Flow Chart

Flow chart play the role behind the process of line follower robot working and also the sensor and motor. The working system of the robot line follower which follows the path or line has a dark color and bright, because the robot is using an IR sensor when exposed to bright color sensor will give a signal (TX) were swept signal receiver (RX) and when the dark color IR The sensor will not reflect the signal. Following are the program flowchart:

After burn the coding into the IC, the program will start after the power supply is on and one of the sensor is triggered or active. The IR sensor will detect the obstacle in front either dark color or bright color. When one of the sensor is working it will triggered the DC motor in two condition. If the sensor is give the signal and swept up the receiver the motor will working in three conditions;

1. The both motor will running

2. The right motor will running

3. The left motor will running

But, if the sensor is not give any signal onto the receiver the motor will not working or else not rotate. The rotation of the motor will work according to the signals provided by the IR sensor either turn to left or right. Line follower robot that can read the black line well is if the number of sensors are many.

IR sensor format:

1. Sensor 1 (S1) = To read whether the black line on the left
2. Sensor 2 (S2) = To read whether the black line on the left

3. Sensor 3 (S3) = To read whether the black line is in the middle

4. Sensor 4 (S4) = To read whether the black line is on the right
5. Sensor 5 (S5) = To read whether the black line is on the right

If the sensor 1 and sensor 2 detects the format has been installed on the sensor then the robot will turn to the left, otherwise it will continue to sensor 3, where the sensors they will read the appropriate format then the robot will move straight and when the sensor 3 is not read then it will Continues to sensor 4 and sensor 5 by moving to the right according to the flowchart above. However, if the all the sensor sensor can not detect the black line, then the robot will try to find the black line by continuing to spin. If the line has been found then the robot will return the path following the line that has been determined.