Contents

Element of Robotics ........................................................................................................................................................................................................................................................................................ 1

What is Electronic Hardware?............................................................................................................................................................................................................................................................. 2
What is Software Coding? ....................................................................................................................................................................................................................................................................... 3
Path Finding Robot .......................................................................................................................................................................................................................................................................................... 4
Contents in the box......................................................................................................................................................................................................................................................................................... 5
“Mikrobotik” Pathfinding Robot ............................................................................................................................................................................................................................................................ 6
Arduino Nano Microcontroller ............................................................................................................................................................................................................................................................... 7
Low Battery Indicator ................................................................................................................................................................................................................................................................................. 8
Installation of mBlock v5 ......................................................................................................................................................................................................................................................................... 9
Steps for Adding Mikrobotik ................................................................................................................................................................................................................................................................11
Calibration Process ...................................................................................................................................................................................................................................................................................... 12
Type of Junctions .........................................................................................................................................................................................................................................................................................19
Objective 1: Vroom Vroom....................................................................................................................................................................................................................................................................... 21
Introduction to Buzzer ...................................................................................................................................................................................................................................................................... 21

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 Step by Step block arrangement ............................................................................................................................................................................................................................................ 21
Challenge ....................................................................................................................................................................................................................................................................................................... 23
Objective 2: Please Switch On The Lights!............................................................................................................................................................................................................................24
Introduction to Light-Emitting Diode (LED)....................................................................................................................................................................................................................24
Step by Step block arrangement ...........................................................................................................................................................................................................................................24
Challenge .......................................................................................................................................................................................................................................................................................................26
Objective 3: Our Adventure Begin (Free Movement) .................................................................................................................................................................................................. 27
Introduction to Motors ...................................................................................................................................................................................................................................................................... 27
Introduction to Basic of Free Movement ........................................................................................................................................................................................................................ 28
Step by Step block arrangement ............................................................................................................................................................................................................................................ 31
Challenge .......................................................................................................................................................................................................................................................................................................36
Objective 4: Let’s Follow The Line! ................................................................................................................................................................................................................................................ 37
Introduction to Line Detector...................................................................................................................................................................................................................................................... 37
Introduction to Line Tracer Time and its Mechanism ....................................................................................................................................................................................... 37
Step by Step block arrangement: .......................................................................................................................................................................................................................................... 38
Challenge ...................................................................................................................................................................................................................................................................................................... 40
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Objective 5: What To Do When Meeting Junction? .......................................................................................................................................................................................................41
Introduction to Path Finder and its Mechanism .......................................................................................................................................................................................................41
Step by Step Block Arrangement: .........................................................................................................................................................................................................................................42
Challenge .......................................................................................................................................................................................................................................................................................................44
Objective 6: What Else Can Be Done When Meeting Junction? ........................................................................................................................................................................ 46
Introduction to Path Finder Tank and its Mechanism ...................................................................................................................................................................................... 46
Step by Step block arrangement: .......................................................................................................................................................................................................................................... 47
Challenge .......................................................................................................................................................................................................................................................................................................49
Objective 7: Wrong way? Make U-turn .....................................................................................................................................................................................................................................51
Introduction to Turn At Centre and its Mechanism ..............................................................................................................................................................................................51
Step by Step blocks arrangement ........................................................................................................................................................................................................................................ 52
Challenge .......................................................................................................................................................................................................................................................................................................54
Objective 8: Let’s Control Mikrobotik ...........................................................................................................................................................................................................................................55
Introduction to Bluetooth and its Mechanism.............................................................................................................................................................................................................55
Step by Step block arrangement: ..........................................................................................................................................................................................................................................56
Mikrobotik Mobile Apps .....................................................................................................................................................................................................................................................................61
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 Challenge .......................................................................................................................................................................................................................................................................................................62
Objective 9: We Need Area Patrol! ................................................................................................................................................................................................................................................63
Introduction to Movement and Its Mechanisms.....................................................................................................................................................................................................63
Step by Step Block Arrangement ......................................................................................................................................................................................................................................... 66
Objective 10: Let's Find Hidden Treasures. .........................................................................................................................................................................................................................69
Introduction to Push Button ........................................................................................................................................................................................................................................................ 70
Introduction to Movement and Its Mechanisms. ................................................................................................................................................................................................... 70
Step by Step Block Arrangement: ......................................................................................................................................................................................................................................... 74
Extra: Try Upgrade and Self Program .................................................................................................................................................................................................................................... 78

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 Mechanical Structure Mechanical Movement

Element of Robotics

Electronic Hardware Software Coding

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 What is Electronic Hardware?

