ATMEGA 16 LINE FOLLOWER WITH FULL CODE

i also want the atmega 8 code for line following robot having 2 sensors, and 2 motors, dc geared motors, i would really be thankfult to you if you send it urgently

Can i get the program of atmega 16 atmianwaliurrehman@gmail.com. thanks

#include <avr/io.h>
#include <util/delay.h>
#include <stdlib.h>
#include <AVR/interrupt.h>
#include <inttypes.h>
#include <avr/sleep.h>
#define th1 128
#define th2 128
#define th3 128
#define th4 128
#define th5 128

#define LCD_E PB2 // PORTD.5
#define LCD_RS PB0 //PORTD.4
#define LCD_RD PB7 // PORTB.7
#define LCD_WR PB1 // PORTB.6

#define LCD_CLR 0x01 // clear LCD
#define LCD_8BIT 0x38 // 8-bit mode
#define LCD_INC 0x06 //Increment, display freeze
#define LCD_MOV 0x10 //Cursor move, not shift
#define LCD_ALL 0x0F // LCD On, LCD display on, cursor on and blink on
#define LCD_ON 0x08 // turn lcd/cursor on
#define LCD_ON_DISPLAY 0x04 // turn display on
#define LCD_ON_CURSOR 0x02 // turn cursor on
#define LCD_ON_BLINK 0x01 // cursor blink
#define LCD_LINE1 0x80 // cursor Pos on line 1 (or with column)
#define LCD_LINE2 0xC0 // cursor Pos on line 2 (or with column)

unsigned char LCD_getaddr(void)
{
unsigned char address;

PORTB &= ~((1<<LCD_RS)|(1<<LCD_E));
PORTB &= ~(1<<LCD_RD);
PORTB |= (1<<LCD_WR);
DDRC = 0;
PORTB |= (1<<LCD_E);
asm volatile ("nop");
asm volatile ("nop");
address = PINC;
PORTB &= ~(1<<LCD_E);
PORTB |= (1<<LCD_RD);
PORTB &= ~(1<<LCD_WR);
DDRC = 0xFF;
return address;
}
void LCD_wait(void)
{
while((LCD_getaddr() & 0x80) == 0x80)
{
}
}

void LCD_putchar(unsigned char data)
{
LCD_wait();
DDRC = 0xFF;
PORTB |= ((1<<LCD_RS)|(1<<LCD_E));
PORTC = data;
asm volatile ("nop");
asm volatile ("nop");
asm volatile ("nop");
asm volatile ("nop");
PORTB &= ~(1<<LCD_E);
DDRC = 0;
}
void LCD_command(unsigned char command){

LCD_wait();
DDRC = 0xFF;
PORTB &= ~(1<<LCD_RS);
PORTB |= (1<<LCD_E);
PORTC = command;
asm volatile ("nop");
asm volatile ("nop");
asm volatile ("nop");
asm volatile ("nop");
PORTB &= ~(1<<LCD_E);
DDRC = 0;
}
void LCD_init(void)
{
DDRB |= ((1<<LCD_RS)|(1<<LCD_E));
PORTB &= ~((1<<LCD_RS)|(1<<LCD_E));
DDRB |= ((1<<LCD_RD)|(1<<LCD_WR));
PORTB &= ~(1<<LCD_WR);
DDRC = 0xFF;
_delay_ms(50);
LCD_command(LCD_CLR);
LCD_command(LCD_8BIT);
LCD_command(LCD_INC);
LCD_command(LCD_MOV);
//LCD_command(LCD_ALL); // can call all instead of next line
LCD_command(LCD_ON | LCD_ON_DISPLAY );//| LCD_ON_CURSOR | LCD_ON_BLINK
}

void LCD_write(char* dstring)
{

while(*dstring)
{
LCD_putchar(*dstring++);
}
}

void pwm_init(void){
TCCR0 = 0x6c;
OCR0 = 0;
TCCR2 = 0x6c;
OCR2 = 0;
}
void port_init(){
DDRC = 0xFF;
DDRB = 0xFF;
DDRD = 0xFF;
DDRA = 0x00;
PORTC = 0x00;
PORTD = 0x00;
PORTB = 0x00;
}void ADC_init(void){
ADCSRA|=(1<<ADPS2);
ADMUX|=(1<<ADLAR);
ADMUX|=(1<<REFS0);
//ADCSRA|=(1<<ADIE);
ADCSRA|=(1<<ADEN);
//sei();
ADCSRA|=(1<<ADSC);
}

int main( void )
{
int s1=0,s2=0,s3=0,s4=0,s5=0;
LCD_init();
pwm_init();
port_init();
ADC_init();
unsigned char ch=0;
ch &= 0b00000111;
ADMUX = (ADMUX & 0xE0)|ch;
ADCSRA |= (1<<ADSC);
while(ADCSRA & (1<<ADSC));
s1=ADCH;

