Line-Following-Robot

Description:

This code is for a line-following robot, designed to navigate a path marked by a contrasting line on a surface. The robot utilizes infrared sensors to detect the line and adjust its movement accordingly. It includes functions for moving forward, turning left, turning right, and stopping based on sensor readings.

Hardware Configuration:

• Infrared (IR) Sensors:

  • Left Sensor Pin: A1
  • Right Sensor Pin: A0

• Motor Control Pins:

  • Enable A Pin (ENA_PIN): 5
  • Enable B Pin (ENB_PIN): 3
  • Motor Left Pin 1 (MOTOR_LEFT_PIN1): 11
  • Motor Left Pin 2 (MOTOR_LEFT_PIN2): 10
  • Motor Right Pin 1 (MOTOR_RIGHT_PIN1): 9
  • Motor Right Pin 2 (MOTOR_RIGHT_PIN2): 8

Code Explanation:

Setup:

• Motor Control Pins Setup:

  • Configures the motor control pins as OUTPUT to control the motor direction.

• IR Sensor Pins Setup:

  • Configures the IR sensor pins as INPUT to read the sensor values.

• Serial Communication Initialization:

  • Initializes serial communication with a baud rate of 9600 for debugging purposes.

Loop:

• Read Sensor Values:

  • Reads the values of the left and right IR sensors.

• Debugging Output:

  • Prints the sensor values to the serial monitor for debugging.

• Decision Making:

  • Determines motor actions based on the sensor readings:
    • If both sensors detect the line (LOW), the robot moves forward.
    • If only the left sensor detects the line, the robot turns left.
    • If only the right sensor detects the line, the robot turns right.
    • If both sensors lose track of the line (HIGH), the robot stops.

Functions:

• moveForward():

  • Sets motor directions for forward motion and adjusts motor speeds accordingly.

• turnLeft():

  • Sets motor directions for left turn and adjusts motor speeds accordingly.

• turnRight():

  • Sets motor directions for right turn and adjusts motor speeds accordingly.

• stopMotors():

  • Stops the motors by setting the motor speed to 0.

Usage:

1. Connect the hardware components according to the specified pin configuration.
2. Upload the code to the microcontroller.
3. Place the robot on a surface with a contrasting line to follow.
4. Observe the robot's movement as it follows the line based on the sensor readings.

Note:

• Adjust the Forward_Speed and Turn_Speed variables to fine-tune the robot's movement speed and turning capability.

Author:

This code was written by Awais Asghar for educational purposes.