Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Scribd Logo
Upload

Welcome to Scribd!

  • 196 views

    Dokumen - Tips Arduino Line Follower Robot

    Uploaded by

    Agung Setyono
    This document describes a line follower robot that uses IR sensors and a microcontroller to follow a black line on a bright surface or white line on a dark surface. The robot uses an Arduino board, IR sensors to detect the line, a motor driver and DC motors to move along the line, and is programmed to turn as needed to stay on the line.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Dokumen - Tips Arduino Line Follower Robot

    Uploaded by

    Agung Setyono
    196 views10 pages
    This document describes a line follower robot that uses IR sensors and a microcontroller to follow a black line on a bright surface or white line on a dark surface. The robot uses an Arduino board, IR sensors to detect the line, a motor driver and DC motors to move along the line, and is programmed to turn as needed to stay on the line.

    Original Description:

    Dokumen.tips Arduino Line Follower Robot

    Original Title

    Dokumen.tips Arduino Line Follower Robot

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document describes a line follower robot that uses IR sensors and a microcontroller to follow a black line on a bright surface or white line on a dark surface. The robot uses an Arduino board, IR sensors to detect the line, a motor driver and DC motors to move along the line, and is programmed to turn as needed to stay on the line.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    196 views10 pages

    Dokumen - Tips Arduino Line Follower Robot

    Uploaded by

    Agung Setyono
    This document describes a line follower robot that uses IR sensors and a microcontroller to follow a black line on a bright surface or white line on a dark surface. The robot uses an Arduino board, IR sensors to detect the line, a motor driver and DC motors to move along the line, and is programmed to turn as needed to stay on the line.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 10

    LINE FOLLOWER ROBOT

    This robot is designed to continuously follow a black line painted on a


    bright surface or a white line on a dark surface and take the turns along
    with the line automatically. For situations such as cross over where the
    robot can have more than one path that can be followed, predefined path
    must be followed by the robot.

    Overview

    Line Follower Robot


    Hardware components required and their purpose
    1. Arduino UNO board
    2. IR Sensor
    3. Comparator
    4. DC motor
    5. Motor driver IC (L293D)
    6. Wheels
    7. Power adopter

     Arduino UNO board: This is the brain of this robot in which the
    program is loaded to do the required functioning and is interfaced
    with sensors and the motor driver to make the system work as
    required.

     IR sensor: This senses whether there is platform in front of the robot


    or an edge is arrived and sends the appropriate signal to the
    comparator.

     Comparator: This gets input from the sensor, compare it with


    predefined voltage and send logic 1 to microcontroller if there is
    detected a still platform and logic 0 if edge of platform is there.
    IR Sensor Circuit

     DC Motor: This motor is controlled with DC voltages and can move


    in forward and backward direction according to the polarity of the
    voltage applied.

     Motor driver IC (L293D): Microcontrollers can’t supply the


    current required by DC motor to run. So, to fulfill this requirement
    these motor driver ICs are used.
    DC motors with Driver IC

     Power adopter: This is used to give appropriate dc power supply to


    microcontroller, driver IC sensors and the other passive components
    of the robot.

     Wheels: In it three wheels are employed, two at rear end and one at
    front end. Rear wheels are attached with the motors and also control
    the steering of robot. Front wheel is the loose steered wheel which
    moves in the direction of the pressure applied to it.
    Block diagram

    Block Diagram: Line Follower

    Description
    To make the robot follow the black line, IR sensors are employed with the
    fact that black surface absorbs light and white surface reflects light.
    The sensors are mounted on left front end and right front end of the robot
    keeping the black line lies in between them. Until sensors are getting the
    reflected light, the comparator sends logic 1 to the microcontroller and the
    microcontroller in turn switches ON the motor associated with the sensor
    and when any of the sensors comes up on the black line the
    microcontroller stops the motor associated with that sensors and make the
    robot to turn in the direction of the black line.
    When the robot reaches end point and both the sensors are getting black
    surface, robot stops.
    Program:
    /*left sensor attached to pin 0, right sensor attached to pin 2,

