This is the Line Follower Arduino Bot Code Using IR Sensors
REMEMBER : This code only detects black line with 96% Accuracy and can with achived completly upon the tuning of the IR Sensors based on the bot capability.
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#define IR_SENSOR_RIGHT 11
#define IR_SENSOR_LEFT 12
#define MOTOR_SPEED 180
//Right motor
int enableRightMotor=6;
int rightMotorPin1=7;
int rightMotorPin2=8;
//Left motor
int enableLeftMotor=5;
int leftMotorPin1=9;
int leftMotorPin2=10;
void setup()
{
TCCR0B = TCCR0B & B11111000 | B00000010 ;
// put your setup code here, to run once:
pinMode(enableRightMotor, OUTPUT);
pinMode(rightMotorPin1, OUTPUT);
pinMode(rightMotorPin2, OUTPUT);
pinMode(enableLeftMotor, OUTPUT);
pinMode(leftMotorPin1, OUTPUT);
pinMode(leftMotorPin2, OUTPUT);
pinMode(IR_SENSOR_RIGHT, INPUT);
pinMode(IR_SENSOR_LEFT, INPUT);
rotateMotor(0,0);
}
void loop()
{
int rightIRSensorValue = digitalRead(IR_SENSOR_RIGHT);
int leftIRSensorValue = digitalRead(IR_SENSOR_LEFT);
//If none of the sensors detects black line, then go straight
if (rightIRSensorValue == LOW && leftIRSensorValue == LOW)
{
rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
}
//If right sensor detects black line, then turn right
else if (rightIRSensorValue == HIGH && leftIRSensorValue == LOW )
{
rotateMotor(-MOTOR_SPEED, MOTOR_SPEED);
}
//If left sensor detects black line, then turn left
else if (rightIRSensorValue == LOW && leftIRSensorValue == HIGH )
{
rotateMotor(MOTOR_SPEED, -MOTOR_SPEED);
}
//If both the sensors detect black line, then stop
else
{
rotateMotor(0, 0);
}
}
void rotateMotor(int rightMotorSpeed, int leftMotorSpeed)
{
if (rightMotorSpeed < 0)
{
digitalWrite(rightMotorPin1,LOW);
digitalWrite(rightMotorPin2,HIGH);
}
else if (rightMotorSpeed > 0)
{
digitalWrite(rightMotorPin1,HIGH);
digitalWrite(rightMotorPin2,LOW);
}
else
{
digitalWrite(rightMotorPin1,LOW);
digitalWrite(rightMotorPin2,LOW);
}
if (leftMotorSpeed < 0)
{
digitalWrite(leftMotorPin1,LOW);
digitalWrite(leftMotorPin2,HIGH);
}
else if (leftMotorSpeed > 0)
{
digitalWrite(leftMotorPin1,HIGH);
digitalWrite(leftMotorPin2,LOW);
}
else
{
digitalWrite(leftMotorPin1,LOW);
digitalWrite(leftMotorPin2,LOW);
}
analogWrite(enableRightMotor, abs(rightMotorSpeed));
analogWrite(enableLeftMotor, abs(leftMotorSpeed));
}
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