n.c.

COLLEGE OF ENGINEERING

PROJECT REPORT
ON
line follower using ATMEL 89c2051
microcontroller









Submitted to : Submitted by :
SAHIL(1511249)
MANNU(1511171)

I hereby certify that the minor project entitle line follower using
ATMEL 89C2051 microcontroller which is being submitted in the
department of electronics anf communication engineering at
Amritsar college of engineering & technology by using a partial
fulfillment for the award of degree of bachelor of technology in
electronics and communication engineering is a record of my own
work carried out under the guidance and supervision of Dr. tanu
preet singh prof. &HOD(ECE)
SAHIL(1511249)
MANNU(1511171)

CONTENT
1. Introduction to PCB
2. Soldering
3. Introduction to line follower
4. Circuit diagram of line follower
5. ATMEL 80C51 microcontroller
6. 2*wheel
7. 2* IR sensors
8. Castor (wheel for support)
9. Chassis
10. 2* DC motor
11. 7V-8V lithium ion battery
12. Software detail

PCB: Stands for "Printed Circuit Board." A PCB is a thin
board made of fiberglass, composite epoxy, or other
laminate material. Conductive pathways are etched or
"printed" onto board, connecting different components on
the PCB, such as transistors, resistors, and integrated circuit.
Printed circuit boards are used in all but the simplest
electronic products.


PCB DESIGNING
The apparatus needs to make a PCB is :
copper clad sheet
Nail polish and paint
Plastic tray
Tap water etc



SOLDERING
Soldering is a process in which two or more metal items are joined
together by melting and flowing a filler metal (solder) into the joint, the
filler metal having a lower melting point than the adjoining metal.
Soldering differs from welding in that soldering does not involve melting
the work pieces. In brazing, the filler metal melts at a higher temperature,
but the work piece metal does not melt. In the past, nearly all solders
contained lead, but environmental concerns have increasingly dictated use
of lead-free alloys for electronics and plumbing purposes.
Applications
Soldering is used in plumbing, electronics, and metalwork from flashing to
jewellery.
Soldering provides reasonably permanent but reversible connections
between copper pipes in plumbing systems as well as joints in sheet metal
objects such as automobile radiators.


Introduction to Line follower








A line follower is basically a machine designed to follow a path predetermined by the
user. The path maybe as simple as a straight or a curved line or it maybe as complex
as a 90 degree turn and junction counting capabilities. In our semester project, we will
concentrate on simple tasks.
Line follower robot can detect bright light using specific sensors, and define its motion
accordingly. Line follower senses the line using its sensors and maneuvers the
mechanical structure to stay on course while constantly correcting wrong moves.
The correct positioning of the sensors presents a feasible controlling strategy for
complex as well as simple tasks. A robot will know when to turn depending on the
location of the sensors. Number of sensors determines the smooth movement of the
robot. Optimum distance between the sensors depends on number of sensors, width
of straight line and the logic applied

Basic principle
The basic principle involved in this is it captures the line position with
IR sensors mounted at front end of the robot. Below is the block
diagram of the line follower robot, when the sensor sense the path,
analog signal is given to the op-amp to produce 0s and 1s which are then
fed to the microcontroller, then the microcontroller decides the next move
according to the program. When both the sensors are indicating low (0)
then robot start moving on the black path, for white if it indicates high (1)
then it moves along the path. Microcontroller and driver circuit are used
for the control of motors.


BLOCK DIAGRAM

In the line follower we have used 2 pairs of IR sensor.IR reflective sensor have
one emitter and one receiver .thus we get variation of voltage that is
sensed by comparator IC(L293D) .This gives logical high and low according
to input.
Comparator is a device which compare two input voltage and gives output
high/low
L239D is a bipolar moto device IC. This is a motor driver IC
that can drive two motor simultaneously. L293D IC is a dual H-bridge
motor driver IC. One H-bridge is capable to drive a dc motor in
bidirectional. L293D IC is a current enhancing IC as the output from the
sensor is not able to drive motors itself so L293D is used for this purpose.
L293D is a 16 pin IC having two enables pins which should always be
remain high to enable both the H-bridges. L293B is another IC of L293
series having


