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# line follower programming problem

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#### r0b0t1c

##### Newbie level 4
Hi. I'm doing a line following robot.
my problem is, in the simulation (pic as below), the code seems like does not work at all.

here is my code
#include <htc.h>

#if defined(WDTE_OFF)
__CONFIG(WDTE_OFF & LVP_OFF);
#elif defined (WDTDIS)
__CONFIG(WDTDIS & LVPDIS);
#endif

int main(void) {
TRISB = 0X00; //PortB as output
TRISD = 0XFF; //PortD as input

//0
if (PORTD == 0X00)
{ PORTB = 0X00;
}

//1 Slow Turn Right
if (PORTD == 0X01)
{ PORTB = 0X01; //right motor reverse
PORTB = 0X04; //left motor foward
}

//2 Slow Turn Right
if (PORTD == 0X02)
{ PORTB = 0X01; //right motor reverse
PORTB = 0X04; //left motor foward
}

//3 Slow Turn Right
if (PORTD == 0X03)
{ PORTB = 0X01; //right motor reverse
PORTB = 0X04; //left motor foward
}
//4 Slow Turn Left
if (PORTD == 0X04)
{ PORTB = 0X02; //right motor foward
PORTB = 0X03; //left motor reverse
}

//5 Fast Turn Right
if (PORTD == 0X05)
{ PORTB = 0X01; //right motor reverse
PORTB = 0X04; //left motor foward
}

//6 Straight
if (PORTD == 0X06)
{ PORTB = 0X01; //right motor foward
PORTB = 0X03; //left motor foward
}
return 0;
}

based on my code, when port RD0 or RDO+RD1 or RD0+RD1+RD2, the motor in out1, will run backward and the motor in out3 will run foward, thus the body will rotate to the left.

but in my case, it does not work. can anyone help me to solve this problem?
thx

write like this
Code:
#include <htc.h>

#if defined(WDTE_OFF)
__CONFIG(WDTE_OFF & LVP_OFF);
#elif defined (WDTDIS)
__CONFIG(WDTDIS & LVPDIS);
#endif

int main(void) {
TRISB = 0X00; //PortB as output
TRISD = 0XFF; //PortD as input
PORTB=0;
//0
for(;;)
{
if (PORTD == 0X00)
{ PORTB = 0X00;
}

//1 Slow Turn Right
if (PORTD == 0X01)
{ PORTB = 0X01; //right motor reverse
PORTB = 0X04; //left motor foward
}

//2 Slow Turn Right
if (PORTD == 0X02)
{ PORTB = 0X01; //right motor reverse
PORTB = 0X04; //left motor foward
}

//3 Slow Turn Right
if (PORTD == 0X03)
{ PORTB = 0X01; //right motor reverse
PORTB = 0X04; //left motor foward
}
//4 Slow Turn Left
if (PORTD == 0X04)
{ PORTB = 0X02; //right motor foward
PORTB = 0X03; //left motor reverse
}

//5 Fast Turn Right
if (PORTD == 0X05)
{ PORTB = 0X01; //right motor reverse
PORTB = 0X04; //left motor foward
}

//6 Straight
if (PORTD == 0X06)
{ PORTB = 0X01; //right motor foward
PORTB = 0X03; //left motor foward
}
}
return 0;
}
you are missing forever loop

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