Line Follower Bot Using Controller

Here ,i m give the code of line follower in assembly language .  we are loaded  this in 89v51rd2 NXP  .

ORG 0000H

SETB P1.6                             ; CONFIG P1.6 AS I/P PIN

MOV C,P1.6                        ; I HAVE CONNECTED A S/W HERE TO START THE ROBOT

JC STOP

MOV P3,#3CH                   ;4 SENSOR INPUTS ARE CONNECTED AT P3.5,P3.4,P3.3 AND P3.2

MOV P1,#00H                    ;CONFIG AS O/P PORT

CLR A

AGAIN: MOV A,P3

ORL  A,#14H                       ; CHECK IF FRONT OR BACK SENSOR ARE ON

JB P3.3,CHECK_LEFT        ; CHECK IF LEFT SIDE SENSOR IS ON

JB P3.5,CHECK_RIGHT    ; CHECK IF RIGHT SIDE SENSOR IS ON

CJNE A,#14H,STOP          ; CHECK IF FRONT ON BACK SENSOR ARE ON

SETB P1.1                             ;ENABLE 2 OF L293D MOTOR DRIVER IC

SETB P1.2                             ;ROTATE RIGHT MOTOR IN CLOCKWISE DIRECTION

SETB P1.3                             ;ROTATE RIGHT MOTOR IN CLOCKWISE DIRECTION

SETB P1.4                             ;ROTATE LEFT MOTOR IN CLOCKWISE DIRECTION

CLR P1.5                               ;ROTATE LEFT MOTOR IN CLOCKWISE DIRECTION

AJMP AGAIN

CHECK_LEFT:

MOV A,P3

ANL A, #08H

CJNE A,#08H,AGAIN       ;RECHECK IF LEFT SIDE SENSOR IS ON

SETB P1.0                             ; ENABLE 1 OF L293D MOTOR DRIVER IC

SETB P1.1                             ;ENABLE 2 OF L293D MOTOR DRIVER IC

SETB P1.2                             ;ROTATE RIGHT MOTOR IN CLOCKWISE DIRECTION

CLR P1.3                               ;ROTATE RIGHT MOTOR IN CLOCKWISE DIRECTION

CLR P1.4                               ;ROTATE LEFT MOTOR IN ANTICLOCKWISE DIRECTION

SETB P1.5                             ;ROTATE LEFT MOTOR IN ANTICLOCKWISE DIRECTION

ACALL DELAY

AJMP AGAIN

CHECK_RIGHT:

MOV A,P3

ANL A, #20H

CJNE A,#20H,AGAIN       ;RECHECK IF LEFT SIDE SENSOR IS ON

SETB P1.0                             ; ENABLE 1 OF L293D MOTOR DRIVER IC

SETB P1.1                             ;ENABLE 2 OF L293D MOTOR DRIVER IC

CLR P1.2                               ;ROTATE RIGHT MOTOR IN ANTICLOCKWISE DIRECTION

SETB P1.3                             ;ROTATE RIGHT MOTOR IN ANTICLOCKWISE DIRECTION

SETB P1.4                             ;ROTATE LEFT MOTOR IN CLOCKWISE DIRECTION

CLR P1.5                               ;ROTATE LEFT MOTOR IN CLOCKWISE DIRECTION

ACALL DELAY

AJMP AGAIN

DELAY:

CLR TF0

MOV R0,#14H

L1: MOV TL0,#00H

MOV TH0, #4CH

CLR TR0

L2: JNB TF0,L2

CLR TR0

CLR TF0

DJNZ R0,L1

RET

STOP:

MOV A,P3

ANL A, #3CH

CJNE A,#00H,AGAIN       ; RE-RCHECK IF ANY SENSOR ON

SETB P1.2                             ; STOP RIGHT MOTOR

SETB P1.3                             ; STOP RIGHT MOTOR

SETB P1.4                             ; STOP LEFT MOTOR

SETB P1.5                             ; STOP LEFT MOTOR

END.

Now  i  m introduced with interfacing of sensor ,their layout  given below ,

Block diagram of 89v51rd2.:

pin diagram :

HERE WE   INTERFACE 6 SENSOR  AND SENSOR DIAGRAM PCB AND SCHMATIC GIVEN BELOW  USING LM358(LOW POWER DUAL OPERATIONAL AMPLIFIERS)

PCB LAYOUT OF LINE FOLLOWER FROM BOTTTOM (SOLDER SIDE) AND UPPER SIDE IS GIVEN IN FIG.

SENSOR PCB LAYOUT OF UPPER SIDE AND SOLDER SIDE (BOTTOM SIDE)