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need help about line follower robot

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ther12k

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I want to make robot for following black line on white surface.
I build the robot using 2 infared sensor, and using mcs-51 for micro, using motor dc from cd drive for motor. I still confuse about program the micro. I try to make the program in C language, but it cannot move back well if it go out the line.
can anyone help me for program it?:confused:
 
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