How to make a 4-way line tracking sensor module robot using Arduino
Hello guys, welcome back. In this tutorial, we will learn how to make a 4-way line tracking sensor module robot using Arduino. This tutorial will show you how to make a robot step by step at a low cost. Also, an Arduino UNO board and an L298N motor driver board have been used for this project.
This module also belongs to the IR sensor type. Also, the special feature here is that four IR sensors can be connected. This module can be used to identify obstacles as well as black/white. It can also be used to create line-following robots. In this tutorial, this module is used only to identify obstacles. Also, the four sensors connected to this module include four potentiometers to control the sensor distance separately. As with other sensor modules, this requires a 5v potential.
The PIN structure of this 4-way infrared line tracking module.
OK, now let’s make this robot step by step. The required components are as follows.
- Arduino UNO board x 1 — Amazon / Our Store
- 4-way infrared line tracking sensor module — Amazon / Our Store
- L298N motor driver x 1 — Amazon / Our Store
- Gear motor x 2 — Amazon / Our Store
- Robot wheel x 3 — Amazon / Our Store
- Cardboard — Amazon / Banggood
- Jumper wires — Amazon / Our Store
- Phone batteries
Disclosure: These Amazon links are Affiliate links. As an Amazon Associate, I earn from qualifying purchases.
Step 1
Firstly, identify these components.
Arduino UNO board.
4-way infrared line tracking sensor module.
L298N motor driver.
Gear motor x 2.
Robot wheel x 3.
Cardboard.
Jumper wires.
Phone batteries.
Step 2
Secondly, cut a 5 * 3.5-inch piece of cardboard and attach the gear motors to it as follows. For that, use the glue gun.
Step 3
Thirdly, attach the motor drive board and connect the gear motors to it. For that, use the pictures and circuit diagram below.
Step 4
Next, cut a 5 * 1.5-inch piece of cardboard and adjust it to fit the Arduino board. Then, glue it to the base cardboard.
Step 5
Afterward, connect the motor driver board to the Arduino board. For that, use the circuit diagram above. Next, glue the Arduino board.
Step 6
Next, cut a 3 * 1.5-inch piece of cardboard and connect the sensor to the Arduino board through it. Then, glue that cardboard piece to the base cardboard piece.
Step 7
Now cut a 5 * 1.5-inch piece of cardboard and a 3 * 1.5-inch piece of cardboard. Then, glue these pieces of cardboard as follows.
Step 8
Next, cut a 3 * 5-inch piece of cardboard and glue the sensor module to the piece of cardboard. Then, glue this piece of cardboard to the top of the robot.
Step 9
OK, now glue the IR sensors as follows. After, connect these sensors to the module.
Step 10
Next, connect the robot wheels and connect this robot to the computer. For that, use a USB cable.
Step 11
OK, now let’s create a program for this robot. It is as follows.
The complete program of this project – Download
/*obstacle avoiding robot.
created by the SriTu Tech team.
Read the code below and use it for any of your creations.
*/
//motor one
#define ENA 5
#define IN1 2
#define IN2 3
//motor two
#define ENB 6
#define IN3 7
#define IN4 8
//sensor pins
#define SEN1 9
#define SEN2 10
#define SEN3 11
#define SEN4 12
bool S1;
bool S2;
bool S3;
bool S4;
bool start = false;
void setup() {
Serial.begin(9600);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(SEN1, INPUT);
pinMode(SEN2, INPUT);
pinMode(SEN3, INPUT);
pinMode(SEN4, INPUT);
}
void loop() {
S1 = digitalRead(SEN1);//sensor one
S2 = digitalRead(SEN2);//sensor one
S3 = digitalRead(SEN3);//sensor one
S4 = digitalRead(SEN4);//sensor one
if (S2 == 0 && S3 == 0) {
start = true;
}
if (start) {
if (S1 == 1 && S2 == 1 && S3 == 1 && S4 == 1) {
motor(‘F’, 180);
Serial.println(“Forward”);
} else if (S1 == 0 && S2 == 0 && S3 == 0 && S4 == 0) {
motor(‘B’, 180);
Serial.println(“Backward”);
} else if (S4 == 0) {
motor(‘R’, 180);
Serial.println(“TurnRight”);
} else if (S2 == 0) {
motor(‘R’, 180);
Serial.println(“TurnRight”);
} else if (S1 == 0) {
motor(‘L’, 180);
Serial.println(“TurnLeft”);
} else if (S3 == 0) {
motor(‘L’, 180);
Serial.println(“TurnLeft”);
}
}
}
//motor control
void motor(char action, int Speed) {
if (action == ‘F’) {//forward
analogWrite(ENA, Speed);
analogWrite(ENB, Speed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
} else if (action == ‘B’) {//backward
analogWrite(ENA, Speed);
analogWrite(ENB, Speed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
} else if (action == ‘L’) {//turnleft
analogWrite(ENA, Speed);
analogWrite(ENB, Speed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
} else if (action == ‘R’) {//turnright
analogWrite(ENA, Speed);
analogWrite(ENB, Speed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
else if (action == ‘S’) {//stop
analogWrite(ENA, 0);
analogWrite(ENB, 0);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
}
Code explanation
Firstly, the motor driver PINs and sensor module PIns are defined. Afterward, five Boolean variables were created to help the program.
