This document presents a line follower robot project created by two students for their electrical engineering semester project. It includes an introduction to line follower robots, the components used including IR sensors, motors, an Arduino UNO and L293D IC. It then describes the methodology, circuit diagram, coding in Arduino, and concludes with applications for line follower robots and references used.

2. Department of Electrical Engineering, RCST, Lahore
Line Follower Robot
BS Electrical Engineering, Semester Project
Supervisor
Sir Hamza Shahid(Lab Engineer, Riphah International University Lahore)
Co-Supervisors
Sir Hamza Shahid((Lecturer , Riphah International University Lahore)
Presented By:
Muhammad Hammad Aslam
CMS- 401471
Syed Hammad
CMS-401167

3. Introduction
Contents Used
Video
Methodology
Circuit Diagram
Coding ERA
Conclusion / Application
Table Of
Content

4. Introduction
Robot?
Complex series
of action
Machine

5. Black line
Code
Senors
Particular
line
Special
Robot
Line
follower
robot?

6. Components Used
IR proximity sensors (TCRT 5000 module )
Motors
Arduino UNO
L293D IC
LM 7805
Connecting wires
Wheels
Switch
Battery 9V
Battery Connector

7. Video Time

8. Methodology

9. Block Diagram

10. Arduino UNO R3

11. Description

12. Circuit Diagram

13. Left IR Sensor Mid IR Sensor Right IR
Sensor
Motion
0 1 0 Forward
0 0 0 Backward
0 0 1 Right
1 0 0 Left
Motion
Mechanism of
motor
1= HIGH
0 = LOW

14. Coding ERA

15. Coding loops and working of
UNO
Void loop()
Next to explain it
void setup() {
// put your setup code here,
to run once:
pinMode(lSinput, INPUT);
pinMode(mSinput, INPUT);
pinMode(rSinput, INPUT);
pinMode(rMU3, OUTPUT);
pinMode(rMD4, OUTPUT);
pinMode(lMU1, OUTPUT);
pinMode(lMD2, OUTPUT);
}

16. Code Partition of the
Project
First Partition
if (rin==LOW &&(lin== LOW)&&(Min== HIGH) ) // move forward
{
digitalWrite(lMU1, HIGH);
digitalWrite(lMD2, LOW);
digitalWrite(rMU3, HIGH);
digitalWrite(rMD4, LOW);
}

17. Second Partition
if (rin==LOW &&(lin== LOW)&&(Min== LOW) )// move back
{
digitalWrite(lMU1, LOW);
digitalWrite(lMD2, HIGH);
digitalWrite(rMU3, LOW);
digitalWrite(rMD4, HIGH);
}

18. Third Partition
if(rin==HIGH &&(lin== LOW)&&(Min== LOW) )// move RIGHT
{
digitalWrite(lMU1, HIGH);
digitalWrite(lMD2, LOW);
digitalWrite(rMU3, LOW);
digitalWrite(rMD4, LOW);
}

19. Fourth Partition
if(rin==LOW &&(lin==
HIGH)&&(Min== LOW) )// move
LEFT{
digitalWrite(lMU1, LOW);
digitalWrite(lMD2, LOW);
digitalWrite(rMU3, HIGH);
digitalWrite(rMD4, LOW);
}

20. Conclusion
We have concluded that we can make any desired robot by using
microcontroller like in our project, we have used Arduino UNO R3
and given it some particular instructions from the code which you
have seen in our methodology. This project enhance our knowledge
and working skills regarding H-bridge and motor function, and also
motor driving with the help of Arduino and L293D.

21. Applications
 Industrial automated equipment carriers.
 Tour guides in museums and other similar applications.
 Deliver the mail within the office building
 Deliver medications in a hospital.

22. References
https://www.elprocus.com/arduino-basics-and-design/
https://www.elprocus.com/wp-content/uploads/2013/08/Arduino-
Pin-Diagram.jpg
https://www.rakeshmondal.info/L293D-Motor-Driver