Detects and Controls or

senses the reacts to
surrounding surrounding

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 What is Software Coding?

Electronic Hardware
Controller

Operate
Sets of instruction
written in specific
language

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 Path Finding Robot
Robot designed and built specifically to detect and autonomously follow white and black line. Besides, robot also designed for
other functions such as obstacle detector and moving small objects.

Figure 1: "Mikrobotik" Pathfinding Robot

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 Contents in the box
1x Usb Cable
1x Charger
1x Mikrobotik
1x Bluetooth Module
1x Mikrobotik Track

Figure 2: Mikrobotik Track

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 “Mikrobotik” Pathfinding Robot
Line Detector Sensor Indicator LED

Charger Connector LiPo Battery

Battery Power Connector Power Switch

Robot Power Connector Power Indicator

Line
P1 Open Port Low Battery Indicator Detector
Sensor
P2 Open Port Right Motor

Left Motor Light

Indicator L2
Light Indicator L1
User Button S2
User Button S1
USB
Buzzer
Port
Bluetooth Port
Arduino NANO
Top View Bottom View

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 Arduino Nano Microcontroller

A microcontroller is a device that handles core functions such as controlling the use
of other electronic hardware connected to it, analyzing data and executing logic.
Mikrobotics uses an Arduino Nano microcontroller that acts as the brain to control the
entire hardware and movement of the robot.

Figure 3: Arduino Nano Atmega328p

Arduino Nano microcontroller on Mikrobotik

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 Low Battery Indicator
Low battery indicator will light up red colour. User need to stop using Mikrobotik
The lower the voltage value in battery, the brighter the indicator. and start charging when low battery
Minimum voltage operated: 11.0 V (Low battery indicator light indicator lights at maximum.
at maximum bright)

Low battery indicator Low battery indicator

when battery is low. when battery is full.

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 Installation of mBlock v5
Step 1 mBlock v5 software can be obtained from:

Link: https://mblock.makeblock.com/en-us/download/ @ QR:

Step 2 Download the latest version of mBlock v5 based on the computer operating system.

Step 3 Click mBlock v5 on your download location.

Step 4 Wait until mBlock v5 installation is complete.

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 Step 5 Click ‘INSTALL’.

Step 6 Click OK and exit

Step 7 Tick “Run mBlock”.

Click “Finish”.

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 Steps for Adding Mikrobotik
Step 1 Mikrobotik software can be obtained from:

Link: https://www.microconcept.com.my/stem-robotic/download/

Step 2 Open mBlock v5

Step 3 Go to mikrobotik.mext file and drag into mBlock v5.

Step 4 Now, you can enjoy using mBlock v5!

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 Calibration Process
The calibration process is an important process for the robot to identify between the white line and the black line. The
calibration process for this Mikrobotik robot can be done both manually and automatically. This process is done before the
robot can follow the line and complete the circuit.
Block Arrangement (Automatic Calibration):

Step 1 Insert block When Mikrobotik Starts and combine with block Prepare.

Step 2 Next, combine block Tank Turn (Wheel Left-Forward, Speed-50, Wheel Right-
Backward, Speed-50) under Robot Prepare.

Left wheel moves Right wheel moves

forward backward
Left wheel speed Right wheel speed

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 Step 3 Furthermore, combine block Repeat with block Calibrate Sensor.
Combine these blocks with blocks in Step 2.

Step 4 Lastly, drag Stop and block Wait (1 second) and put under block Repeat.

Mikrobotik performs calibration process while moving for few seconds

Mikrobotik stops for 1 second

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Steps for Automatic Calibration Process
Step 1 Put Mikrobotik on the track.
Make sure all sensors starting from TR1 (LED L1) until TR5
(LED L5) were put on black line.

Step 2 Switch on the power switch for Mikrobotik.

