Microcontrollor AT89C2051 and H-Bridge driver L293D were used to control direction and speed of motor.
Circuit diagram of Infrared sensors and comparators.
Position of sensors, left hand side is side view and right hand side is top view.
Software
Software for write to AT89C2051 is robot1.hex ,which was written by C-language ,the source code is robot1.ccompiled by using MC51 in TINY model with my start up code robot.asm .
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