Edge and Crack Detector

This is a Automated Robot, which senses the cracks and edges over the surface where it'sRunning, for sensing such surfaces it requires a sensing device, which is provided by IR sensor (Transmitter as well as receiver) which is connected with LM324A which is a set of Operational Amplifier as four op-amp are connected in this IC, using 1 IC is more effective than using 2 IC, thus it prefers the most, the IC looks like as shown below: -

and the output from sensors given to the IC LM324A where the signals have been Amplified, it is required because when weaker signals are identified then it gets amplified through LM324, then Output from LM324 is given to Micro-Controller which works as a Brain for Robot which is controlled through the Program.

Now whole Circuit has been connected as shown in figure below: -

C Program Code: -

#include <stdio.h>

#include <8051.h>

void delay (int time)

{

int i,j;

for (i=0;i<=10;i++)

{

for (j=0;j<=10*time;j++)

{

}}}

void moveforward( )

{

P1=0x06;

delay(2);

P1=0x00;

delay(2);

}

void turnright( )

{

P1=0x0A;

delay(2);

P1=0x00;

delay(2);

}

void turnleft( )

{

P1=0x05;

delay(2);

P1=0x00;

delay(2);

}

void main()

{

P1=0xff;

P0=0xff;

delay(10);

while (1)

{

if ((P0_0==1) && (P0_1==1))

{

moveforward();

}

if ((P0_0==0) && (P0_1==1))

{

turnright();

}

if ((P0_0==1) && (P0_1==0))

{

turnleft();

}

if ((P0_0==0) && (P0_1==0))

{

turnright();

}

}

}

Now the project under working condition look likes: -