Red LED1 light and blue LED2 will light up. The robot will
automatically rotate to carry out the calibration process.

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Block Arrangement (Manual Calibration):

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Steps for Manual Calibration Process
Step 1 Switch on Mikrobotik.
LED1 with red colour and LED2 with blue colour will light up.

BLUE LED RED LED

(LED2) (LED1)

POWER
SWITCH

Step 2 Move all sensors starting from sensor labelled with

TR1 (LED L1) until TR5 (LED L5) and bring back to TR1
(LED L1).

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 Step 3 Repeat movement in Step 2 until both LED (LED1 and
LED2) light off.

Make sure all the sensors can detect the black line. The RED LED (LED1)
LED on the sensors will light up if the sensor detects a LIGHTS OFF.
black line. For example LED L1 will light up if sensor TR1
detects a black line on the circuit.

BLUE LED (LED2)

LIGHTS OFF

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 Autonomous Robot PID Algorithm
PID algorithm is a control strategy suitable to assist determine the direction and speed of the robot such that it autonomously drive
and follows the line as close and fast possible. PID algorithm will ensure the robot does not overshoot from the line track when
turning and moves straight along the line.

Kp Kd
High Kp Value High Kd Value

Steers vigorously Counter steers early

Low Kp Value Low Kd Value

Steers gently Counter steers late

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 Type of Tracks

Black Line White Line Black Thin Line

(aprox 20mm) (aprox 20mm) (aprox 10mm)

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 Type of Junctions

Left junction Right junction

Middle junction Dead end

Offset
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 Objective 1: Vroom Vroom
The robot will use a buzzer to produce a simple sound. It can only produce one tone at a time. This code block can be used to
produce different tones to create an interesting sound pattern.

Introduction to Buzzer
Buzzer is a type of sound device that converts audio models into sound signals. It
is usually used for alarms.

Step by Step block arrangement:

Step 1 Combine block When Mikrobotik starts with block Robot Prepare.

This block is to prepare robot with specific library and to

configure pin numbers and pot numbers in and out for each
sensor and output attached to the robot.

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 Step 2 Next, combine block After
Mikrobotik starts with block Play
Music (Note-C5, Beat-Double), (Note- Choose “C5”
D5, Beat-Double), (Note-E5, Beat- as music note
Double), (Note-F5, Beat-Double),
(Note-G5, Beat-Double), (Note-A5,
Beat-Double), (Note-B5, Beat-Double)
Choose “double”
as music beat

Step 3 Then, combine block repeat

until (false) with block stop.
Combine these blocks with blocks
in Step 2.

Step 4 Once the program is uploaded, the robot will produce the sound or tone you have entered.

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Challenge!!
In this challenge, you have to enter the provided musical notes and try to guess the name of the music.

C C G G A A G F F E E D D C
3 3 5 5 5 5 5 5 5 4 4 3 3 3

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 Objective 2: Please Switch On The Lights!
Light-Emitting Diode (LED) on robot used as indicators. LEDs on the robot can be seen at power indicator, low battery indicator,
LED1, LED2, Arduino NANO and line sensors.

Introduction to Light-Emitting Diode (LED)

Light-Emitting Diode or LED functions to convert electric current into light and
emit light. Used as an application for indicator and light source.

Step by Step block arrangement:

Step 1 Combine block When Mikrobotik starts with block Robot Prepare.

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 Step 2 Combine block After Mikrobotik starts with block Turn
On LED with choice of Status On and LED #1 and block
wait 1 second. Put the blocks under the block in Step 1.
This program will light up the LED.

Step 3 Add another block Turn On LED with choice of Status

Off and LED#1 with block wait 1 second and combine with
block in Step 2 to switch off the LED.

Step 4 Lastly, upload the program. After the program uploaded, LED 1 will light up in one second and light
off in one second. The program will continue to run until the robot is turned off by the user.

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Challenge!!

Start

LED light up for

3 seconds

LED light off for

3 seconds

End

Program above show LED will light up in three seconds and light off in three seconds. The program will continue to run until
the Mikrobotik is turned off by the user.

