Robu - India's Innovative Electronics Community

Karthik wrote: ↑Wed Jan 22, 2025 11:24 am Hi all,

I am building my first robotics project which is a line following robot. I followed your tutorial https://robu.in/how-to-make-a-line-foll ... tion-code/ and understood hot to build the robot.

But i do not have four motors, i have only two BO motors. I made the connections like shown in your circuit diagram. And used a different code because I only have two motors. The code for copied from https://circuitdigest.com/microcontroll ... ower-robot

I am using the BO motors purchased form your website and the motor driver module is L293D. The robot is powered by 9V battery. After uploading the code and pouring on the robot my wheels are turning but not in correct direction. The robot is going in back and then spinning. Please help me

Code: Select all

// Arduino Line Follower Robot Code

#define enA 5//Enable1 L293 Pin enA 
#define in1 6 //Motor1  L293 Pin in1 
#define in2 7 //Motor1  L293 Pin in1 
#define in3 9 //Motor2  L293 Pin in1 
#define in4 10 //Motor2  L293 Pin in1 
#define enB 8 //Enable2 L293 Pin enB 
#define R_S 4//ir sensor Right
#define L_S 2 //ir sensor Left
void setup(){ 
pinMode(R_S, INPUT); 
pinMode(L_S, INPUT); 
pinMode(enA, OUTPUT); 
pinMode(in1, OUTPUT); 
pinMode(in2, OUTPUT); 
pinMode(in3, OUTPUT); 
pinMode(in4, OUTPUT); 
pinMode(enB, OUTPUT);
digitalWrite(enA, HIGH); 
digitalWrite(enB, HIGH); 
delay(1000);
}
void loop(){  
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){forward();}   //if Right Sensor and Left Sensor are at White color then it will call forword function
if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();} //if Right Sensor is Black and Left Sensor is White then it will call turn Right function  
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();}  //if Right Sensor is White and Left Sensor is Black then it will call turn Left function
if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 1)){Stop();} //if Right Sensor and Left Sensor are at Black color then it will call Stop function
}
void forward(){  //forword
digitalWrite(in1, HIGH); //Right Motor forword Pin 
digitalWrite(in2, LOW);  //Right Motor backword Pin 
digitalWrite(in3, LOW);  //Left Motor backword Pin 
digitalWrite(in4, HIGH); //Left Motor forword Pin 
}
void turnRight(){ //turnRight
digitalWrite(in1, LOW);  //Right Motor forword Pin 
digitalWrite(in2, HIGH); //Right Motor backword Pin  
digitalWrite(in3, LOW);  //Left Motor backword Pin 
 digitalWrite(in4, HIGH); //Left Motor forword Pin 
}
void turnLeft(){ //turnLeft
digitalWrite(in1, HIGH); //Right Motor forword Pin 
digitalWrite(in2, LOW);  //Right Motor backword Pin 
digitalWrite(in3, HIGH); //Left Motor backword Pin 
digitalWrite(in4, LOW);  //Left Motor forword Pin 
}
void Stop(){ //stop
digitalWrite(in1, LOW); //Right Motor forword Pin 
digitalWrite(in2, LOW); //Right Motor backword Pin 
digitalWrite(in3, LOW); //Left Motor backword Pin 
digitalWrite(in4, LOW); //Left Motor forword Pin 
}