT);
  pinMode(IR2,INPUT);
  pinMode(MotorAip1,OUTPUT);
  pinMode(MotorAip2,OUTPUT);
  pinMode(MotorBip1,OUTPUT);
  pinMode(MotorBip2,OUTPUT);
}
void loop() 
{
   if(digitalRead(IR1)==HIGH && digitalRead(IR2)==HIGH) //IR will not glow on black line
  {
    //Stop both Motors
    //IR = HIGH > NOT DETECT 
    digitalWrite(MotorAip1,LOW);
    digitalWrite(MotorAip2,LOW);
    digitalWrite(MotorBip1,LOW);
    digitalWrite(MotorBip2,LOW);
   analogWrite (enA, 0);
   analogWrite (enB, 0);
  }

  else if(digitalRead(IR1)==LOW && digitalRead(IR2)==LOW)  //IR not on black line
  {
    //Move both the Motors
    digitalWrite(MotorAip1,HIGH);
    digitalWrite(MotorAip2,LOW);
    digitalWrite(MotorBip1,HIGH);
    digitalWrite(MotorBip2,LOW);
    analogWrite (enA, 200);
    analogWrite (enB, 200);
  }

  else if(digitalRead(IR1)==LOW && digitalRead(IR2)==HIGH)
  {
    //Tilt robot towards left by stopping the left wheel and moving the right one
    digitalWrite(MotorAip1,HIGH);     
    digitalWrite(MotorAip2,LOW);
    digitalWrite(MotorBip1,LOW);
    digitalWrite(MotorBip2,HIGH);
    analogWrite (enA, 200);
    analogWrite (enB, 150);
   delay(100);
  }

  else if(digitalRead(IR1)==HIGH && digitalRead(IR2)==LOW)
  {
    //Tilt robot towards right by stopping the right wheel and moving the left one
     digitalWrite(MotorAip1,LOW);     // If I want to turn right then the speed of the right wheel should be less than that of the left wheel, here, let a be the right wheel
    digitalWrite(MotorAip2,HIGH);
    digitalWrite(MotorBip1,HIGH);
    digitalWrite(MotorBip2,LOW);
    analogWrite (enA, 150);
   analogWrite (enB, 200);
   delay(100);
  }

  else
  {
    //Stop both the motors
    digitalWrite(MotorAip1,LOW);
    digitalWrite(MotorAip2,LOW);
    digitalWrite(MotorBip1,LOW);
    digitalWrite(MotorBip2,LOW);
    analogWrite (enA, 0);
   analogWrite (enB, 0);
  }
}

Shop

Project Hub

Video

Blog

Shop home

3D printing

Single Board Computers

Development kits

Sensors

Internet of things

Robotics

Accessories

Product of the Week

Electromaker Educator

The Electromaker Show

The Electromaker Podcast

Line Following Robot

About the project

Project info