I am working on a robotic arm mounted on an autonomous robot. I am done with the line following part. and It tracks the line pretty well. controlled 2 DC geared motors via fastPWM from atmega16 using motor driver l298, used LDRs and LM324 comparators for the line following. all the programming is done in avr studio 4 and used ponyprog to burn the code in atmega 16.