Circuit Explanation, the whole arduino line follower robot can be divided into 3 sections: sensor section, control line section and robot driver section.
Potentiometer is follower used for setting reference voltage at comparators one terminal and IR sensors are used to sense the line and provide a change in voltage at comparators second terminal.The analog value of each sensor is scaled from the measured range during the calibration to a new range between for convenience and uniformity.When I made the program I wrote several variable names in spanish since it is my native language, so you are very welcome to ask anything you want about the program.When IR light line falls on a black surface, light is absorb by the black surface and no rays are reflected back, thus photo diode does not receive any light or rays.In the last year I took my robot, Yeti, to my county's national championship and it won 1st place!It is very important that the pins of the Arduino that transmit this information are PWM-capable, in the case of the Arduino UNO these pins are numbers 3, 5, 6, line 9, 10 and.The correction here corresponds to the substraction between the actual follower position and the last position.Download All Tiles, click to download the PDF with all tiles.I would love to answer your questions and see the line followers that you have managed to create.The motors are attached to the base with 1/8 inch screws and with the 3d printed bracket follower linked at the beginning, but you can also buy a motor bracket if you adjust the holes in the design of the base. This means that the heavier components robot like the battery and the electronics should be as close as possible to the motors.
These are two videos from the final match on the championship.You can simply connect follower both enables line of the L293 to robot 5v and then the 4 inputs to game any Arduino digital pins line as long as at least 1 pin per motor is PWM-capable.What I did was use the wide Pololu wheels, took the black cover out, 3D printed a little cup 45mm in inner diameter, put the white plastic part of the wheel in the cup and filled the exterior with molding silicone.There are four conditions in this line following robot that we read by using arduino.Here we have used arduino pro mini in this project as arduino pro mini is small and so breadboard compatible.Its all free, so go ahead and print as many tiles as you want.Correction proportional_correction derivative_correction if(correction 0) motorSpeed(maxVel, maxVel-correction /motorSpeed sets both motors speed else motorSpeed(maxVelcorrection, maxVel /maxVel is the maximum speed This marks the end of the program explanation, the full program is attached to this instructables if you want to use.If right sensor sense black line then robot turn right side until both sensor comes at white surface.For the wheels, I found that I could get a lot of traction by making my own covers out of silicone. If you already have all the parts ready, the whole assembly takes between 15 and 20 minutes, and maybe a little bit more robot if you are unexperienced with tightening screws and connecing electronics.
Apart from the L293, I added to the shield a switch connected to the battery to turn on the robot just robot for convinience, 2 push-buttons to calibrate the robot or to start the race which have proven to be useful, an L7805 to regulate the.
If you want to make this you have to make a cup about 40 or 45 mm in inner diameter and hold the plastic part of the wheels in the middle.