My second line follower robot ( Dör

My second line follower robot ( Dörtteker (fourwheel ))
My second line follower robot ( Dörtteker (fourwheel ))

My second line follower robot ( Dörtteker (fourwheel ))

this project is continue.

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Motors I give motors by Fırat DEDE's website. Japan Autotrol 15:1 12V 746 Rpm http://www.robotus.net/motor/motor.asp motors are 10 mA battery I give Battery by türkkuşu of Türk Hava Kurumu.(bataryalar/li-po) http://modelucak.thk.org.tr/satis1/satis.php battry is lityum polimer 7.4 volt 1000 mA. I will ally to battery and total 14.8 volt *Sensors Sensor is cny70. 4 front 4 back

*Program (proton-basic)

Device = 16F876A
XTAL = 20
ALL_DIGITAL = true

TRISA=255

TRISB=255

TRISC=0

Declare CCP1_PIN PORTC.1

Declare CCP2_PIN PORTC.2

Dim HATA As Byte Dim YON As Byte
Dim SAGPWM As DWord
Dim SOLPWM As DWord YON=1
'SAĞ [B5] [B2] [B0] [B1] [B3] [B6] SOL 'SOLPWM ----> SAĞ
'SAGPWM ----> SOL
BASLA:
'black to white (siyah-beyaz)

If PORTB.7=1 And PORTB.2=1 And PORTB.0=0 And PORTB.1=0 And PORTB.3=1 And PORTB.6=1 Then GoSub DUZ

If PORTB.7=1 And PORTB.2=1 And PORTB.0=0 And PORTB.1=1 And PORTB.3=1 And PORTB.6=1 Then GoSub SAG1If PORTB.7=1 And PORTB.2=0 And PORTB.0=0 And PORTB.1=1 And PORTB.3=1 And PORTB.6=1 Then GoSub SAG2

If PORTB.7=1 And PORTB.2=0 And PORTB.0=1 And PORTB.1=1 And PORTB.3=1 And PORTB.6=1 Then GoSub SAG3

If PORTB.7=0 And PORTB.2=1 And PORTB.0=1 And PORTB.1=1 And PORTB.3=1 And PORTB.6=1 Then GoSub SAG4

If PORTB.7=1 And PORTB.2=1 And PORTB.0=1 And PORTB.1=0 And PORTB.3=1 And PORTB.6=1 Then GoSub SOL1

If PORTB.7=1 And PORTB.2=1 And PORTB.0=1 And PORTB.1=0 And PORTB.3=0 And PORTB.6=1 Then GoSub SOL2

If PORTB.7=1 And PORTB.2=1 And PORTB.0=1 And PORTB.1=1 And PORTB.3=0 And PORTB.6=1 Then GoSub SOL3

If PORTB.7=1 And PORTB.2=1 And PORTB.0=1 And PORTB.1=1 And PORTB.3=1 And PORTB.6=0 Then GoSub SOL4

'white to black (beyaz-siyah)

If PORTB.7=0 And PORTB.2=0 And PORTB.0=1 And PORTB.1=1 And PORTB.3=0 And PORTB.6=0 Then GoSub DUZ

If PORTB.7=0 And PORTB.2=0 And PORTB.0=1 And PORTB.1=0 And PORTB.3=0 And PORTB.6=0 Then GoSub SAG1

If PORTB.7=0 And PORTB.2=1 And PORTB.0=1 And PORTB.1=0 And PORTB.3=0 And PORTB.6=0 Then GoSub SAG2

If PORTB.7=0 And PORTB.2=1 And PORTB.0=0 And PORTB.1=0 And PORTB.3=0 And PORTB.6=0 Then GoSub SAG3

If PORTB.7=1 And PORTB.2=0 And PORTB.0=0 And PORTB.1=0 And PORTB.3=0 And PORTB.6=0 Then GoSub SAG4

If PORTB.7=0 And PORTB.2=0 And PORTB.0=0 And PORTB.1=1 And PORTB.3=0 And PORTB.6=0 Then GoSub SOL1

If PORTB.7=0 And PORTB.2=0 And PORTB.0=0 And PORTB.1=1 And PORTB.3=1 And PORTB.6=0 Then GoSub SOL2

If PORTB.7=0 And PORTB.2=0 And PORTB.0=0 And PORTB.1=0 And PORTB.3=1 And PORTB.6=0 Then GoSub SOL3

If PORTB.7=0 And PORTB.2=0 And PORTB.0=0 And PORTB.1=0 And PORTB.3=0 And PORTB.6=1 Then GoSub SOL4

' IF YON=2 THEN GOSUB bekle
' IF PORTB.7=0 AND PORTB.2=0 AND PORTB.0=0 AND PORTB.1=0 AND PORTB.3=0 AND PORTB.6=0 THEN HPWM 2,255,20000 : HPWM 1,255,20000 :DELAYMS 350 ' GOSUB say
' IF YON=4 THEN GOSUB bekle
' IF YON=4 THEN GOSUB dur
HPWM 2,SAGPWM,20000

HPWM 1,SOLPWM,20000

GoTo BASLA

bekle:

DelayMS 10

SAGPWM=195

SOLPWM=200

Return

say:

YON=YON + 1

DelayMS 10
Return

dur:

SAGPWM=0

SOLPWM=0

HPWM 2,SAGPWM,20000

HPWM 1,SOLPWM,20000

GoTo dur

DUZ:

SAGPWM=255

SOLPWM=255

Return

SOL1:

SAGPWM=254

SOLPWM=220

' YON=1
Return
SOL2:
SAGPWM=254
SOLPWM=160
' YON=1
Return
SOL3:
SAGPWM=254
SOLPWM=100
' YON=1
Return
SOL4:
SAGPWM=254
SOLPWM=0
Return
SAG4:
SAGPWM=0
SOLPWM=254
Return
SAG3:
SAGPWM=100
SOLPWM=254
' YON=2
Return SAG2:
SAGPWM=160
SOLPWM=254
' YON=2
Return SAG1:
SAGPWM=220
SOLPWM=254
' YON=2
Return

CPU: 16f876A
Power source: 2x 7.4 Volt 1000mA lityum polimer
Programming language: c or basic
Sensors / input devices: CNY70

My second line follower robot ( Dörtteker (fourwheel ))