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 Objective 3: Our Adventure Begin (Free Movement)
The robot is moved using the code block "tank turn" to move without following the line. This code block is suitable for solving
maze circuits (labyrinth). The robot will move depending on the speed and direction of the left and right motors set by user.

Introduction to Motors

There are two motors on Mikrobotik that can be controlled separately, can
rotate clockwise and counterclockwise continuously. These motors can also
be used to move or drive the project. The speed and duration can also be
set.

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Introduction to Basic of Free Movement:

Stop

Left motor stops, right motor stops.

Moves forward Moves backward

Left motor forward, right motor forward Left motor backward, right motor backward
left motor speed = right motor speed left motor speed = right motor speed

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 Steer to right Steer to left

Left motor forward, right motor forward. Left motor forward, right motor forward.
Left motor speed > Right motor speed Left motor speed < Right motor speed

Sharp steer to right Sharp steer to left

Left motor forwards, right motor stops. Left motor stop, right motor forwards.

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 Turn to right Turn to left

Left motor forward, right motor backward Left motor backward, right motor forward
left motor speed = right motor speed left motor speed = right motor speed

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Step by Step block arrangement
i) Move forwards

Step 1 Combine block When Mikrobotik starts with block Robot Prepare.

Step 2 Combine block After Mikrobotik starts with block Tank Turn (Wheel Left -Forward, Speed-100, Wheel
Right-Forward, Speed-100), block wait (3 seconds) and block stop. Drag those blocks and put it under the
blocks in Step 1.
Left motor and right motor will move with the same speed.

Left wheel moves Right wheel moves

forward forward
Left wheel speed Right wheel speed
forward

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 Step 3 Lastly, combine block wait, block repeat until (false), and block stop and combine those blocks
with blocks in Step 2.

Mikrobotik moves forward for 3 seconds and stops for 1 second

Mikrobotik stop after 1 loop

Step 4 After the program uploaded, Mikrobotik will move forwards for duration of 3 seconds.

Step to make the robot move backwards is the same as step to move forwards. You only need to change
the direction of the left wheel to backward and the direction of the right wheel to backward.

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 ii) Steer to left

Step 1 Combine block When Mikrobotik starts with

block Robot Prepare.
Mikrobotik steer to
left
Step 2 Combine block After Mikrobotik starts with block
Steer (Direction -Left, Speed-50). Then, add block
wait (3 seconds) and block stop. Left motor will stop
and right motor will move forwards with the set up
speed.
Speed when
Mikrobotik steer
Step 3 Lastly, combine block wait (1 second), repeat
until (false) and block stop and combine those
blocks with blocks in Step 2. Mikrobotik stops
after 1 second

Step 4 After the program uploaded, Mikrobotik will steer to left for duration of 3 seconds.

Step for steer to the right is similar to the step for steer to the left. You just
need to change the direction to right.
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 iii) Turns left

Step 1 Combine block When Mikrobotik starts with block Robot Prepare.

Step 2 Combine block After Mikrobotik starts with block Tank Turn (Wheel Left -Backward, Speed-100,
Wheel Right-Forward, Speed-100), block wait (3 seconds) and block stop. Drag those blocks to under
block in Step 1. The left motor will move backward and the right motor will move forward with the same
speed.

Wheel left move Wheel right move

backwards forwards
Left wheel speed Right wheel speed

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 Step 3 Lastly, combine block wait (1 second), repeat until (false) and block stop. Then, combine those blocks
with blocks in Step 2.

Mikrobotik turn for 3 seconds and stops for 1 second

Mikrobotik stop after 1 loop

Step 4 After program uploaded, Mikrobotik turns left for 3 seconds and stops.

Step for turn to the right is similar to the step for turn to the left. You just need to change the
wheel left direction to forward and wheel left direction to backward.

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Challenge!!
In this Challenge, you need to ensure that Mikrobotik moves along the path that has been prepared by applying the knowledge
that has been learned.

Start

Finish

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 Objective 4: Let’s Follow The Line!
The robot will follow the line (Black or White) continuously. The robot will always move even if it meets a left or right junction.

Introduction to Line Detector

The line detector will emit infrared light and detect black or white surfaces. The analogue
reading value will be high if a black surface is detected while the analogue reading value will
be low when a white surface is detected.

