{"id":330,"date":"2026-06-10T21:47:40","date_gmt":"2026-06-10T13:47:40","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/line-follower-robot-arduino-ir-pid-farsi\/"},"modified":"2026-06-10T21:47:41","modified_gmt":"2026-06-10T13:47:41","slug":"line-follower-robot-arduino-ir-pid-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/line-follower-robot-arduino-ir-pid-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0631\u0628\u0627\u062a \u062e\u0637\u200c\u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 \u0633\u0646\u0633\u0648\u0631 IR: \u0631\u0627\u0647\u0646\u0645\u0627\u06cc \u06a9\u0627\u0645\u0644 \u0645\u0628\u062a\u062f\u06cc + \u06a9\u062f PID (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0631\u0628\u0627\u062a Line Follower \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
\n

\u0631\u0628\u0627\u062a \u062e\u0637\u200c\u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646 \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0631\u0628\u0627\u062a \u062e\u0637\u200c\u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646 (Line Follower)<\/strong> \u06cc\u06a9\u06cc \u0627\u0632 \u06a9\u0644\u0627\u0633\u06cc\u06a9\u200c\u062a\u0631\u06cc\u0646 \u0648 \u0622\u0645\u0648\u0632\u0646\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647\u200c\u0647\u0627\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u0627\u0633\u062a. \u0631\u0628\u0627\u062a \u06cc\u06a9 \u062e\u0637 \u0633\u06cc\u0627\u0647 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0633\u0641\u06cc\u062f (\u06cc\u0627 \u0628\u0631\u0639\u06a9\u0633) \u0631\u0627 \u0645\u06cc\u200c\u0628\u06cc\u0646\u062f \u0648 \u062f\u0642\u06cc\u0642\u0627\u064b \u0631\u0648\u06cc \u0622\u0646 \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0645\u062b\u0644 \u062e\u0637\u0648\u0637 \u06a9\u0627\u0631\u062e\u0627\u0646\u0647\u200c\u0627\u06cc \u06a9\u0647 AGV\u0647\u0627 (Automated Guided Vehicles) \u0627\u0632 \u0631\u0648\u06cc \u0622\u0646 \u0645\u0633\u06cc\u0631 \u062e\u0648\u062f \u0631\u0627 \u067e\u06cc\u062f\u0627 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f. \u0627\u06cc\u0646 \u0641\u0646\u0627\u0648\u0631\u06cc \u067e\u0627\u06cc\u0647 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u0644\u062c\u0633\u062a\u06cc\u06a9 \u062e\u0648\u062f\u06a9\u0627\u0631 \u062f\u0631 \u0627\u0646\u0628\u0627\u0631\u0647\u0627\u06cc \u0628\u0632\u0631\u06af \u0627\u0633\u062a.<\/p>\n

\u0627\u06cc\u0646 \u0631\u0628\u0627\u062a \u0627\u0632 \u0633\u0646\u0633\u0648\u0631\u0647\u0627\u06cc IR<\/strong> (\u0641\u0631\u0648\u0633\u0631\u062e) \u0628\u0631\u0627\u06cc \u062f\u06cc\u062f\u0646 \u062e\u0637 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u06cc\u06a9 LED \u0641\u0631\u0648\u0633\u0631\u062e \u0646\u0648\u0631 \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061b \u0633\u0637\u062d \u0633\u0641\u06cc\u062f \u0646\u0648\u0631 \u0631\u0627 \u0628\u0627\u0632\u062a\u0627\u0628 \u0645\u06cc\u200c\u062f\u0647\u062f \u0648 \u0633\u0637\u062d \u0633\u06cc\u0627\u0647 \u0622\u0646 \u0631\u0627 \u062c\u0630\u0628 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u06cc\u06a9 \u0641\u062a\u0648\u062f\u06cc\u0648\u062f \u06cc\u0627 \u0641\u062a\u0648\u062a\u0631\u0627\u0646\u0632\u06cc\u0633\u062a\u0648\u0631<\/strong> \u0627\u06cc\u0646 \u062a\u0641\u0627\u0648\u062a \u0631\u0627 \u0627\u0646\u062f\u0627\u0632\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f. \u0627\u06a9\u062b\u0631 \u0645\u0627\u0698\u0648\u0644\u200c\u0647\u0627\u06cc \u0622\u0645\u0627\u062f\u0647 IR \u06cc\u06a9 \u067e\u062a\u0627\u0646\u0633\u06cc\u0648\u0645\u062a\u0631 \u0628\u0631\u0627\u06cc \u062a\u0646\u0638\u06cc\u0645 \u062d\u0633\u0627\u0633\u06cc\u062a \u062f\u0627\u0631\u0646\u062f.<\/p>\n

