Line Following Robot

Build your own line following robot (line follower) step by step easily by following this tutorial

Jun 8, 2020

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248624 views

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37 respects

line following robot

robot

line follower

Components and supplies

Arduino UNO

DC Motor, 12 V

Dual H-Bridge motor drivers L298

Battery Holder, 18650 x 2

Tools and machines

Soldering iron (generic)

Plier, Cutting

Mastech MS8217 Autorange Digital Multimeter

Multitool, Screwdriver

Drill / Driver, Cordless

Project description

Code

Arduino Sketch

arduino

1int mr1=8;  //motor right 1
2int mr2=9;  //motor right 2
3int ml1=10;   //motor left 1
4int ml2=11; //motor left 2
5int sr=6;   //sensor right
6int   sl=7;   //sensor left
7int svr=0;
8int svl=0;
9int led=13;
10int enr=3; 
11int   enl=5;
12
13int vspeed=100;    
14int tspeed=255;
15int tdelay=20;
16
17void   setup()
18{
19 pinMode(mr1,OUTPUT);
20 pinMode(mr2,OUTPUT);
21 pinMode(ml1,OUTPUT);
22   pinMode(ml2,OUTPUT);
23 pinMode(led,OUTPUT);
24 pinMode(sr,INPUT);
25 pinMode(sl,INPUT);
26   
27 delay(5000);
28}
29
30void loop()
31{
32 svr=digitalRead(sr);
33 svl=digitalRead(sl);
34   
35  if(svl==LOW && svr==LOW)
36  {
37  forward(); //maju
38  }
39
40  if(svl==HIGH   && svr==LOW)
41  {
42  left(); //belok kiri
43  }
44 
45  if(svl==LOW && svr==HIGH)
46   { 
47  right(); //belok kanan
48  }
49  
50  if(svl==HIGH && svr==HIGH)
51   {
52  stop(); //berhenti
53  }
54}
55
56void forward()
57 {
58  digitalWrite(mr1,HIGH);
59   digitalWrite(mr2,LOW);
60  digitalWrite(ml1,HIGH);
61  digitalWrite(ml2,LOW);
62   analogWrite (enr,vspeed);
63  analogWrite (enl,vspeed);
64 } 
65
66void backward()
67   {
68  digitalWrite(mr1,LOW);
69  digitalWrite(mr2,HIGH);
70  digitalWrite(ml1,LOW);
71   digitalWrite(ml2,HIGH);
72  analogWrite (enr,vspeed);
73  analogWrite (enl,vspeed);
74   }
75
76void right()
77 {
78  digitalWrite(mr1,LOW);
79  digitalWrite(mr2,HIGH);
80   digitalWrite(ml1,HIGH);
81  digitalWrite(ml2,LOW);
82  analogWrite (enr,tspeed);
83   analogWrite (enl,tspeed);
84  delay(tdelay);
85 } 
86
87void left()
88 {
89   digitalWrite(mr1,HIGH);
90  digitalWrite(mr2,LOW);
91  digitalWrite(ml1,LOW);
92   digitalWrite(ml2,HIGH);
93  analogWrite (enr,tspeed);
94  analogWrite (enl,tspeed);
95   delay(tdelay);
96}  
97
98void stop()
99 {
100  analogWrite (enr,0);
101  analogWrite   (enl,0);
102 }

int mr1=8;  //motor right 1
int mr2=9;  //motor right 2
int ml1=10;   //motor left 1
int ml2=11; //motor left 2
int sr=6;   //sensor right
int   sl=7;   //sensor left
int svr=0;
int svl=0;
int led=13;
int enr=3; 
int   enl=5;

int vspeed=100;    
int tspeed=255;
int tdelay=20;

void   setup()
{
 pinMode(mr1,OUTPUT);
 pinMode(mr2,OUTPUT);
 pinMode(ml1,OUTPUT);
   pinMode(ml2,OUTPUT);
 pinMode(led,OUTPUT);
 pinMode(sr,INPUT);
 pinMode(sl,INPUT);
   
 delay(5000);
}

void loop()
{
 svr=digitalRead(sr);
 svl=digitalRead(sl);
   
  if(svl==LOW && svr==LOW)
  {
  forward(); //maju
  }

  if(svl==HIGH   && svr==LOW)
  {
  left(); //belok kiri
  }
 
  if(svl==LOW && svr==HIGH)
   { 
  right(); //belok kanan
  }
  
  if(svl==HIGH && svr==HIGH)
   {
  stop(); //berhenti
  }
}

void forward()
 {
  digitalWrite(mr1,HIGH);
   digitalWrite(mr2,LOW);
  digitalWrite(ml1,HIGH);
  digitalWrite(ml2,LOW);
   analogWrite (enr,vspeed);
  analogWrite (enl,vspeed);
 } 

void backward()
   {
  digitalWrite(mr1,LOW);
  digitalWrite(mr2,HIGH);
  digitalWrite(ml1,LOW);
   digitalWrite(ml2,HIGH);
  analogWrite (enr,vspeed);
  analogWrite (enl,vspeed);
   }