    left motor attached to pin 5(+ve),6 and right motor attached to pin 7(+ve),8 and*/

    int left_sensor=0;

    int right_sensor=2;

    void setup() {

    pinMode(left_sensor, INPUT);

    pinMode(right_sensor, INPUT);

    pinMode(5, OUTPUT);

    pinMode(6, OUTPUT);

    pinMode(7, OUTPUT);

    pinMode(8, OUTPUT);

    void loop()

    char value,v0,v2;

    v0=digitalRead(0);

    v2=digitalRead(2);

    value=((v2<<2)|v0);

    switch(value)

    case 5

    digitalWrite(6, LOW);

    digitalWrite(8, LOW);

    digitalWrite(5, HIGH);

    digitalWrite(7, HIGH); //switch on both


    break;

    case 1: //RIGHT SENSOR'S OUTPUT

    digitalWrite(5, HIGH);

    digitalWrite(7, LOW);

    digitalWrite(6, LOW);

    digitalWrite(8, LOW);//switch on only LEFT motor move to RIGHT

    break;

    case 4: //LEFT SENSOR'S OUTPUT

    digitalWrite(5, LOW);

    digitalWrite(7, HIGH);

    digitalWrite(6, LOW);

    digitalWrite(8, LOW);//switch on only RIGHT motor move to LEFT

    break;

    case 0:

    digitalWrite(5, LOW);

    digitalWrite(7, LOW);

    digitalWrite(6, LOW);

    digitalWrite(8, LOW); //both stop

    break;

    }
    Programming Digital I/O pins of Arduino UNO board:
     Each pin is controlled by three commands associated with it which are
    designated as:
    pinMode()

    digitalWrite()

    digitalRead()

     pinMode()
    This configures the specified pin to behave either as an input or an output.
    Syntax
    pinMode(pin, mode)
    Parameters
    pin: the number of the pin whose mode you wish to set
    mode: INPUT, OUTPUT.
    Returns
    None
    Example
    int ledPin = 13; // LED connected to digital pin 13

    void setup()
    {
    pinMode(ledPin, OUTPUT); // sets the digital pin as output
    }

    void loop()
    {
    digitalWrite(ledPin, HIGH); // sets the LED on
    delay(1000); // waits for a second
    digitalWrite(ledPin, LOW); // sets the LED off
    delay(1000); // waits for a second
    }

     digitalWrite()
    Write a HIGH or a LOW value to a digital pin.
    If the pin has been configured as an OUTPUT with pinMode(), its voltage will
    be set to the corresponding value: 5V (or 3.3V on 3.3V boards) for HIGH, 0V
    (ground) for LOW.
    Syntax
    digitalWrite(pin, value)
    Parameters
    pin: the pin number
    value: HIGH or LOW
    Returns
    None
    Example
    Sets pin 13 to HIGH, makes a one-second-long delay, and sets the pin back to LOW.

    int ledPin = 13; // LED connected to digital pin 13

    void setup()

    pinMode(ledPin, OUTPUT); // sets the digital pin as output

    void loop()

    digitalWrite(ledPin, HIGH); // sets the LED on

    delay(1000); // waits for a second


    digitalWrite(ledPin, LOW); // sets the LED off

    delay(1000); // waits for a second

     digitalRead()
    Reads the value from a specified digital pin, either HIGH or LOW.
    Syntax
    digitalRead(pin)
    Parameters
    pin: the number of the digital pin you want to read (int)
    Returns
    HIGH or LOW
    Example
    int ledPin = 13; // LED connected to digital pin 13

    int inPin = 7; // pushbutton connected to digital pin 7

    int val = 0; // variable to store the read value

    void setup()

    pinMode(ledPin, OUTPUT); // sets the digital pin 13 as output

    pinMode(inPin, INPUT); // sets the digital pin 7 as input

    void loop()

    val = digitalRead(inPin); // read the input pin

    digitalWrite(ledPin, val); // sets the LED to the button's value

    You might also like