//motor one
#define ENA 5
#define IN1 2
#define IN2 3
//motor two
#define ENB 6
#define IN3 7
#define IN4 8
//sensor pins
#define SIN1 9
#define SIN2 10
#define SIN3 11
#define SIN4 12
bool S1;
bool S2;
bool S3;
bool S4;
bool start = false;
Secondly, in the void setup, the pins connected to the motor driver board are set as OUTPUT pins and the pins connected to the sensor module are set as INPUT pins.
void setup() {
Serial.begin(9600);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(SEN1, INPUT);
pinMode(SEN2, INPUT);
pinMode(SEN3, INPUT);
pinMode(SEN4, INPUT);
}
Thirdly, in the invalid loop, the sensor values are read and put into four boolean variables. After, these values were checked using the IF condition. Then, if the value of all four sensors is 1, the robot will move forward (use your hands for this). Also, if the value of all four sensors is 0, the robot will backward. Afterward, If the value of the first and third sensors is 0, the robot moves to the left, and if the value of the second and fourth sensors is 0, the robot moves to the right.
void loop() {
S1 = digitalRead(SEN1);//sensor one
S2 = digitalRead(SEN2);//sensor one
S3 = digitalRead(SEN3);//sensor one
S4 = digitalRead(SEN4);//sensor one
if (S2 == 0 && S3 == 0) {
start = true;
}
if (start) {
if (S1 == 1 && S2 == 1 && S3 == 1 && S4 == 1) {
motor(‘F’, 180);
Serial.println(“Forward”);
} else if (S1 == 0 && S2 == 0 && S3 == 0 && S4 == 0) {
motor(‘B’, 180);
Serial.println(“Backward”);
} else if (S4 == 0) {
motor(‘R’, 180);
Serial.println(“TurnRight”);
} else if (S2 == 0) {
motor(‘R’, 180);
Serial.println(“TurnRight”);
} else if (S1 == 0) {
motor(‘L’, 180);
Serial.println(“TurnLeft”);
} else if (S3 == 0) {
motor(‘L’, 180);
Serial.println(“TurnLeft”);
}
}
}
Lastly, crate motor control functions are designed to assist the main program.
//motor control
void motor(char action, int Speed) {
if (action == ‘F’) {//forward
analogWrite(ENA, Speed);
analogWrite(ENB, Speed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
} else if (action == ‘B’) {//backward
analogWrite(ENA, Speed);
analogWrite(ENB, Speed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
} else if (action == ‘L’) {//turnleft
analogWrite(ENA, Speed);
analogWrite(ENB, Speed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
} else if (action == ‘R’) {//turnright
analogWrite(ENA, Speed);
analogWrite(ENB, Speed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
else if (action == ‘S’) {//stop
analogWrite(ENA, 0);
analogWrite(ENB, 0);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
}
Step 12
Now, select the correct board and port, After, upload this program to the Arduino UNO board.
Lastly, connect the power source to the robot. You can use any other power source for that. I use two phone batteries. But, remember to give potentials between 7v to 12v.
Step 14
OK, turn ON this robot and set the values of all four sensors to 1. To do this, place your hands in front of the four sensors at the same time. Then, the robot will then move forward. The full video guide is given below. So, we will meet in the next tutorial.
How to make a 4 way line tracking sensor module robot using Arduino