\u067e\u06cc\u0634\u0631\u0641\u062a\u0647\u200c\u062a\u0631\u06cc\u0646 \u0646\u0633\u062e\u0647 \u0627\u06cc\u0646 \u0631\u0628\u0627\u062a \u0627\u0632 \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 PID<\/strong> \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0647\u0645\u0627\u0646 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u06cc \u06a9\u0647 \u062f\u0631 \u067e\u0647\u067e\u0627\u062f\u0647\u0627\u06cc FPV \u0648 \u0647\u0648\u0627\u067e\u06cc\u0645\u0627\u0647\u0627\u06cc \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0647 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u0631\u0648\u062f. \u0628\u0627 PID\u060c \u0631\u0628\u0627\u062a \u0628\u0647\u200c\u062c\u0627\u06cc on\/off \u06a9\u0631\u062f\u0646\u060c \u0633\u0631\u0639\u062a \u0647\u0631 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0628\u0647\u200c\u0637\u0648\u0631 \u067e\u06cc\u0648\u0633\u062a\u0647 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0631\u0648\u06cc \u062e\u0637 \u0645\u06cc\u200c\u0645\u0627\u0646\u062f.<\/p>\n<\/div>\n

\n

\u062f\u0648 \u0646\u0633\u062e\u0647 \u06a9\u0647 \u06cc\u0627\u062f \u0645\u06cc\u200c\u06af\u06cc\u0631\u06cc\u062f<\/h2>\n

\u0646\u0633\u062e\u0647 \u06f1 \u2014 \u0633\u0627\u062f\u0647 (ON\/OFF):<\/strong> \u0628\u0631\u0627\u06cc \u0627\u0648\u0644\u06cc\u0646 \u0628\u0627\u0631 \u0633\u0627\u062e\u062a\u0646 \u0648 \u062f\u0631\u06a9 \u0627\u0635\u0648\u0644.<\/p>\n