Introduction to Line Tracer Time and its Mechanism

Line Tracer Time used to make Mikrobotik follow along line with Black or White colour until it reach maximum time period (in
ms).
When Mikrobotik reaches the maximum time period, Mikrobotik will stop. Mikrobotik will move continuously without making turn
when meeting left junction, right junction and middle junction.

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Step by Step block arrangement:
Step 1 Prepare the arrangement blocks for automatic calibration.

Mikrobotik performs calibration process while moving for few seconds

Mikrobotik stops for 1 second

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 Step 2 Then, insert block After Mikrobotik Starts and combine with block Line Tracer Time.
Line sensitivity
(higher values mean more sensitive)
≥ 50: Motor speed when divert from line
< 50: Time at maximum speed

Left motor speed

when on the line
Control Kp value

Control Kd value
(Kd must more
than >Kp)
Robot autonomously Right motor speed when on the line
detects black or white
line.
Maximum time (ms) for robot move
Acceleration percentage forward
Acceleration percentage
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 Step 3 After uploading the code, Mikrobotik will start moving forward temporarily.
Perform the calibration process on the line sensor. After that, Mikrobotik will follow the line of either
Black or White until it reaches the maximum time period (in ms).

Challenge!!
Apply Line Tracer Time to solve the track below.

Start Finish

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 Objective 5: What To Do When Meeting Junction?
Robot will move autonomously and can decide whether to turn left, turn right or stop at the junction. The technique used to
know as Steer Turn Method.

Introduction to Path Finder and its Mechanism

Path Finder is used to move the Mikrobotik autonomously follow over a white or black line until the Mikrobotik finds a junction
(right or left or middle or dead end or offset).
At the junction, Mikrobotik will act to turn (left or right or stop) for a set period of time or until the robot finds the next line and
will stop.
Robot will turn by using Steer Turn Method.

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Step by Step Block Arrangement:
Step 1 Prepare the blocks arrangement for automatic calibration.

Mikrobotik performs calibration process while moving for few seconds

Mikrobotik stops for 1 second

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 Step 2 Lastly, combine block After Mikrobotik Starts and block Path Finder (Line Format-Black, Junction-
Left, Action-Turn Left, Left Speed-50, Right Speed-50, Turn Speed-200, RampUp Perc-100, Kp-0.02,
Kd-0.2, Sensor Threshold-20, Junction Speed-50, Forward Delay-50, Turn Period ms-300).

Line sensitivity (higher values mean

≥ 50: Motor speed when divert from line more sensitive)
< 50: Time at maximum speed

Robot tracking and move forward Left motor speed when

until meeting junction Time for robot move forward after
on the line Control Kp value meeting junction and make action

Robot action when meeting Turning speed at junction (higher value,

Acceleration percentage
junction sharper turns)

Robot autonomously detects black or Right motor speed when on the Control Kd value (Kd must more than On time (ms) for robot to turn or till find
white line. line >Kp) line (0)

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 Step 3 After uploading the code, turn on the Mikrobotik switch and perform the calibration process.
After that, Mikrobotik will follow the black line and if the robot meets a left junction, Mikrobotik will move
forward and then turn to enter the left junction until Mikrobotik meets another line.

Challenge!!
i) Path Finder Left Junction, steer left at left junction.

Finish

Start

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 ii) Path Finder Right Junction, steer right at right junction.

Finish

Start

iii) Path Finder Middle Junction, stop.

Finish

Start

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 Objective 6: What Else Can Be Done When Meeting Junction?
Robot will move autonomously and can decide whether to turn left, turn right or stop at the intersection. The technique used
known as Tank Turn Method.

Introduction to Path Finder Tank and its Mechanism

Mikrobotik travel autonomously on lines (Black or White or Thin Black or Thin White) until meet an intersection (Left or Right or
Middle or Dead End or Offset).
At the junction, Mikrobotik will act (Turn left or Turn right or Stop) for at least the Minimum Turn Period (Min Turn Period) and
continue turning until it detects the line and stops.
Mikrobotik will turn by using Tank Turn Method.

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Step by Step block arrangement:
Step 1 Prepare the blocks arrangement for automatic calibration.