ch++;
ch &= 0b00000111;
ADMUX = (ADMUX & 0xE0)|ch;
ADCSRA |= (1<<ADSC);
while(ADCSRA & (1<<ADSC));
s2=ADCH;

ch++;
ch &= 0b00000111;
ADMUX = (ADMUX & 0xE0)|ch;
ADCSRA |= (1<<ADSC);
while(ADCSRA & (1<<ADSC));
s3=ADCH;

ch++;
ch &= 0b00000111;
ADMUX = (ADMUX & 0xE0)|ch;
ADCSRA |= (1<<ADSC);
while(ADCSRA & (1<<ADSC));
s4=ADCH;

ch++;
ch &= 0b00000111;
ADMUX = (ADMUX & 0xE0)|ch;
ADCSRA |= (1<<ADSC);
while(ADCSRA & (1<<ADSC));
s5=ADCH;
while (1)
{
if(s1<th1 && s2<th2 &&s3>th3 && s4<th4 &&s5<th5)
{
PORTD = 0x05;//0101 right motor forword and left motor forword FORWORD
OCR0 = 255;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write("FORWORD MOTION");
_delay_ms(500);
}
//01110
else if(s1<th1 && s2>=th2 && s3>=th3 && s4>=th4 && s5<th5)
{
PORTD = 0x05;//0101 right motor forword and left motor forword FORWORD
OCR0 = 255;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write("FORWORD MOTION");
}
//00111
else if(s1<th1 && s2<th2 && s3>=th3 && s4>=th4 && s5>=th5)
{
PORTD = 0x0d;//1101 right motor dynamic break left motor forword 90 DIG RIGHT
OCR0 = 255;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write("90* RIGHT TURN");
}
//11100
else if(s1>=th1 && s2>=th2 && s3>=th3 && s4<th4 && s5<th5)
{
PORTD = 0x07;//0111 left motor dynamic break right motor forword 90 DIG LEFT
OCR0 = 255;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write("90* LEFT TURN");
}

//10100
else if(s1>=th1 && s2<th2 && s3>=th3 && s4<th4 && s5<th5)
{
PORTD = 0x06;//0110 right motor forword and left motor backword U TURN LEFT
OCR0 = 255;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write("LEFT U TURN");
}

//00101
else if(s1<th1 && s2<th2 && s3>=th3 && s4<th4 && s5>=th5)
{
PORTD = 0x09;//1001 right motor backword and left motor forword U TURN RIGHT
OCR0 = 255;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write("RIGHT U TURN");
}
//00110
else if(s1<th1 && s2<th2 && s3>=th3 && s4>=th4 && s5<th5)
{
PORTD = 0x05;//0101 FORWORD BUT DIFFERENT SPEED ANGLE 135 DIG
OCR0 = 255;
OCR2 = 100;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write(" RIGHT 135* ");
}

//01100
else if(s1<th1 && s2>=th2 && s3>=th3 && s4<th4 && s5<th5)
{
PORTD = 0x05;//0101 FORWORD BUT DIFFERENT SPEED ANGLE 135 DIG
OCR0 = 100;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write(" LEFT 135* ");
}
//11111
else if(s1>=th1 && s2>=th2 && s3>=th3 && s4>=th4 && s5>=th5)
{
PORTD = 0x0F;//1001 right motor backword and left motor forword U TURN RIGHT
OCR0 = 255;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2 | 0);
LCD_write("FINAL STATE");
}
//00000
else if(s1<th1 && s2<th2 && s3<th3 && s4<th4 && s5<th5)
{
PORTD = 0x0F;// 1111 stop by dynamic braking.. STOP
OCR0 = 255;
OCR2 = 255;
LCD_command(LCD_LINE1);
LCD_write("BOT IS IN");
LCD_command(LCD_LINE2| 0);
LCD_write("STOP MODE");
}
// REST CONDITIONS WE WILL PUT ACCORDING TO THE AREENA
else
{
LCD_command(LCD_LINE1);
LCD_write("BOT IS ");
LCD_command(LCD_LINE2);
LCD_write("SEARCHING");
}
};
return 0;
}

please please mail me this code.
nahid.hasan.6294@gmail.com

Visit this link if you want to know completely about making the sensor for your line following robot.

https://electronicaxis.blogspot.com/2016/07/schematic-for-infrared-sensor-board.html

Bro plz tell me the programing for atmega8 line follower plzzz on saxena.kkrishna@gmail.com

where are the predefined library files for avr,stdlib,etc.
PLZ bro tell it and if mail it to ss4585485@gmail.com.

sayak , can u please provide me with the code?

arhumanwer73@gmail.com

can you send the code on my email address "samyakjain5111997@gmail.com"

could u mail me the schematic capture in your video to my e-mail: waterslice99@gmail.com ? Thank you

I need help for programming ATMega 16 for my line follower, obstacle avoider, edge avoider, wall following and path remembering robot.

hallo, sory my name is yomi
can you share the file of the totorial…? i want to learn