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Line Follower Code

The document outlines a program for controlling a robot's movement using sensors and motors. It includes functions for moving forward, turning left, and turning right based on sensor inputs. The main loop continuously checks the sensor states to determine the appropriate motor actions.

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jp8rock
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88 views3 pages

Line Follower Code

The document outlines a program for controlling a robot's movement using sensors and motors. It includes functions for moving forward, turning left, and turning right based on sensor inputs. The main loop continuously checks the sensor states to determine the appropriate motor actions.

Uploaded by

jp8rock
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include

/*
Sensors input port - P1
P1_0 --------> Left sensor
P1_4 --------> Right sensor
Motors output port - P0
P0_0 --------> Enable pin of the left half of the H-bridge
P0_1 --------> will drive the left motor in forward direction
P0_2 --------> will drive the left motor in reverse direction
P0_3 --------> will drive the right motor in forward direction
P0_4 --------> Enable pin of the right half of the H-bridge
P0_5 --------> will drive the right motor in reverse direction
*/
/*Delay function runs an idle loop to create a time delay. If the crystal used i
s of 11.0592 MHz then the argument passed in delay is in 'milliseconds'.*/
void Delay(unsigned int itime)
{
unsigned int i,j;
for(i=0;i< span=""><>
for(j=0;j<1275;j++);>//Idle loop
}
void Forward()
{
P0_1=1;
P0_2=0;
P0_3=1;
P0_5=0;
}
/*Generally for turning we use a pulsated wave so the bOt doesn t get out of contr
ol i.e. we run the motor for sometime then again stop it and this is done very q
uickly to create an effective pulse. See the function below.*/
void TurnLeft()
{
P0_1=0; /*Left motor is not running in any direction.*/
P0_2=0;
P0_3=1; /*Right motor is running in forward direction. bOt will eventually turn
left*/
P0_5=0;
Delay(50); /* Wait for 50 ms*/
P0_1=0; /*Motors are not running*/
P0_2=0;
P0_3=0;
P0_5=0;
Delay(50); /*Delay of another 50 ms*/
}
/*So in the above program we have effectively created a pulse of 100ms which is
on for 50ms and off for another 50ms. You can change this value to suit your nee
ds*/
/*Similarly we can write a function to turn right*/
void TurnRight()
{
P0_1=1; /*Left motor running in forward direction.*/
P0_2=0;
P0_3=0; /*Right motor is not running.*/
P0_5=0;
Delay(50); /*50ms time delay*/
P0_1=0; /*Motors not running in any direction*/
P0_2=0;
P0_3=0;
P0_5=0;
Delay(50); /*50ms time delay*/
}
void main()
{
/* The pins which are receiving inputs from the sensors should be initially set
to logic 1.*/
P1_0=1; /*Left sensor input*/
P1_4=1; /*Right sensor input*/
//main loop of the program
while(1)
{
if((P1_0==0)&&(P1_4==1))
TurnRight();
else if((P1_0==1)&&(P1_4==0))
TurnLeft();
else
Forward();
}
}

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