Line follower using the pic16f877

[preeste]

hey there....i am looking to build a line follower using the pic16f877.....i plan on using red leds and phototransistors for my sensors and also want to use the whole concept of differential drive for moving my motors using only 2 wheels. can anyone please help me.....i dont know how to start, dont know what components i will need etc....please help.....does anyone have a schematic available for such a project? please help....am desperate.....thanks a lot in advance

[preeste]

oh yeas....i want to also use geared motors, 5 sensors using thered leds and OP505B phototransistors.......furthermore i want to use the L293D h-bridge to control motor....can someone help me with a design for the line follower with all the above requirements......i will be so greatful......please its urgent....like i need it if its possible in the next two days maximum....thanks again

[preeste]

Can someone please help? 4 days and no help!

[The_Big_K]

Originally Posted by preeste

Can someone please help? 4 days and no help!

Replies will take some time. You will have to be bit patient!

-The Big K-

[John Connor]

look this link

http://www.kmitl.ac.th/~kswichit%20/LFrobot/LFrobot.htm

replace the pic for the 16f877

and configure this code in the pic


DEFINE LOADER_USED 1
J VAR BYTE
SYMBOL ENAL = PORTB.0
SYMBOL ENAR = PORTB.1
SYMBOL LAMOT = PORTB.2
SYMBOL LBMOT = PORTB.3
SYMBOL RAMOT = PORTB.4
SYMBOL RBMOT = PORTB.5
RIR0 VAR BYTE
RIR1 VAR BYTE
RIR2 VAR BYTE
RIR3 VAR BYTE
TRISB = 0
ADCON1 = $00
J = 240
INI:
ADCIN 0,RIR0
ADCIN 1,RIR1
ADCIN 2,RIR2
ADCIN 3,RIR3
INICIO:
IF RIR0 > J AND RIR1 > J AND RIR2 > J AND RIR3 > J THEN INI
IF RIR0 <= J AND RIR1 <= J AND RIR2 <= J AND RIR3 <= J THEN INI
IF RIR0 > J AND RIR1 > J AND RIR2 <= J AND RIR3 <= J THEN FORWARD
IF RIR0 > J AND RIR1 > J AND RIR2 > J AND RIR3 > J THEN FORWARD
IF RIR0 > J AND RIR1 <= J AND RIR2 <= J AND RIR3 <= J THEN BACK
IF RIR0 <= J AND RIR1 > J OR RIR2 > J OR RIR3 > J THEN BACK
IF RIR0 > J AND RIR1 > J AND RIR2 > J AND RIR3 <= J THEN LEFT
IF RIR0 <= J AND RIR1 > J AND RIR2 > J AND RIR3 <= J THEN LEFT
IF RIR0 > J AND RIR1 > J AND RIR2 <= J AND RIR3 > J THEN RIGHT
IF RIR0 <= J AND RIR1 > J AND RIR2 <= J AND RIR3 > J THEN RIGHT
IF RIR0 > J AND RIR1 <= J AND RIR2 > J AND RIR3 <= J THEN MAXLEFT
IF RIR0 <= J AND RIR1 <= J AND RIR2 > J AND RIR3 <= J THEN MAXLEFT
IF RIR0 > J AND RIR1 <= J AND RIR2 <= J AND RIR3 > J THEN MAXRIGHT
IF RIR0 <= J AND RIR1 <= J AND RIR2 <= J AND RIR3 > J THEN MAXRIGHT
goto INI
FORWARD:
ENAL = 1
ENAR = 1
LAMOT = 1
LBMOT = 0
RAMOT = 0
RBMOT = 1
GOTO INI

BACK:
ENAL = 1
ENAR = 1
LAMOT = 0
LBMOT = 1
RAMOT = 1
RBMOT = 0
GOTO INI

LEFT:
ENAL = 1
ENAR = 0
LAMOT = 1
LBMOT = 0
RAMOT = 1
RBMOT = 0
GOTO INI

RIGHT:
ENAL = 0
ENAR = 1
LAMOT = 0
LBMOT = 1
RAMOT = 0
RBMOT = 1
GOTO INI

MAXLEFT:
ENAL = 1
ENAR = 1
LAMOT = 1
LBMOT = 0
RAMOT = 1
RBMOT = 0
GOTO INI

MAXRIGHT:
ENAL = 1
ENAR = 1
LAMOT = 0
LBMOT = 1
RAMOT = 0
RBMOT = 1
GOTO INI

END

TAKE CARE

ATT

JOHN CONNOR

[jmn]

I am building a line follower. I use a pic16f877a to read the sensors and to control the motors. To drive the motors I use a l298, line sensors: CNY70, differential drive with tamiya gearbox.

This is the robot if this can help you..
http://www.flickr.com/photos/11711916@N06/

I am testing now the pcb and programming the pic. Tamiya gearbox is a good way to build the differential drive, it is cheap an fast.