Line Follower
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/*code for the simple line follower............in ansi c*/ #include /* Sensors input port - P1 P1_0 --------> Left sensor P1_4 --------> Right sensor Motors output port - P0 P0_0 P0_1 P0_2 P0_3 P0_4 P0_5
--------> --------> --------> --------> --------> -------->
Enable pin will drive will drive will drive Enable pin will drive
of the left half of the H-bridge the left motor in forward direction the left motor in reverse direction the right motor in forward direction of the right half of the H-bridge the right motor in reverse direction
*/ /*Delay function runs an idle loop to create a time delay. If the crystal used is 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
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_0=0; /*Motors not running in any direction*/ P0_2=0; P0_4=0; P0_6=0; Delay(50); /*50ms time delay*/ } void main() { /* The pins which are receiving inputs from the sensors should be intially 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(); } }
--------> --------> --------> --------> --------> -------->
Enable pin will drive will drive will drive Enable pin will drive
of the left half of the H-bridge the left motor in forward direction the left motor in reverse direction the right motor in forward direction of the right half of the H-bridge the right motor in reverse direction
*/ /*Delay function runs an idle loop to create a time delay. If the crystal used is 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
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_0=0; /*Motors not running in any direction*/ P0_2=0; P0_4=0; P0_6=0; Delay(50); /*50ms time delay*/ } void main() { /* The pins which are receiving inputs from the sensors should be intially 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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