Arduino Uno R3 Line Follower robot

 Arduino Line Follower robot usingUno R3 

Materials used : 8 array IR LED sensors, relimate conectors,Arduino Uno board,L293D motor driver Circuit. 200 RPM DC motors.

Details : for details for making the line follower using AVR, click here for both code and further details.

SIDE VIEW

TOP VIEW

TOP VIEW

Code : Arduino IDE using software

//to control speed of the robot using the function written within "//".

int rmf=12;
int rmr=13;
int lmf=11;
int lmr=10;

int xxls=2;
int xls=3;
int ls=4;
int cs1=5;
int cs2=6;
int rs=7;
int xrs=8;
int xxrs=9;

//int en1=any pwm pin;
//int en2=any pwm pin;

void setup()
{
  pinMode(rmf,OUTPUT);
  pinMode(rmr,OUTPUT);
  pinMode(lmf,OUTPUT);
  pinMode(lmr,OUTPUT);
  pinMode(xxls,INPUT);
  pinMode(xls,INPUT);
  pinMode(ls,INPUT);
  pinMode(cs1,INPUT);
  pinMode(cs2,INPUT);
  pinMode(rs,INPUT);
  pinMode(xrs,INPUT);
  pinMode(xxrs,INPUT);
  Serial.begin(9600);
//speed ranges from 0 to 255
//0=low
//255=full speed
//analogWrite(en1,255)
//analogWrite(en2,255)

}
void loop()
{
  int sxxls=digitalRead(xxls);
  int sxls=digitalRead(xls);
  int sls=digitalRead(ls);
  int scs1=digitalRead(cs1);
  int scs2=digitalRead(cs2);
  int srs=digitalRead(rs);
  int sxrs=digitalRead(xrs);
  int sxxrs=digitalRead(xxrs);

  Serial.print(sxxls);
  Serial.print(" ");
  Serial.print(sxls);
  Serial.print(" ");
  Serial.print(sls);
  Serial.print(" ");
  Serial.print(scs1);
  Serial.print(" ");
  Serial.print(scs2);
  Serial.print(" ");
  Serial.print(srs);
  Serial.print(" ");
  Serial.print(sxrs);
  Serial.print(" ");
  Serial.print(sxxrs);
  Serial.println(" ");

if(sxxls==LOW && sxls==LOW && sls==LOW && scs1==LOW && scs2==LOW && srs==LOW && sxrs==LOW && sxxrs==LOW)
{
  digitalWrite(lmf,LOW);
  digitalWrite(rmf,LOW);
  delay(10);
}
if(sxxls==HIGH && sxls==HIGH && sls==HIGH && scs1==HIGH && scs2==HIGH && srs==HIGH && sxrs==HIGH && sxxrs==HIGH)
{
  digitalWrite(lmf,HIGH);
  digitalWrite(rmf,HIGH);
  delay(10);
}
if(sxxls==LOW && sxls==LOW && sls==LOW && scs1==HIGH && scs2==HIGH && srs==LOW && sxrs==LOW && sxxrs==LOW)
{
  digitalWrite(lmf,HIGH);
  digitalWrite(rmf,HIGH);
  delay(10);
}
if(sxxls==HIGH || sxls==HIGH && sls==HIGH && scs1==HIGH && scs2==HIGH && srs==LOW && sxrs==LOW && sxxrs==LOW)
{
  digitalWrite(lmf,LOW);
  digitalWrite(rmf,HIGH);
  delay(10);
}
if(sxxls==LOW && sxls==LOW && sls==LOW && scs1==HIGH && scs2==HIGH && srs==HIGH && sxrs==HIGH || sxxrs==HIGH)
 {
  digitalWrite(lmf,HIGH);
  digitalWrite(rmf,LOW);
  delay(10);
}
}

RESULT  :   TESTED & WORKED WELL