Mikrobotik performs calibration process while moving for few seconds

Mikrobotik moves for 1 second

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 Step 2 Combine block After Mikrobotik starts with block Path Finder Tank (Line Format- Black, Junction-
Right, Action-Turn Left, Left Speed-50, Right Speed-50, Turn Speed-200, RampUp Perc-100, Kp-0.02,
Kd-0.2, Sensor Threshold-20, Junction Speed-50, Forward Delay-50, Min Turn Period ms-200).

Left motor speed when on the line Minimum time (ms) for robot turning
Control Kp value

≥ 50: Motor speed when divert from

line Line sensitivity (higher values mean
Robot tracking and move forward < 50: Time at maximum speed more sensitive)
until meeting junction

Robot autonomously detects black or Control Kd value (Kd must more than Time (ms) for robot
Right motor speed when on the line
white line. >Kp) move forward after
meeting junction and
make action
Acceleration percentage Turning speed at junction (higher value,
Robot action when meeting junction sharper turns)
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 Step 3 After uploading the code, turn on the Mikrobotik switch and perform the calibration process.
After that, Mikrobotik will follow the black line and if the robot finds a left junction, Mikrobotik will move
forward and then turn for at least the Minimum Turn Period (Min Turn Period) and continue turning
until it detects the line and stops.

Challenge!!
i) Path Finder Tank Right Junction, turn at right junction

Finish

Start

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 ii) Path Finder Tank Left Junction, turn at left junction

Finish

Start

iii) Path Finder Tank Middle Junction, stop

Finish

Start
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 Objective 7: Wrong way? Make U-turn
Mikrobotik can make a U-turn on the line it passes through 180 degrees on its axis and turn left or right during the Minimum
Turn Duration (Min Turn Period) and continue until it meets the line (Black or White).

Introduction to Turn At Centre and its Mechanism

Mikrobotik will make a tank turn in the direction (left or right) for the Minimum Turn Duration (Min Turn Period) until the robot
finds the line and finally stops.
This technique is useful for making U-turns.

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Step by Step blocks arrangement:
Step 1 Prepare the arrangement blocks for automatic calibration.

Left wheel moves Right wheel moves

forward Left wheel speed backward Right wheel speed

Mikrobotik performs calibration process while moving for few seconds

process

Mikrobotik stops for 1 second

Step 2 Combine block Turn At Centre (Line Format- Black, Direction Turn-Left, Speed-50,
Sensor Threshold-20, Min Turn Period-200) with block wait (1 second). Combine those blocks with blocks
in Step 1.

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 User push button S1
Sensor Threshold
(higher value means higher Minimum time period
sensitivity) (ms) for robot moves
All LED lights on Left wheel speed

The robot autonomously detects black

Robot’s turn direction
or white lines
Mikrobotik stops after 1 loop

Step 3 After uploading the code, turn on the Mikrobotik switch and perform the calibration process.
After that, Mikrobotik will make a U-turn according to the set direction and will stop after detect the
black line.
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Challenge!!
i) U-turn at the middle, left direction and move forward.
(blue arrow to yellow arrow)
Start

Finish

ii) U-turn at the middle, left direction and move forward.

(blue arrow to yellow arrow)

Start

Finish

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 Objective 8: Let’s Control Mikrobotik
Bluetooth is a short distance wireless technology used or data exchange between fixed and mobile devices in close range.
Besides, it can build private network area. Bluetooth allows Mikrobotik to exchange the desired data with other devices directly.

Introduction to Bluetooth and its Mechanism

Mikrobotik can be control in close range using the Bluetooth approach as it can be find and control easily. The
Bluetooth module inserted into the port provided. This Bluetooth module contains 4 pins which are RXD, TXD, GND,
and VCC.

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Step by Step block arrangement:

Step 1 Insert block When Mikrobotik Starts and combine

with block Robot Prepare

Step 2 Combine block After Mikrobotik starts with block if after combined with block Bluetooth
Data Check. Put those blocks under the block in Step 1.

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 Step 3 Under the block After Mikrobotik starts, combine 5 blocks Bluetooth Data Control Data (F, B, L. R, X) with 5
blocks if and under the block then combine with 5 blocks Tank Turn to get forward, backward, turn to
left, turn to right and stop movement.

