Chapter 8.5 - Making a Line Following Robot (LFR) with 8051 Microcontroller on Breadboard - Source Code

Make sure your connections are ok before programming. And yes, there is one more thing which you need to understand. If your motor runs in a different direction then just switch the wires of motors and cross it. Ex: reverse the connection of output1 and output2. Following is the C source code for Making a Line Following Robot (LFR) with 8051 Microcontroller on Breadboard:

	//*******************************************************************
	//www.go8051.com
	//Chapter 8
	//Making a Line Following Robot (LFR) with 8051 Microcontroller on Breadboard
	//Created By go8051.com
	// Open source
	//email : 8051blog@gmail.com
	//*******************************************************************

	#include<reg51.h> // Header file for 8051 microcontroller

	sbit IN1=P3^7; // Defining Port 3.7 as Input1 for motor
	sbit IN2=P3^6; // Defining Port 3.6 as Input2 for motor
	sbit IN3=P3^5; // Defining Port 3.5 as Input3 for motor
	sbit IN4=P3^4; // Defining Port 3.4 as Input4 for motor


	sbit S1=P2^0; // Defining Port 2.0 as Sensor1
	sbit S2=P2^1; // Defining Port 2.1 as Sensor2

	void main()
	{
	IN1=0; // Declare IN1 pin as Output pin
	IN2=0; // Declare IN2 pin as Output pin
	IN3=0; // Declare IN3 pin as Output pin
	IN4=0; // Declare IN4 pin as Output pin

	S1=1; // Declare S1 pin as input pin
	S2=1; // Declare S2 pin as input pin

	while(1) // Infinite while loop
	{
	if(S1==1&&S2==1) // if sensor 1 and sensor 2 are on black line then move forward
	{
	IN1=1; // Set IN1 as 1
	IN2=0; // Set IN2 as 0
	IN3=1; // Set IN3 as 1
	IN4=0; // Set IN4 as 0
	}
	if(S1==0&&S2==1) // if sensor 1 is on white and sensor 2 is on black line then move right
	{
	IN1=0; // Set IN1 as 0
	IN2=1; // Set IN2 as 1
	IN3=1; // Set IN3 as 1
	IN4=0; // Set IN4 as 0
	}
	if(S1==1&&S2==0) // if sensor 1 is on black and sensor 2 is on white line then move left
	{
	IN1=1; // Set IN1 as 1
	IN2=0; // Set IN2 as 0
	IN3=0; // Set IN3 as 0
	IN4=1; // Set IN4 as 1
	}
	if(S1==0&&S2==0) // if sensor 1 is on white and sensor 2 is on white line then stop
	{
	IN1=0; // Set IN1 as 0
	IN2=0; // Set IN2 as 0
	IN3=0; // Set IN3 as 0
	IN4=0; // Set IN4 as 0
	}
	}
	}

view raw Line_Following_Robot_8051.c hosted with ❤ by GitHub

And here is the zip file of the code. Click on the download button, to download the c source code of Making a Line Following Robot (LFR) with 8051 Microcontroller on Breadboard.

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