Hi everyone,

I’m working on a classic 2WD line follower robot, but I’ve hit a wall and could really use a fresh perspective from the community. Despite tweaking the logic multiple times, my robot either spins in circles or completely ignores the black line.

My Hardware Setup:

Microcontroller: ATmega328PB (Arduino-compatible)

Motor Driver: L298N

Sensors: BFD-1000 5-sensor array (S0 to S4, center is S2)

Chassis: Standard 2WD differential drive with a mirrored motor setup.

What I’ve Diagnosed & Tried So Far:

Sensor Verification: Checked via Serial Monitor that the sensors actually register changes between white surfaces and the black line.

Motor Polarity: Fixed the initial "spinning in circles" caused by mirrored motors by inverting the signal logic so both wheels push forward when commanded.

PWM & Friction: Raised the minimum PWM values so the inner/outer wheels don't stall under friction when trying to turn.

Logic Adjustments: Tried standard if/else conditional steering (e.g., speeding up the outer…