\u0646\u0633\u062e\u0647 \u06f2 \u2014 PID:<\/strong> \u0628\u0631\u0627\u06cc \u062d\u0631\u06a9\u062a \u0631\u0648\u0627\u0646\u200c\u062a\u0631 \u0648 \u0633\u0631\u0639\u062a \u0628\u06cc\u0634\u062a\u0631 \u0631\u0648\u06cc \u067e\u06cc\u0686\u200c\u0647\u0627.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646:<\/strong> \u06f2 \u062a\u0627 \u06f4 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f4\u06f0\u06f0 \u062a\u0627 \u06f8\u06f0\u06f0 \u0647\u0632\u0627\u0631 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0633\u0637\u062d:<\/strong> \u0645\u0628\u062a\u062f\u06cc (\u0646\u0633\u062e\u0647 \u06f1) \u2014 \u0645\u062a\u0648\u0633\u0637 (\u0646\u0633\u062e\u0647 PID)<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\n\nArduino Nano + L298N<\/text>\n\u06f5 \u0639\u062f\u062f \u0633\u0646\u0633\u0648\u0631 IR<\/text>\n\u0686\u067e<\/text>\n\u0631\u0627\u0633\u062a<\/text>\n\u0633\u0646\u0633\u0648\u0631\u0647\u0627 \u062f\u0631 \u0632\u06cc\u0631 \u2014 \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u062f\u0631 \u06a9\u0646\u0627\u0631 \u2014 \u0645\u063a\u0632 \u062f\u0631 \u0648\u0633\u0637<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 (BOM)<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u0645\u062f\u0644 \/ \u062a\u0639\u062f\u0627\u062f<\/th>\n<\/tr>\n<\/thead>\n
    Arduino Nano<\/td>\n\u06f1 \u0639\u062f\u062f<\/td>\n<\/tr>\n
    \u0633\u0646\u0633\u0648\u0631 IR<\/td>\nTCRT5000 \u00d7 \u06f5 \u0639\u062f\u062f (\u06cc\u0627 \u0645\u0627\u0698\u0648\u0644 \u06f5-\u062a\u0627\u06cc\u06cc \u0622\u0645\u0627\u062f\u0647)<\/td>\n<\/tr>\n
    \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631<\/td>\nL298N \u06cc\u0627 TB6612FNG \u00d7 \u06f1<\/td>\n<\/tr>\n
    \u0634\u0627\u0633\u06cc<\/td>\n\u06a9\u06cc\u062a \u06f2WD \u0628\u0627 \u0645\u0648\u062a\u0648\u0631 \u06af\u06cc\u0631\u0628\u06a9\u0633\u200c\u062f\u0627\u0631 \u00d7 \u06f1<\/td>\n<\/tr>\n
    \u0628\u0627\u062a\u0631\u06cc<\/td>\n4\u00d7AA \u06cc\u0627 LiPo 2S<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u06a9\u062f \u0646\u0633\u062e\u0647 \u06f1 \u2014 \u0633\u0627\u062f\u0647 (ON\/OFF)<\/h2>\n
    \n\/\/ \u0631\u0628\u0627\u062a \u062e\u0637\u200c\u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646 \u2014 \u0646\u0633\u062e\u0647 \u0633\u0627\u062f\u0647\nconst int IR_L  = A0;  \/\/ \u0633\u0646\u0633\u0648\u0631 \u0686\u067e\nconst int IR_C  = A1;  \/\/ \u0633\u0646\u0633\u0648\u0631 \u0645\u0631\u06a9\u0632\nconst int IR_R  = A2;  \/\/ \u0633\u0646\u0633\u0648\u0631 \u0631\u0627\u0633\u062a\n\nconst int IN1=5, IN2=6, IN3=7, IN4=8;\nconst int ENA=3, ENB=11;\nconst int SPD=200;\n\nvoid fwd()   { analogWrite(ENA,SPD); analogWrite(ENB,SPD); digitalWrite(IN1,HIGH);digitalWrite(IN2,LOW);digitalWrite(IN3,HIGH);digitalWrite(IN4,LOW); }\nvoid left()  { analogWrite(ENA,120); analogWrite(ENB,SPD); digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH);digitalWrite(IN3,HIGH);digitalWrite(IN4,LOW); }\nvoid right() { analogWrite(ENA,SPD); analogWrite(ENB,120); digitalWrite(IN1,HIGH);digitalWrite(IN2,LOW);digitalWrite(IN3,LOW); digitalWrite(IN4,HIGH); }\nvoid stop_m(){ analogWrite(ENA,0);   analogWrite(ENB,0);   digitalWrite(IN1,LOW); digitalWrite(IN2,LOW); digitalWrite(IN3,LOW); digitalWrite(IN4,LOW); }\n\nvoid setup() { for(int p:{IN1,IN2,IN3,IN4,ENA,ENB}) pinMode(p,OUTPUT); }\n\nvoid loop() {\n  int L = analogRead(IR_L) < 400 ? 1 : 0;  \/\/ 1 = \u0631\u0648\u06cc \u062e\u0637 \u0633\u06cc\u0627\u0647\n  int C = analogRead(IR_C) < 400 ? 1 : 0;\n  int R = analogRead(IR_R) < 400 ? 1 : 0;\n\n  if (!L && C && !R)  fwd();\n  else if (L && !R)   left();\n  else if (!L && R)   right();\n  else if (!C)        stop_m();  \/\/ \u062e\u0637 \u067e\u06cc\u062f\u0627 \u0646\u0634\u062f\n  delay(10);\n}\n<\/code><\/pre>\n
    \u06a9\u062f \u0646\u0633\u062e\u0647 \u06f2 \u2014 PID \u067e\u06cc\u0634\u0631\u0641\u062a\u0647<\/h2>\n
