งานที่17 Line Follower Robot using PIC Microcontroller

อุปกรณ์

1. PIC16F877A
2. IR Sensor (2Nos)
3. DC Gear Motor (2Nos)
4. L293D Motor Driver
5. Chaises (You can also build your own using cardboards)
6. Power bank (Any available power source)

code

#include <xc.h>

#pragma config FOSC = HS        // Oscillator Selection bits (HS oscillator)
#pragma config WDTE = OFF       // Watchdog Timer Enable bit (WDT disabled)
#pragma config PWRTE = ON       // Power-up Timer Enable bit (PWRT enabled)
#pragma config BOREN = ON       // Brown-out Reset Enable bit (BOR enabled)
#pragma config LVP = OFF        // Low-Voltage (Single-Supply) In-Circuit Serial Programming Enable bit (RB3 is digital I/O, HV on MCLR must be used for programming)
#pragma config CPD = OFF        // Data EEPROM Memory Code Protection bit (Data EEPROM code protection off)
#pragma config WRT = OFF        // Flash Program Memory Write Enable bits (Write protection off; all program memory may be written to by EECON control)
#pragma config CP = OFF         // Flash Program Memory Code Protection bit (Code protection off)

void main()
{
     TRISD2 = 1; TRISD3 = 1; //Bath the IR sensor pins are declared as input
     TRISC4 = 0; TRISC5 = 0; //Motor 1 pins declared as output
     TRISC6 = 0; TRISC7 = 0; //Motor 2 pins declared as output
     
     
     while(1)
         {
         
         if (RD2==1 && RD3==1) //Both sensor not over balck line
         {
         RC4=0; RC5=1; //Motor 1 forward
         RC6=1; RC7=0; //Motor 2 forward
         }
         
         else if (RD2==0 && RD3==1) //Left sensor is over black line
         {
         RC4=1; RC5=1; //Motor 1 stop
         RC6=1; RC7=0; //Motor 2 forward
         } 
         
         else if (RD2==1 && RD3==0) //Right sensor is over black line
         {
         RC4=0; RC5=1; //Motor 1 forward
         RC6=1; RC7=1; //Motor 2 stop
         } 
         
         else //Both Sensor over black line
         {
         RC4=1; RC5=1; //Motor 1 stop
         RC6=1; RC7=1; //Motor 2 stop 
         }
         
         }
}

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