Question

Design line Follower Robotic circuit using 8086 and 82c59 (programmable interrupt controller) with using two dc motor and write code in assembly language(microprocessor instruction)? and explain how this circuit work? With out using Arduino

Answer 1

A Line Follower Robot, as the name suggests, is an automated guided vehicle, which follow a visual line embedded on the floor or ceiling. Usually, the visual line is the path in which the line follower robot goes and it will be a black line on a white surface but the other way (white line on a black surface) is also possible. Certain advanced Line Follower Robots use invisible magnetic field as their paths

IR sensor consists of IR transmitter and IR receiver on a board. When the vehicle is moving on a black line, IR rays are continuously absorbed by the black surface and there is no reflected ray making output high. Whenever, the robot moves out to the white surface, it starts reflecting the IR rays and making the output low. Thus depending on the output of IR sensor microcontroller indicates the motors to change their direction

The circuit consists of 8051 microcontroller, IR Sensors (with IR transmitter and IR Receiver), L298N Motor Driver Module, Robot Chassis with 4 wheels and 4 motors, battery holder.

8051 microcontroller is the main component of the project. It is an 8 bit microcontroller with 32 programmable I/O pins. This has many peripheral features like programmable UART, two 8-bit timer/counter, two interrupts, external memory access etc.

The DC motors of the robot are connected to the controller using a motor driver IC. As the output of the controller is maximum 5V with very small current, it cannot drive the motors. So, to amplify this voltage motor driver IC is used. L298N can drive motors up to 36v and can provide a drive current of 3A.

The driver IC has 15 pins and is usually available in multiwatt15 Package. These ICs are easily available in the market as Modules. The inputs to the Motor Driver Module are connected to PORT2 pins P2.0, P2.1, P2.2 and P2.3.

The two IR sensors are connected to P2.6 and P2.7 pins of the microcontroller. Arrange the chassis and connect the four wheels of the robotic vehicle to the motors which are in turn connected to the microcontroller

#include<reg51.h>
	sbit mot1=P2^0;
	sbit mot2=P2^1;
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	sbit mot4=P2^3;
	sbit s_left=P2^6;
	sbit s_right=P2^7;
	void forward (void);
	void backward (void);
	void left (void);
	void right (void);
	void forward (void)
	{
	mot1=0;
	mot2=1;
	mot3=1;
	mot4=0;
	}
	void backward (void)
	{
	mot1=0;
	mot2=1;
	mot3=0;
	mot4=1;
	}
	void left (void)
	{
	mot1=0;
	mot2=1;
	mot3=0;
	mot4=0;
	}
	void right (void)
	{
	mot1=0;
	mot2=0;
	mot3=1;
	mot4=0;
	}
	void stop (void)
	{
	mot1=0;
	mot2=0;
	mot3=0;
	mot4=0;
	}
	void main()
	{
	s_left=1;
	s_right=1;
	while(1)
	{
	if(s_left==0 && s_right==0)
	{
	forward();
	}
	else if(s_left==1 && s_right==1)
	{
	stop();
	}
	else if(s_left==0 && s_right==1)
	{
	left();
	}
	else if(s_left==1 && s_right==0)
	{
	right();
	}
	}
	}