8051 based simple line follower

I started my interest in Robotics with our first autonomous line follower which won first prize in Instrufiesta-06 organized by coep, instru dept. Line follower was simple in design with DC motors & L293 driver(most reliable) with programming in assembly language. .

Infrared sensors with LM324 comparator for deciding threshold between black & white. I first time implemented Pulse Width Modulation in 8051 with Timer 0, quite difficult but finally i got through it...

Decision making with 5 sensors was decided by 2^5=32 possible combinations of all cases. Then ommitting unnecessary conditions by experimenting & applying various modulation speeds it took 32 seconds to reach more than 3meter track length.

This was really just begining of  our devoted work to electronics  & we learned a lot  from first experience...I will try for video to be uploaded...