Circuit diagram of
line follower
Programming detail
ORG 000H // origin
MOV P1,#00000011B // sets port 1 as input port
MOV P0,#00000000B // sets port 0 as output port
BACK: MOV P0,#00000011B // starts both motors
JB P1.0, LABEL1 // branches to LABEL1 if left sensor is ON
CLR P0.0 // stops left motor
SETB P0.1 // runs right motor
ACALL WAIT1 // calls WAIT1 subroutine
SJMP BACK // jumps back to the BACK loop
LABEL1: JB P1.1, LABEL2 // branches to LABEL2 if right sensor is ON
SETB P0.0 // runs left motor
CLR P0.1 // stops right motor
ACALL WAIT2 // calls WAIT2 subroutine
SJMP BACK // jumps back to the BACK loop
LABEL2: SJMP BACK // jumps back to the BACK loop
WAIT1:JNB P1.0,WAIT1 // waits until robot is back from rightward deviation
RET // returns from WAIT1 subroutine
WAIT2:JNB P1.1,WAIT2 // waits until robot is back from leftward deviation
RET // returns from WAIT2 subroutine
END // end statement
ATMEL 80C51
MICROCONTROLLER
80C51 microcontrollers, featuring up to 32-Kbyte FLASH memory with a highly flexible In-system
Programming (ISP) capability. The program can be loaded or updated without removing the
device from the board, providing a significant flexibility to system designers. 8051
microcontrollers use two different kinds of memory such as UV- EPROM, Flash and NV-RAM.
Hence 8051 will not be seen in the part number even though it is the most popular member of
the 8051 family.

Some of the features that have made the 8051 popular are:
4 KB on chip program memory.
128 bytes on chip data memory(RAM).
4 reg banks.
128 user defined software flags.
8-bit data bus
16-bit address bus
32 general purpose registers each of 8 bits
16 bit timers (usually 2, but may have more, or less).
3 internal and 2 external interrupts.




Pin diagram & description of
8051



PIN 9: PIN 9 is the reset pin which is used to reset the microcontrollers internal registers
and ports upon starting up. (Pin should be held high for 2 machine cycles.)

PINS 18 & 19: The 8051 has a built-in oscillator amplifier hence we need to only connect a
crystal at these pins to provide clock pulses to the circuit.

PIN 40 and 20: Pins 40 and 20 are VCC and ground respectively. The 8051 chip needs +5V
500mA to function properly, although there are lower powered versions like the Atmel
2051 which is a scaled down version of the 8051 which runs on +3V.



PINS 29, 30 & 31: As described in the features of the 8051, this chip contains a built-in
flash memory. In order to program this we need to supply a voltage of +12V at pin 31. If
external memory is connected then PIN 31, also called EA/VPP, should be connected to
ground to indicate the presence of external memory. PIN 30 is called ALE (address latch
enable), which is used when multiple memory chips are connected to the controller
.PIN 29 is called PSEN. This is "program store enable". In order to use the external
memory it is required to provide the low voltage (0) on both PSEN and EA pins.












There are 4( 8-bit) ports: P0, P1, P2 and P3.
PORT P1 (Pins 1 to 8): The port P1 is a general purpose input/output port which can
be used for a variety of interfacing tasks. The other ports P0, P2 and P3 have dual roles
or additional functions associated with them based upon the context of their
usage.The port 1 output buffers can sink/source four TTL inputs. When 1s are written
to portn1 pins are pulled high by the internal pull-ups and can be used as inputs.


PORT P3 (Pins 10 to 17): PORT P3 acts as a normal IO port, but Port P3 has
additional functions such as, serial transmit and receive pins, 2 external interrupt
pins, 2 external counter inputs, read and write pins for memory access
PORT P2 (pins 21 to 28): PORT P2 can also be used as a general purpose 8 bit port
when no external memory is present, but if external memory access is required
then PORT P2 will act as an address bus in conjunction with PORT P0 to access
external memory. PORT P2 acts as A8-A15, as can be seen from fig 1.1


PORT P0 (pins 32 to 39) PORT P0 can be used as a general purpose 8 bit port
when no external memory is present, but if external memory access is required
then PORT P0 acts as a multiplexed address and data bus that can be used to
access external memory in conjunction with PORT P2.


Motor driver IC L293d
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC
motors can be driven simultaneously, both in forward and reverse direction. The motor
operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input
logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and
anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start
operating. When an enable input is high, the associated driver gets enabled. As a result, the
outputs become active and work in phase with their inputs. Similarly, when the enable input is
low, that driver is disabled, and their outputs are off and in the high-impedance state.



