LINE FOLLOWR ROBOT BASED ON PIC 16F84

By: toko-elektronika.com

PIC16F84A is a robust microcontroller that has a total of 18 pins. It is most frequently found in a DIP18 type of case but can also be found in SMD case which is smaller from a DIP. DIP is an abbreviation for Dual In Package. SMD is an abbreviation for Surface Mount Devices suggesting that holes for pins to go through when mounting, aren't necessary in soldering this type of a component.

Figure 1. IC PIC 16f84/PIC 16F84A

Pins on PIC16F84/PIC 16F84A microcontroller have the following meaning:

Pin no.1    RA2       Second pin on port A. Has no additional function.
Pin no.2    RA3       Third pin on port A. Has no additional function.
Pin no.3    RA4       Fourth pin on port A. TOCK1 which functions as a timer is also found on this pin. 
Pin no.4    MCLR    Reset input and Vpp programming voltage of a microcontroller.
Pin no.5    Vss Ground of power supply.
Pin no.6    RB0       Zero pin on port B. Interrupt input is an additional function.
Pin no.7    RB1       First pin on port B. No additional function.
Pin no.8    RB2       Second pin on port B. No additional function. 
Pin no.9    RB3       Third pin on port B. No additional function. 
Pin no.10  RB4       Fourth pin on port B. No additional function.
Pin no.11  RB5       Fifth pin on port B. No additional function.
Pin no.12  RB6       Sixth pin on port B. 'Clock' line in program mode.
Pin no.13  RB7       Seventh pin on port B. 'Data' line in program mode.
Pin no.14  Vdd       Positive power supply pole.
Pin no.15  OSC2    Pin assigned for connecting with an oscillator.
Pin no.16  OSC1    Pin assigned for connecting with an oscillator.
Pin no.17  RA2      Second pin on port A. No additional function.
Pin no.18  RA1      First pin on port A. No additional function.

In this project, we developed Line follower robot with components:

1. DT PROTO PIC 16F84A

2. DT Hiq ICSP Programmer

3. 2 pair IR sensor

4. Driver DC Motor and Wheel

5. DC Motor (You may order all of the components in www.toko-elektronika.com).

figure 2. Main Circuit of line follower robot

Figure 3. Driver using IC L293D or transistor

Use MPLAB in the CD for edit and compile the program :

Figure 4. Editor and compiler using MPLAB

Use IC-Prog for upload program to the IC. Please read manual in CD.

Figure 5. IC Prog for uploading the program to the IC

Here is a complete program:

Tesp16f84.asm:

#include p16f84a.inc

start: bSf STATUS, RP0

movlw B'11110000'; 4 input 4 output

movwf TRISB

bCf STATUS, RP0

clrf PORTB

ulang: movlw B'000000101';maju sebentar

movwf PORTB

call delay

btfss PORTB,5 ;detect IR sensor left

call kiri ; call left function

btfss PORTB,6 ; detect IR sensor right

call kanan ;c all right function

goto ulang

kanan movlw B'000001000';kanan

movwf PORTB

call delay ;beri delay panjang

return

kiri movlw B'00000010';kiri

movwf PORTB

call delay ;beri delay panjang

return

delay: clrf 0x01

delay0: clrf 0x01

delay1: decfsz 0x01, 1

goto delay1

delay2: decfsz 0x11, 1

goto delay0

return

END

For sensitivity, please arrange position of sensor near the floor and Use DC 9-12V for input voltage.

References : www.microchip.com and many other sites