Black Lines Follower robot

 

             Diagram

               Code

#define enA 10//Enable1 L298 Pin enA
	#define in1 9 //Motor1 L298 Pin in1
	#define in2 8 //Motor1 L298 Pin in1
	#define in3 7 //Motor2 L298 Pin in1
	#define in4 6 //Motor2 L298 Pin in1
	#define enB 5 //Enable2 L298 Pin enB
	#define R_S A0 //ir sensor Right
	#define L_S A1 //ir sensor Left
	void setup(){ // put your setup code here, to run once
	pinMode(R_S, INPUT); // declare if sensor as input
	pinMode(L_S, INPUT); // declare ir sensor as input
	pinMode(enA, OUTPUT); // declare as output for L298 Pin enA
	pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
	pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
	pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
	pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
	pinMode(enB, OUTPUT); // declare as output for L298 Pin enB
	analogWrite(enA, 150); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed
	analogWrite(enB, 150); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed
	delay(1000);
	}
	void loop(){
	if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){forword();} //if Right Sensor and Left Sensor are at White color then it will call forword function
	if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();} //if Right Sensor is Black and Left Sensor is White then it will call turn Right function
	if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();} //if Right Sensor is White and Left Sensor is Black then it will call turn Left function
	if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 1)){Stop();} //if Right Sensor and Left Sensor are at Black color then it will call Stop function
	}
	void forword(){ //forword
	digitalWrite(in1, HIGH); //Right Motor forword Pin
	digitalWrite(in2, LOW); //Right Motor backword Pin
	digitalWrite(in3, LOW); //Left Motor backword Pin
	digitalWrite(in4, HIGH); //Left Motor forword Pin
	}
	void turnRight(){ //turnRight
	digitalWrite(in1, LOW); //Right Motor forword Pin
	digitalWrite(in2, HIGH); //Right Motor backword Pin
	digitalWrite(in3, LOW); //Left Motor backword Pin
	digitalWrite(in4, HIGH); //Left Motor forword Pin
	}
	void turnLeft(){ //turnLeft
	digitalWrite(in1, HIGH); //Right Motor forword Pin
	digitalWrite(in2, LOW); //Right Motor backword Pin
	digitalWrite(in3, HIGH); //Left Motor backword Pin
	digitalWrite(in4, LOW); //Left Motor forword Pin
	}
	void Stop(){ //stop
	digitalWrite(in1, LOW); //Right Motor forword Pin
	digitalWrite(in2, LOW); //Right Motor backword Pin
	digitalWrite(in3, LOW); //Left Motor backword Pin
	digitalWrite(in4, LOW); //Left Motor forword Pin
	}