Published October 16, 2018 © CC BY

Line Following Robot

This project will show you how to make a line following robot.

BeginnerFull instructions provided2 hours568

Things used in this project

Hardware components

STEMpedia evive

STEMpedia evive Starter Kit

Software apps and online services

Arduino IDE

Story

Intro: Line Following Robot

It may not know who you are. But it will look for you and it will find you. And nothing that comes in its way will be spared by it. It is none other than the determined and precise Line Following Robot!

Enough of the filmy stuff. Who’s all excited to make one with us? Bet you are! So, why wait any longer?

Ready. Set. DIY!

Step 1: Things You'll Need:

evive
IR Sensors
Acrylic Part: Chassis
Motor Mounts
DC Motors
Wheels
Castor Wheel
M3 bolts of 12 mm
M3 bolts of 25 mm
M3 Nuts
15 mm Stand-offs

All the above components are available in the Starter Kit. As there are number of projects listed on H a c k s t e r which can be made using Starter Kit.

Step 2: Making of the Base Robot

The following image shows the annotated base, which is the bottom layer. The top layer has the evive’s logo.

Fix the motor mounting brackets to the chassis using M3 bolts of 8mm length and M3 nuts.

Attach the two motors, one to each bracket, side by side and fasten using M3 bolts of 25mm length and M3 nuts.

Now, fit the wheels into the protruding motor shafts.

We’ll attach the Castor wheel now. First, we will mount the M3 standoffs (20 mm) on which we will attach the castor wheel. Fasten the standoffs to the chassis using M3 bolts of 8mm length.
Place the Castor on top of the standoffs in the configuration shown and fasten using M3 bolts of 12 mm length.

Flip the assembly and place evive on the top of the chassis.

Using the holes on the back of evive fasten it to the chassis using M3 bolts of 12mm length.

Step 3: Attaching the IR Sensors

We will now attach 2 IR sensors onto the front of the robot.

For that, attach 2 standoffs of 15mm length using M3 bolts of 8mm length.
Place the IR Sensors on the standoffs, using M3 bolts of 8 mm length.Make Sure: That the potentiometer over the sensor should be facing downwards.
Finally, bend the LEDs on the IR Sensor downwards.

Flip the assembly

Step 4: Logic

How, or rather when the robot follows anything depends on the state of the two sensors.

If both sensors are OFF / RED, the robot should move in the forward direction.
If only the sensor on the right is ON / GREEN, the robot should turn right.
Similarly, if only the sensor on the left is ON / GREEN, the robot should turn left.

NOTE : You can find the calibration of IR Sensor here.

Step 5: Circuitry of the Robot:

We will connect the two DC Motors to M1 and M2.

And the IR Sensors are connected as:

VCC – 5V of evive
GND – GND of evive
OUT – Digital Pin 3, 4

Step 6: Code:

You can download the Arduino Code from the code section below.

You can download evive library by clicking the link below:https://thestempedia.com/wp-content/uploa...

To know more about Arduino visit here:https://thestempedia.com/wp-content/uploa...

Step 7: Conclusion:

With this, your Line Following Robot is ready for action! Go ahead and watch it follow the tracks laid down by you effortlessly.

To explore more projects, visit: http://thestempedia.com/projects

Schematics

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Code

#include<evive.h>

#define motor1_dir1 28
#define motor1_dir2 29
#define motor2_dir1 30
#define motor2_dir2 31
#define motor1_pwm 44
#define motor2_pwm 45
#define ir_left 2
#define ir_right 3

unsigned int ir_left_sensor =0;
unsigned int ir_right_sensor = 0;

void setup()
    {
        // put your setup code here, to run once:

        Serial.begin(9600);

        for(unsigned int i =28;i<32;i++)
           {
              pinMode(i,OUTPUT);
           }
        pinMode(motor1_pwm,OUTPUT);
        pinMode(motor2_pwm,OUTPUT);

        pinMode(ir_left,INPUT);
        pinMode(ir_right,INPUT);

        tft_init(INITR_GREENTAB);
        tft.setRotation(1);
        tft.fillScreen(ST7735_BLACK);

        tft.setCursor(25,10);
        tft.setTextSize(2);
        tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
        tft.print("STEMpedia");

        tft.setCursor(20,35);
        tft.setTextSize(1);
        tft.setTextColor(ST7735_GREEN,ST7735_BLACK);
        tft.print("LINE FOLLOWER ROBOT ");

        tft.setTextColor(ST7735_GREEN,ST7735_BLACK);
        tft.setCursor(0,105);
        tft.setTextSize(1.8);
        tft.print("FOR MORE INFORMATION VISIT");
        tft.setCursor(30,115);
        tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
        tft.print("thestempedia.com");
  