    \n\/\/ \u0631\u0628\u0627\u062a \u062e\u0637\u200c\u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646 \u2014 \u06a9\u0646\u062a\u0631\u0644 PID (\u06f5 \u0633\u0646\u0633\u0648\u0631)\nconst int S[5] = {A0, A1, A2, A3, A4};  \/\/ \u0686\u067e \u0628\u0647 \u0631\u0627\u0633\u062a\nconst int IN1=5,IN2=6,IN3=7,IN4=8,ENA=3,ENB=11;\nconst int BASE_SPD = 180;\n\nfloat Kp=25, Ki=0.01, Kd=15;\nfloat prev_error=0, integral=0;\n\nint readLine() {\n  int vals[5], sum=0, wsum=0;\n  for(int i=0;i<5;i++){\n    vals[i] = analogRead(S[i]) < 400 ? 1 : 0;\n    wsum += vals[i] * i * 1000;\n    sum  += vals[i];\n  }\n  if(sum==0) return prev_error > 0 ? 4000 : 0;\n  return wsum \/ sum;\n}\n\nvoid setMotors(int l, int r) {\n  l = constrain(l, 0, 255); r = constrain(r, 0, 255);\n  analogWrite(ENA, l); analogWrite(ENB, r);\n  digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW);\n  digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW);\n}\n\nvoid setup() {\n  for(int p:{IN1,IN2,IN3,IN4,ENA,ENB}) pinMode(p, OUTPUT);\n}\n\nvoid loop() {\n  int pos = readLine();  \/\/ 0\u20134000 (\u0645\u0631\u06a9\u0632 = 2000)\n  float error = pos - 2000;\n  integral += error;\n  float derivative = error - prev_error;\n  float correction = Kp*error + Ki*integral + Kd*derivative;\n  prev_error = error;\n\n  int leftSpd  = BASE_SPD + correction;\n  int rightSpd = BASE_SPD - correction;\n  setMotors(leftSpd, rightSpd);\n  delay(10);\n}\n<\/code><\/pre>\n
    \u062a\u0646\u0638\u06cc\u0645 PID \u0628\u0631\u0627\u06cc Line Follower<\/h2>\n
      \n
    • \u0627\u0648\u0644 Kp \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f:<\/strong> Ki=0 \u0648 Kd=0 \u0628\u06af\u0630\u0627\u0631\u06cc\u062f. Kp \u0631\u0627 \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f \u062a\u0627 \u0631\u0628\u0627\u062a \u0631\u0648\u06cc \u062e\u0637 \u0628\u0645\u0627\u0646\u062f \u0648\u0644\u06cc \u0646\u0644\u0631\u0632\u062f.<\/li>\n
    • \u0628\u0639\u062f Kd:<\/strong> \u0644\u0631\u0632\u0634 \u0631\u0627 \u06a9\u0627\u0647\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f. \u0622\u0647\u0633\u062a\u0647 \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f.<\/li>\n
    • \u0622\u062e\u0631 Ki:<\/strong> \u0628\u0631\u0627\u06cc \u062e\u0637\u0627\u06cc \u0645\u0627\u0646\u062f\u06af\u0627\u0631 \u062f\u0631 \u067e\u06cc\u0686\u200c\u0647\u0627\u06cc \u062a\u0646\u062f. \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u062e\u06cc\u0644\u06cc \u06a9\u0648\u0686\u06a9.<\/li>\n<\/ul>\n
      \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
      \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
      \u067e\u062a\u0627\u0646\u0633\u06cc\u0648\u0645\u062a\u0631 \u0633\u0646\u0633\u0648\u0631 IR \u062a\u0646\u0638\u06cc\u0645 \u0634\u062f\u0647\u061f<\/td>\nLED \u0633\u0646\u0633\u0648\u0631 \u0631\u0648\u06cc \u062e\u0637 \u0631\u0648\u0634\u0646 \/ \u0631\u0648\u06cc \u0633\u0641\u06cc\u062f \u062e\u0627\u0645\u0648\u0634<\/td>\n<\/tr>\n
      \u0631\u0628\u0627\u062a \u0631\u0648\u06cc \u062e\u0637 \u0645\u0633\u062a\u0642\u06cc\u0645 \u062f\u0631\u0633\u062a \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
      \u062f\u0631 \u067e\u06cc\u0686 \u06f9\u06f0 \u062f\u0631\u062c\u0647 \u0645\u06cc\u200c\u0686\u0631\u062e\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
      \u067e\u0633 \u0627\u0632 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f\u0646 \u062e\u0637 \u0628\u0631\u0645\u06cc\u200c\u06af\u0631\u062f\u062f\u061f<\/td>\n\u0628\u0627 Kd \u0628\u0647\u062a\u0631 \u0645\u06cc\u200c\u0634\u0648\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
      \n\n\n\n\n\u0631\u0628\u0627\u062a<\/text>\n\u062e\u0637 \u0633\u06cc\u0627\u0647 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u2014 \u0631\u0628\u0627\u062a \u0645\u0633\u06cc\u0631 \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f<\/text>\n<\/svg><\/p>\n
      \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
      \n