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Wednesday, August 1, 2012

Line Follower Robot

here is a simple and accurate line follower circuit along with c code for at89c2051
The above circuit is the pair of irled and photo diode to detect the line
CODE

#include


sbit sen1 = P3^1;
sbit sen2 = P3^2;

sbit mot1f = P1^2;
sbit mot2f = P1^3;

sbit en1=P1^0;
sbit en2=P1^1;
void delay_ms(unsigned int);

void main()
  en1=1;
  en2=1;
  while(1)
  {
    
   if(sen1==0&&sen2==0)
   {    
   mot1f = 1;
   mot2f = 1;
   delay_ms(10);
   }
   else if(sen1==1)
   {
   mot1f = 0;
   mot2f = 1;
   delay_ms(100);
   mot1f = 1;
   mot2f = 1;
   delay_ms(10);
    }
   else if(sen2==1)
   {
   mot1f = 1;
   mot2f = 0;
   delay_ms(100);
   mot1f = 1;
   mot2f = 1;
   delay_ms(10);
    } 

   if(sen1==1&&sen2==1)
   { 
   mot1f = 0;
   mot2f = 0;
   delay_ms(100);
   mot1f = 1;
   mot2f = 1;
   delay_ms(10);
   }

   }
}


void delay_ms(unsigned int i)
{
unsigned int j;
while(i-->0)
for(j=0;j<500;j++);
}