Line Following Robot Program

The easy way of learning how to built your own Line follower Robot using a PID Controller without any of the mathematical expressions that you will find on most. Launching Snap Windows, Mac, and Linux. Plug in a Finch, Hummingbird, or both, then run the BirdBrain Robot Server application. The following window will appear. Line Following Robot using AVR ATmega. One of the most basic autonomous robot you can build is a line following robotLFR. This type of robot is run over a white surface which has an arbitrary path drawn over it by using back paint. The task of the robot is to run exactly along this painted path. You may note that the surface may also be blackor any other dark colour, in that case the path is a light colour like white. Please watch the following video for a LFR in action. Designing an LFRAt minimum our LFR design require the following components. A sensor to detect the line on the surface. It can be a simple IR Reflectance Sensor or an high end camera. We will use a simple IR based sensor, it is cheap and easy to build and use. This article describe how to make a line sensor array. A microprocessor to run the code that takes inputs from the sensor and control the motion of robot. We will use a cheap single chip computer called an microcontroller MCU. A popular family of microcontroller is AVR series from Atmel. Challenges. Try designing your own course for the Line Follower, with a mixture of gradual turns and sharper turns. Electrical tape works well because it is dark. It has been a few years since we initially posted this Basic Line Following Robot with Arduino tutorial, and it appears so many people found it helpful. A member of the popular family is ATmega. ATmega. 8 is chosen because it has just the required amount of resources and is very low cost. The MCU cannot drive the motors used to actually make the robot run directly, so a motor driver is used. A motor driver in our case is a simple 1. L2. 93. D. It can drive 2 DC motors. We use a technique called PWM to vary the speed of motor digitally from the MCU. The drive mechanism is a differential drive in which we do not require to turn the front wheel for changing direction of heading. Only two rear powered wheel is enough for motion and turning. F15/8MBS/HKHPPR35/F158MBSHKHPPR35.MEDIUM.jpg' alt='Line Following Robot Program' title='Line Following Robot Program' />This is different from the way cars and bikes are turned, in these the front wheel is turned to turn the vehicle. More information on differential drive is give in this article. Wheels that are connected to motors shaft the motor. Winutilities Professional 9 86 With Keygen Download. Battery to power the whole thing. A chassis to hold everything. The Mechanical Construction of Robot. Final Assembled LFRThe robot is build using common and low cost parts easily available online. Blog Entry The Line Follower Robot with Texas Instruments 16Bit MSP430G2231 Microcontroller September 11, 2011 by rwb, under Robotics. When Texas Instruments TI. This tutorial will show you how to build and program a selfbalancing LEGO MINDSTORMS EV3 robot that can drive around a room autonomously. Mechanical Construct is described in detail here. Electronics for the Robot. The electronics for the robot is kept as simple as possible. The electronics board is split into to parts. The main board that has the MCU, basic MCU support circuit, motor driver and indicator LEDs. The line sensor board that is connected at the bottom part of the robot. These two units are neatly connected using a FRC cablesee this. The schematic for line sensor array is given in this article. Purchase. You can purchase both the circuit boards made using high quality PCBs and parts. Simply follow the link. Our store accept online payment using debit cards, ATM cards and Net Banking. The products will be delivered to you door steps within 3 5 days any where in India using quality courier service. PCB or breadboard. But those are lot messy, bulky and does not fit well in the chassis. Beginners should avoid using them. You can save lots of time and pay more attention in the program part that is more important. The program for LFR. The LFR Program needs help from three libraries LED lib to turn onoff five indicator LEDsMotor lib to control the speed and direction of rotation of motorADC lib to configure and use the analog to digital converter of ATmega. The code is written using the C language so you need to be comfortable with the following. Syntax of C language. Concept of libraries. Source File, Header File etc. Preprocessor, Compiler and Linker, what they are and what they do and how to use them. The IDE Integrated Development Environment that is a software suite that let you enter, edit, compile,debug project and manage files in project. The IDE that we are using is the latest Atmel Studio 6. Introduction to AS6 is here. A new project is created as described in above tutorial and configured then the library files LED,Motor and ADC needed to be added to the project. Adding a library to current AS6 project is described in libraries manual. LFRM8. c Created 52. PM Author Avinash Gupta include lt avrio. SENSORTHRES 8. 00Map Sensor Number to ADC Channeldefine SENSOR1 0define SENSOR2 1define SENSOR3 2define SENSOR4 3define SENSOR5 4Gloabal varriablesfloat p. Gain 2. 00 Proportional Gainfloat i. Gain 0. 2 Integral Gainfloat d. Gain 1. 20 Differential Gainint delay 1. Integ 0 Integral accumulator. Prev 0 Previous Errorvoid Delay. Msuint. 8t ms. Read. Sensors. float PIDfloat curvalue,float reqvalue. Initialize Motors subsystem. Motor. Init. Initialize LED subsystem. Initialize Analog to Digital Converter ADC. Previous Sensor Readingfloat sprev. Take current sensor readingreturn value is between 0 to 5When the line is towards right of center then value tends to 5When the line is towards left of center then value tends to 1When line is in the exact center the the valeue is 3. Read. Sensors. If line is not found beneath any sensor, use last sensor value. FF. ssprev. PID Algorithm generates a control variable from the current valueand the required value. Since the aim is to keep the line alwaysbeneath the center sensor so the required value is 3 second parameterThe first argument is the current sensor reading. The more the difference between the two greater is the control variable. This control variable is used to produce turning in the robot. When current value is close to required value is close to 0. PIDs,3. 0. Limit the controlifcontrol 5. Motor. AMOTORCW,control 2. Motor. AMOTORCCW,2. Motor. BMOTORCW,2. Motor. BMOTORCCW, control2. Motor. BMOTORCW,2. Motor. AMOTORCCW,2. Delay. Delay. Msdelay. Delay. Msuint. 8t ms. Implements PID controlfloat PIDfloat curvalue,float reqvalue. Gain error i. Gain e. Integ d. Gain error e. Prev. e. Integ error integral is simply a summation over time. Prev error save previous for derivativereturn pid. Read. Sensors. uint. Sensor 0. 0. erightRead. ADCSENSOR5. iferight SENSORTHRESRight black line sensor. LEDOn5. sensor. LEDOff5. Read analog inputs. Read. ADCSENSOR4. SENSORTHRESRight black line sensor. LEDOn4. sensor. LEDOff4. Read. ADCSENSOR3. SENSORTHRES Middle black line sensor. LEDOn3. sensor. LEDOff3. Read. ADCSENSOR2. SENSORTHRES Left black line sensor. LEDOn2. sensor. LEDOff2. Read. ADCSENSOR1. SENSORTHRES Left black line sensor. LEDOn1. sensor. LEDOff1. FF. Calculate weighted mean. Sensor float sensor. Sensor float avg. Sensor sensor. Sensor. The LFR Code Walkthrough. The main program begins by Initializing three subsystems namely Motor, LED and ADC for sensor input. The code is as follows. Initialize Motors subsystem. Initialize LED subsystem. Initialize Analog to Digital Converter ADC. Init. ADC Then program enters into a infinite loop while1 Main LFR Loop, this infinite loop keeps the robot follow line as long as it has power. In the loop first thing we do is to read the sensor using the Read. Sensors we get a value between 1 to 5 as follows. When the line is towards right of center then value tends to 5. When the line is towards left of center then value tends to 1. When line is in the exact center the the value is 3. Breitling Special Edition A25362 Price. Returns 0x. FF if no line is detected. Return value may be fractional also, like it is 2. In case a line is NOT found we below any sensor we used value we got last time.