PINS FUNTIONS OF L293D
DC MOTOR




















A DC motor relies on the fact that like magnet poles repel and unlike magnetic poles
attract each other. A coil of wire with a current running through it generates
an electromagnetic field aligned with the center of the coil. By switching the current
on or off in a coil its magnetic field can be switched on or off or by switching the
direction of the current in the coil the direction of the generated magnetic field can be
switched 180. A simple DC motor typically has a stationary set of magnets in
the stator and anarmature with a series of two or more windings of wire wrapped in
insulated stack slots around iron pole pieces (called stack teeth) with the ends of the
wires terminating on a commutator. The armature includes the mounting bearings
that keep it in the center of the motor and the power shaft of the motor and the
commutator connections. The winding in the armature continues to loop all the way
around the armature and uses either single or parallel conductors (wires), and can
circle several times around the stack teeth. The total amount of current sent to the
coil, the coil's size and what it's wrapped around dictate the strength of the
electromagnetic field created. The sequence of turning a particular coil on or off
dictates what direction the effective electromagnetic fields are pointed. By turning on
and off coils in sequence a rotating magnetic field can be created. These rotating
magnetic fields interact with the magnetic fields of the magnets (permanent
or electromagnets) in the stationary part of the motor (stator) to create a force on the
armature which causes it to rotate. In some DC motor designs the stator fields use
electromagnets to create their magnetic fields which allow greater control over the
motor. At high power levels, DC motors are almost always cooled using forced air.


IR SENSOR
IR reflective sensors have one emitter (IR LED) and one receiver (Phototransistor or
photo diode. If we have white surface it reflects the light and it will sensed by the
receiver, similarly if we have black surface it absorbs the light and receiver can not
sense light.
Photo diode has property that if IR light fall on it its electrical resistance comes down
(i.e. it comes down from 150k to 10k if no noise present).


Types of Infra-Red Sensors
Thermal infrared sensors These use infrared energy as heat. Their photo
sensitivity is independent of wavelength. Thermal detectors do not require
cooling; however, they have slow response times and low detection capability.
Quantum infrared sensors These provide higher detection performance and
faster response speed. Their photo sensitivity is dependent on wavelength.
Quantum detectors have to be cooled so as to obtain accurate measurements.
The only exception is for detectors that are used in the near infrared region.


Comparator
Comparator is a device which compares two input voltages and
gives output high/low. In circuit diagram it is normally
represented by a triangle having- Inverting (negative) Input (-
),Non Inverting (positive) Input(+), Vcc, Ground, Output.

Use of comparator in IR sensor
As above we see that two inputs are required for comparator.
One input is from photo-receiver (like photo-diode), other is
generated by us using potentiometer. The second voltage is
also called as reference voltage for that sensor.

LM358
The LM358 is a great, easy-to-use dual-channel opamp. LM358
applications include transducer amplifiers, DC gain blocks and all the
conventional opamp circuits.
Caster wheel
A Caster wheel is an undriven, single wheel that is designed to be
mounted to the bottom of a larger object so as to enable that object to be
easily moved. They are available in various sizes, and are commonly made
of rubber, plastic, nylon, aluminum, or stainless steel, etc.


chassis
Chassis is the base frame of a car, carriage, or other wheeled vehicle. The
rectangular, usually steel frame that holds the body and motor of an
automotive vehicle.


Software used

The program code acts as the decision-maker embedded in the
microcontroller i.e. it decides what will be the outputs for particular set of
input combination. Programs for the AT89S52 series of microcontrollers can
be written in assembly (ASM) and C. Keil, Flash magic etc. are some free
development softwares for programming the AT89S52 Microcontrollers. We
are using KEIL for programming. In KEIL we write our C code, after compilation
it generates .hex file that is hardware level code.


KEIL UVISION
Keil C51 is the industry-standard tool chain for all 8051-compatible devices,
it supports classic 8051, Dallas 390, NXP MX, extended 8051 variants, and
C251 devices. The Vision IDE/Debugger integrates complete device
simulation, interfaces too many target debug adapters, and provides
various monitor debug solutions.


Code for line follower
#include<reg51.h>
sbit sensor1=P1^0;
sbit sensor2=P1^1;
sbit motor1=P0^0;
sbit motor2=P0^1;
void main()
{
sensor1=sensor2=0;
motor1=motor2=0;
while(1)
{
if((sensor1==1)&&(sensor2==0))
{
motor1=1;

motor2=0;
}
else if((sensor1==0)&&(sensor2==1))
{
motor1=0;
motor2=1;
}
else if((sensor1==0)&&(sensor2==0))
{
motor1=0;
motor2=0;
}
else if((sensor1==1)&&(sensor2==1))
{
motor1=1;
motor2=1;
}
}
IC 7805
IC 7805 is a 5V Voltage Regulator that restricts the voltage output to 5V and
draws 5V regulated power supply