void right()
 {
  digitalWrite(mr1,LOW);
  digitalWrite(mr2,HIGH);
   digitalWrite(ml1,HIGH);
  digitalWrite(ml2,LOW);
  analogWrite (enr,tspeed);
   analogWrite (enl,tspeed);
  delay(tdelay);
 } 

void left()
 {
   digitalWrite(mr1,HIGH);
  digitalWrite(mr2,LOW);
  digitalWrite(ml1,LOW);
   digitalWrite(ml2,HIGH);
  analogWrite (enr,tspeed);
  analogWrite (enl,tspeed);
   delay(tdelay);
}  

void stop()
 {
  analogWrite (enr,0);
  analogWrite   (enl,0);
 }

Arduino Sketch

arduino

1int mr1=8;  //motor right 1
2int mr2=9;  //motor right 2
3int ml1=10;  //motor left 1
4int ml2=11; //motor left 2
5int sr=6;   //sensor right
6int  sl=7;   //sensor left
7int svr=0;
8int svl=0;
9int led=13;
10int enr=3; 
11int  enl=5;
12
13int vspeed=100;    
14int tspeed=255;
15int tdelay=20;
16
17void  setup()
18{
19 pinMode(mr1,OUTPUT);
20 pinMode(mr2,OUTPUT);
21 pinMode(ml1,OUTPUT);
22  pinMode(ml2,OUTPUT);
23 pinMode(led,OUTPUT);
24 pinMode(sr,INPUT);
25 pinMode(sl,INPUT);
26  
27 delay(5000);
28}
29
30void loop()
31{
32 svr=digitalRead(sr);
33 svl=digitalRead(sl);
34  
35  if(svl==LOW && svr==LOW)
36  {
37  forward(); //maju
38  }
39
40  if(svl==HIGH  && svr==LOW)
41  {
42  left(); //belok kiri
43  }
44 
45  if(svl==LOW && svr==HIGH)
46  { 
47  right(); //belok kanan
48  }
49  
50  if(svl==HIGH && svr==HIGH)
51  {
52  stop(); //berhenti
53  }
54}
55
56void forward()
57 {
58  digitalWrite(mr1,HIGH);
59  digitalWrite(mr2,LOW);
60  digitalWrite(ml1,HIGH);
61  digitalWrite(ml2,LOW);
62  analogWrite (enr,vspeed);
63  analogWrite (enl,vspeed);
64 } 
65
66void backward()
67  {
68  digitalWrite(mr1,LOW);
69  digitalWrite(mr2,HIGH);
70  digitalWrite(ml1,LOW);
71  digitalWrite(ml2,HIGH);
72  analogWrite (enr,vspeed);
73  analogWrite (enl,vspeed);
74  }
75
76void right()
77 {
78  digitalWrite(mr1,LOW);
79  digitalWrite(mr2,HIGH);
80  digitalWrite(ml1,HIGH);
81  digitalWrite(ml2,LOW);
82  analogWrite (enr,tspeed);
83  analogWrite (enl,tspeed);
84  delay(tdelay);
85 } 
86
87void left()
88 {
89  digitalWrite(mr1,HIGH);
90  digitalWrite(mr2,LOW);
91  digitalWrite(ml1,LOW);
92  digitalWrite(ml2,HIGH);
93  analogWrite (enr,tspeed);
94  analogWrite (enl,tspeed);
95  delay(tdelay);
96}  
97
98void stop()
99 {
100  analogWrite (enr,0);
101  analogWrite  (enl,0);
102 }

int mr1=8;  //motor right 1
int mr2=9;  //motor right 2
int ml1=10;  //motor left 1
int ml2=11; //motor left 2
int sr=6;   //sensor right
int  sl=7;   //sensor left
int svr=0;
int svl=0;
int led=13;
int enr=3; 
int  enl=5;

int vspeed=100;    
int tspeed=255;
int tdelay=20;

void  setup()
{
 pinMode(mr1,OUTPUT);
 pinMode(mr2,OUTPUT);
 pinMode(ml1,OUTPUT);
  pinMode(ml2,OUTPUT);
 pinMode(led,OUTPUT);
 pinMode(sr,INPUT);
 pinMode(sl,INPUT);
  
 delay(5000);
}

void loop()
{
 svr=digitalRead(sr);
 svl=digitalRead(sl);
  
  if(svl==LOW && svr==LOW)
  {
  forward(); //maju
  }

  if(svl==HIGH  && svr==LOW)
  {
  left(); //belok kiri
  }
 
  if(svl==LOW && svr==HIGH)
  { 
  right(); //belok kanan
  }
  
  if(svl==HIGH && svr==HIGH)
  {
  stop(); //berhenti
  }
}

void forward()
 {
  digitalWrite(mr1,HIGH);
  digitalWrite(mr2,LOW);
  digitalWrite(ml1,HIGH);
  digitalWrite(ml2,LOW);
  analogWrite (enr,vspeed);
  analogWrite (enl,vspeed);
 } 

