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Arduino Line Follower

This document describes the construction of an Arduino line follower robot that can make 90 degree turns. It includes details on the materials used, such as an Arduino Nano, motors, motor driver, and line sensor. It provides instructions on connecting these components and coding the Arduino to enable PID control and line following behavior. Diagrams illustrate the electronic connections between the Arduino, motor driver, sensors and motors to achieve an autonomous line following robot.

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pedro
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© © All Rights Reserved
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104 views

Arduino Line Follower

This document describes the construction of an Arduino line follower robot that can make 90 degree turns. It includes details on the materials used, such as an Arduino Nano, motors, motor driver, and line sensor. It provides instructions on connecting these components and coding the Arduino to enable PID control and line following behavior. Diagrams illustrate the electronic connections between the Arduino, motor driver, sensors and motors to achieve an autonomous line following robot.

Uploaded by

pedro
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Arduino line follower with PID and 90 degree turns


by mestrada3 on September 22, 2015

Table of Contents

Arduino line follower with PID and 90 degree turns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Intro: Arduino line follower with PID and 90 degree turns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Step 1: First of all the result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Step 2: Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Step 3: Connections between arduino nano and line sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Step 4: Connections between arduino nano and motor diver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Step 5: Connections between Motor diver and motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Step 6: Chasis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Step 7: Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

http://www.instructables.com/id/Arduino-Line-Follower/
Intro: Arduino line follower with PID and 90 degree turns
This is my line follower with PID and arduino.

It does 90 degree turns.

I will show you how i build it.

Have fun!

Step 1: First of all the result

http://www.instructables.com/id/Arduino-Line-Follower/
Step 2: Materials
1. 2 Pololu Micro Metal Gearmotor HP 6v
2. 2 Pololu Micro Metal Gearmotor Bracket Pair - Black
3. 2 Pololu Wheel 32×7mm Pair - White
4. 1 SparkFun Motor Driver - Dual TB6612FNG (with Headers)
5. 1 QTR-8RC Reflectance Sensor Array
6. 1 Arduino Nano
7. 2 cells 7.4V 1000Ah Li-Po Battery
8. 1 Of this
9. Acrylic

10. Screws
11. Nuts
12. Foamy

http://www.instructables.com/id/Arduino-Line-Follower/
http://www.instructables.com/id/Arduino-Line-Follower/
Step 3: Connections between arduino nano and line sensor
Between Arduino nano and line sensors (Pololu QRT8-RC)

Its similar like in the image, but i usea another pins.

Now,

Arduino---|---Sensor

D2----------|--------8

D3----------|--------7

D4----------|--------6

D5----------|--------5

D6----------|--------4

D7----------|--------3

D8----------|--------2

D9----------|--------1

5V----------|-------Vcc(+)

Gnd(-) ----|-------Gnd(-)

http://www.instructables.com/id/Arduino-Line-Follower/
Step 4: Connections between arduino nano and motor diver
The conection its similar like its shown in the image.

I varie the original circuit to fit with the arduino nano, so i use ports A's not D's.

Arduino------|-----Motor diver

D10 ----------|-----PWM A

A5------------|------IN2 A

A4 -----------|------IN1 A

A3------------|------STANDBY

A2------------|------IN1 B

A1------------|------IN2 B

D11-----------|-----PWM B

5V------------|------Vcc(+)

Gnd(-)-------|------Gnd(-)

VM its a special case, beacuse it goes to the positive (+) of the battery, like in the first image.

http://www.instructables.com/id/Arduino-Line-Follower/
Step 5: Connections between Motor diver and motors
Its very simple,

Just follow the connections of the image and thats it.

http://www.instructables.com/id/Arduino-Line-Follower/
Step 6: Chasis
I made it from a square of acrylic with a motor tool, you may use CNC or other techniques.

The bot have foamy to protect the sensors from the external light.

http://www.instructables.com/id/Arduino-Line-Follower/
Step 7: Code
Here you can download the complete code.

I use PID derived from the theory of control.

You may ajust the values of Kd, Kp, and maybe the base motor speed.

Those values were found experimentally, so you may try diferent values.

File Downloads

PIDmejor3.ino (3 KB)
[NOTE: When saving, if you see .tmp as the file ext, rename it to 'PIDmejor3.ino']
http://www.instructables.com/id/Arduino-Line-Follower/
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http://www.instructables.com/id/Arduino-Line-Follower/

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