Line Follower Robot

1/*
2Amrendra Sahni (Gargi Memorial Institute Of Technology)
3Guide:  Bipasha Chakrabarti Banik (Assistant Prof. at Gargi Memorial Institute Of Technology)
4*/
5
6#define  LS 2 // left sensor
7#define RS 3 // right sensor
8#define LM1 5 // left motor  M1a
9#define LM2 4 // left motor M2a
10#define RM1 7 // right motor M2a
11#define  RM2 6 // right motor M2b
12void setup()
13{
14pinMode(LS, INPUT);
15pinMode(RS,  INPUT);
16pinMode(LM1, OUTPUT);
17pinMode(LM2, OUTPUT);
18pinMode(RM1, OUTPUT);
19pinMode(RM2,  OUTPUT);
20}
21void loop()
22{
23if(digitalRead(LS) && digitalRead(RS)) // Move  Forward on line
24{
25digitalWrite(LM1, HIGH);
26digitalWrite(LM2, LOW);
27digitalWrite(RM1,  HIGH);
28digitalWrite(RM2, LOW);
29}
30if(digitalRead(LS) && !(digitalRead(RS)))  // turn left by rotationg left motors in forward and right ones in backward direction
31{
32digitalWrite(LM1,  HIGH);
33digitalWrite(LM2, LOW);
34digitalWrite(RM1, LOW);
35digitalWrite(RM2,  HIGH);
36}
37if(!(digitalRead(LS)) && digitalRead(RS)) // Turn right by rotating  right motors in forward and left ones in backward direction
38{
39digitalWrite(LM1,  LOW);
40digitalWrite(LM2, HIGH);
41digitalWrite(RM1, HIGH);
42digitalWrite(RM2,  LOW);
43}
44
45if(!(digitalRead(LS)) && !(digitalRead(RS))) // Finish line, stop  both the motors
46{
47digitalWrite(LM1, LOW);
48digitalWrite(LM2, LOW);
49digitalWrite(RM1,  LOW);
50digitalWrite(RM2, LOW);
51}
52}

1/*
2Amrendra Sahni (Gargi Memorial Institute Of Technology)
3Guide:
4  Bipasha Chakrabarti Banik (Assistant Prof. at Gargi Memorial Institute Of Technology)
5*/
6
7#define
8  LS 2 // left sensor
9#define RS 3 // right sensor
10#define LM1 5 // left motor
11  M1a
12#define LM2 4 // left motor M2a
13#define RM1 7 // right motor M2a
14#define
15  RM2 6 // right motor M2b
16void setup()
17{
18pinMode(LS, INPUT);
19pinMode(RS,
20  INPUT);
21pinMode(LM1, OUTPUT);
22pinMode(LM2, OUTPUT);
23pinMode(RM1, OUTPUT);
24pinMode(RM2,
25  OUTPUT);
26}
27void loop()
28{
29if(digitalRead(LS) && digitalRead(RS)) // Move
30  Forward on line
31{
32digitalWrite(LM1, HIGH);
33digitalWrite(LM2, LOW);
34digitalWrite(RM1,
35  HIGH);
36digitalWrite(RM2, LOW);
37}
38if(digitalRead(LS) && !(digitalRead(RS)))
39  // turn left by rotationg left motors in forward and right ones in backward direction
40{
41digitalWrite(LM1,
42  HIGH);
43digitalWrite(LM2, LOW);
44digitalWrite(RM1, LOW);
45digitalWrite(RM2,
46  HIGH);
47}
48if(!(digitalRead(LS)) && digitalRead(RS)) // Turn right by rotating
49  right motors in forward and left ones in backward direction
50{
51digitalWrite(LM1,
52  LOW);
53digitalWrite(LM2, HIGH);
54digitalWrite(RM1, HIGH);
55digitalWrite(RM2,
56  LOW);
57}
58
59if(!(digitalRead(LS)) && !(digitalRead(RS))) // Finish line, stop
60  both the motors
61{
62digitalWrite(LM1, LOW);
63digitalWrite(LM2, LOW);
64digitalWrite(RM1,
65  LOW);
66digitalWrite(RM2, LOW);
67}
68}