void backward()
  {
  digitalWrite(mr1,LOW);
  digitalWrite(mr2,HIGH);
  digitalWrite(ml1,LOW);
  digitalWrite(ml2,HIGH);
  analogWrite (enr,vspeed);
  analogWrite (enl,vspeed);
  }

void right()
 {
  digitalWrite(mr1,LOW);
  digitalWrite(mr2,HIGH);
  digitalWrite(ml1,HIGH);
  digitalWrite(ml2,LOW);
  analogWrite (enr,tspeed);
  analogWrite (enl,tspeed);
  delay(tdelay);
 } 

void left()
 {
  digitalWrite(mr1,HIGH);
  digitalWrite(mr2,LOW);
  digitalWrite(ml1,LOW);
  digitalWrite(ml2,HIGH);
  analogWrite (enr,tspeed);
  analogWrite (enl,tspeed);
  delay(tdelay);
}  

void stop()
 {
  analogWrite (enr,0);
  analogWrite  (enl,0);
 }

Downloadable files

Schematic

Comments

Only logged in users can leave comments

reedsthegreat12

a month ago

nice

bob-easyeda

5 months ago

Hi, your project is incredible! We’re offering up to $5000 in coupons for fabrication costs via OSHWLab Stars: https://oshwlab.com/activities/spark2023. Plus, we have cool programs to win PCB coupons, like Campus Ambassadors, Video Creators, and Collaboration Sponsorships. Interested in joining? Let’s chat!

edwinjbg

a year ago

could be it configured to use different line colors?

mie_lle

a year ago

Hi, just want to ask how to code for hard left and right using if conditionals in line tracing

Anonymous user

2 years ago

thanks bro its working

jaxondlee

2 years ago

It doesn't need two sensors. You could accomplish the same functionality with only 1.

lightthedreams

2 years ago

hmm... i don't know about this. thanks for your information. will search later

Anonymous user

2 years ago

What if i use 9 V battery ?

lightthedreams

2 years ago

it is possible but must double-check on the dc motor used. because in this project I just use small power dc motor. to just make sure there will no overvoltage and causing burning parts.

Anonymous user

2 years ago

Hi there, thanks for the tutorial. I have a question: What do these lines do? Thanks. I understand the rest of the code, just not these lines. int svr=0; int svl=0; int enr=3; int enl=5;

lightthedreams

2 years ago

int svr=0; // right sensor value int svl=0; // left sensor value int enr=3; // enable right motor (must connected to the PWM pin of the Arduino) int enl=5; // enable left motor (must connected to the PWM pin of the Arduino)

Anonymous user

2 years ago

Hi, I'm Eddie... I followed your steps and circuit but it still doesn't work... It's showing sign of detecting the line it's suppose to follow but it doesn't follow it, it just keeps spinning...

Anonymous user

2 years ago

Hi, I am trying to create the same project. I am using same parts, but my robot doesn't go straight even when the line is straight. It sometimes drift to right sometimes to the left and sometimes no drift at all. Any idea why is this happening?

Anonymous user

2 years ago

What’s about if we use 8 sensor set? The coding needs to change or not.

Anonymous user

2 years ago

its genius! if you wanted to you can make it so it at a certain time it will come to you and give you whatever if you build a holder

Anonymous user

3 years ago

thipriest

4 years ago

Hi, I'm Eddie... I followed your steps and circuit but it still doesn't work... It's showing sign of detecting the line it's suppose to follow but it doesn't follow it, it just keeps spinning...

Anonymous user

4 years ago

thanks bro its working

Anonymous user

5 years ago

What’s about if we use 8 sensor set? The coding needs to change or not.

Anonymous user

5 years ago

What if i use 9 V battery ?

lightthedreams

2 years ago

it is possible but must double-check on the dc motor used. because in this project I just use small power dc motor. to just make sure there will no overvoltage and causing burning parts.

Anonymous user

5 years ago

its genius! if you wanted to you can make it so it at a certain time it will come to you and give you whatever if you build a holder

Anonymous user

5 years ago

You could have used some IR sensors. void loop() { drive(); } void drive(void){ bool sensor_right = digitalRead(SENSOR_R_D0); bool sensor_left = digitalRead(SENSOR_L_D0); if (!sensor_right && !sensor_left) goForward(); else if (sensor_right) goRight(); else goLeft(); }

lightthedreams

2 years ago

Thank you

Anonymous user

5 years ago

Hi there, thanks for the tutorial. I have a question: What do these lines do? Thanks. I understand the rest of the code, just not these lines. int svr=0; int svl=0; int enr=3; int enl=5;

lightthedreams

2 years ago

jaxondlee

5 years ago

It doesn't need two sensors. You could accomplish the same functionality with only 1.

lightthedreams

2 years ago

hmm... i don't know about this. thanks for your information. will search later

lightthedreams

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Intro

Components and supplies

Tools and machines

Project description

Code

Downloadable files