Line Following Robot 🤖➡️

Project Overview

This was one of my earliest robotics projects — a line-following robot built using an Arduino board and programmed entirely in AVR assembly language.

The robot was designed to detect and follow a black line on a white surface using infrared sensors, and adjust the motor speeds accordingly to navigate curves and intersections.

🧠 What It Does

• Detects the position of a line using sensors on the underside.
• Uses Timer0 and Timer2 interrupts for precise motor control.
• Dynamically adjusts PWM values for both motors to steer left, right, or forward.
• Implements simple logic to keep the robot centered on the path.

🧰 Technical Highlights

• Microcontroller: Atmega328P (Arduino Uno)
• Language: Pure AVR Assembly
• Timers Used: Timer0 and Timer2 (Compare Match interrupts)
• Pins Controlled: Ports B and D
• Key Features:
  • Real-time response using hardware interrupts.
  • Independent motor speed adjustment based on sensor feedback.
  • Low-level memory and register operations for tight control.