}

void loop() {
  // put your main code here, to run repeatedly:

  ir_left_sensor = digitalRead(ir_left);
  ir_right_sensor = digitalRead(ir_right);
  analogWrite(motor1_pwm,int(analogRead(A9)/4.0));
  analogWrite(motor2_pwm,int(analogRead(A9)/4.0));
  
  if(ir_left_sensor ==HIGH)
  {
      tft.fillRoundRect(40,60, 30, 30, 5, ST7735_GREEN);
  }
  else
  {
       tft.fillRoundRect(40,60, 30, 30, 5, ST7735_BLUE);
  }
  if(ir_right_sensor ==HIGH)
  {
        tft.fillRoundRect(90,60, 30, 30, 5, ST7735_GREEN);
  }
  else
  {
        tft.fillRoundRect(90,60, 30, 30, 5, ST7735_BLUE);
  }

  if((ir_left_sensor==LOW && ir_right_sensor==LOW) || (ir_left_sensor ==HIGH && ir_right_sensor==HIGH))
  {
    forward();
  }
  else if( ir_left_sensor ==HIGH && ir_right_sensor==LOW)
  {
    left();
  }
  else if( ir_left_sensor ==LOW && ir_right_sensor==HIGH)
  {
    right();
  }

  if(digitalRead(40)==HIGH)
  {
    Stop();
  }
  delay(analogRead(A10));
  

}

void forward()
{
  digitalWrite(motor1_dir1,HIGH);
  digitalWrite(motor1_dir2,LOW);
  digitalWrite(motor2_dir1,HIGH);
  digitalWrite(motor2_dir2,LOW);
}
void backward()
{
  digitalWrite(motor1_dir1,LOW);
  digitalWrite(motor1_dir2,HIGH);
  digitalWrite(motor2_dir1,LOW);
  digitalWrite(motor2_dir2,HIGH);
}
void left()
{
  digitalWrite(motor1_dir1,HIGH);
  digitalWrite(motor1_dir2,LOW);
  digitalWrite(motor2_dir1,LOW);
  digitalWrite(motor2_dir2,LOW);
}
void right()
{
  digitalWrite(motor1_dir1,LOW);
  digitalWrite(motor1_dir2,LOW);
  digitalWrite(motor2_dir1,HIGH);
  digitalWrite(motor2_dir2,LOW);
}
void Stop()
{
  digitalWrite(motor1_dir1,LOW);
  digitalWrite(motor1_dir2,LOW);
  digitalWrite(motor2_dir1,LOW);
  digitalWrite(motor2_dir2,LOW);
}

Credits

STEMpedia

42 projects • 168 followers

STEMpedia blends theory with experiential learning by offering state-of-the-art technology, projects, tutorials, courses, and much more.

Line Following Robot

Things used in this project

Hardware components

Software apps and online services

Story

Intro: Line Following Robot

Step 1: Things You'll Need:

Step 2: Making of the Base Robot

Step 3: Attaching the IR Sensors

Step 4: Logic

Step 5: Circuitry of the Robot:

Step 6: Code:

Step 7: Conclusion:

Schematics

Fritzing Diagram for the Line Follower

Code

Arduino Code for Line follower

evive Library

Credits

STEMpedia

Comments

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Line Following Robot

Line Following Robot

Things used in this project

Hardware components

Software apps and online services

Story

Intro: Line Following Robot

Step 1: Things You'll Need:

Step 2: Making of the Base Robot

Step 3: Attaching the IR Sensors

Step 4: Logic

Step 5: Circuitry of the Robot:

Step 6: Code:

Step 7: Conclusion:

Schematics

Fritzing Diagram for the Line Follower

Code

Arduino Code for Line follower

evive Library

Credits

STEMpedia

Comments

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