Data for forward

movement

Data for backward

movement

Data for turn to

the left

Data for turn to

right

Data for turn to

stop

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 Step 4 For the next block, combine 6 blocks Bluetooth Data Control Data (T, S, E. Q, C, Z) with 6 blocks if and
under the block then combine with 2 blocks Play Music (Note-C3, Beat Half).5 and 4 blocks Tank Turn to
get forward and steer right, forward and steer left, backward and steer left, backward and steer right
movement.

Data for buzzer sound C3

Data for buzzer sound E4

Data for forward and steer right movement

Data for forward and steer left movement

Data for backward and steer left movement

Data for backward and steer right movement

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 Step 5 For the next block, combine 5 blocks Bluetooth Data Control Data (1, 2, 3, 4, 5) with 5 blocks if and
under the block then combine with 2 blocks Turn On LED (#1 On, #1 Off, #2 On, #2 Off) and 1 block
Play Music (Note-A3, Beat Whole).

Data for turn On LED#1

Data for turn Off LED#1

Data for turn On LED#2

Data for turn Off LED#2

Data for buzzer sound A3

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Step 6 After uploading the code, pair the Bluetooth module on the Mikrobotik and match it with the device.
Mikrobotik is ready to be controlled by the device. Make sure all Bluetooth pins are connected to the
Bluetooth port (RXD-RX, TXD-TX, GND-GND, VCC-VCC)

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Mikrobotik Mobile Apps

Step 1 Download application from:

https://www.microconcept.com.my/stem-robotic/download/ MIKROBOTIK

Step 2 Open application and click on “Bluetooth connection”. Choose based on the number of Bluetooth.

Step 3 Make sure “Connected” displayed. Now Mikrobotik can be controlled in free movement.

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Challenge!!
In this challenge, you need to make sure that Mikrobotik moves along the path provided by using a device that has been paired
with a Bluetooth module on Mikrobotik.

Start

Finish

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 Objective 9: We Need Area Patrol!
Sometimes a robot needs to use more than one block to complete a task such as "area patrol robot". To patrol an area, the robot
needs to move along a line at varying speeds and for a certain distance or time. In addition, while following the line, the robot
has to make a turn in the opposite direction.

Introduction to Movement and Its Mechanisms

The technique used is to combine several Line Tracer Time blocks and Turn at Centre blocks.
The robot moves autonomously following the line using the Line Tracer Time block with high speed and then with low speed for
a certain time. After finishing moving, the robot makes a turn in the opposite direction using the Turn at Centre block. Finally the
robot moves again autonomously by using the Line Tracer Time block with high speed.
Here is a sketch of the movement of the "area patrol robot" with a set time and speed and make a turn to complete the task.

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 i) The robot moves autonomously using Line Tracer Time with high speed for 3 seconds (red arrow) and then with
low speed for 3 seconds (yellow arrow).

Start
ii) The robot makes a turn in the middle, towards the left. (yellow arrow direction to green arrow) usingTurn At
Centre.

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 i) The robot moves autonomously to the end point using Line Tracer Time at high speed for 4 seconds.

End

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Step by Step Block Arrangement:
Step 1 Set up an automatic calibration block arrangement.

The left wheel turns The right wheel turns

forward Left wheel speed backward Right wheel speed

Mikrobotik perform the calibration process while moving for a few seconds.

Mikrobotik stop for 1 second.

Step 2 Combine the After Mikrobotik starts block with the repeat until block. After that, add a Line Tracer
Time block by setting the speed to 80 within 3 seconds. Then, add another Line Tracer Time block by
setting the speed to 30 within 3 seconds.

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 Step 3 Add a Turn at Centre block and set it to make a left turn. Add another Line Tracer Time by setting
the speed to 80 for 3 seconds. Then, add another Line Tracer Time block by setting the speed to 80 in 4
seconds.

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 Step 4 After uploading the code, turn on the Mikrobotik switch and perform the calibration process. After
that, Mikrobotik will make all movements according to the set time and will stop after the set time.

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 Objective 10: Let's Find Hidden Treasures.
Sometimes the robot needs to use more than one block to complete a task such as "robot looking for hidden treasure". In order
to get all five hidden treasures, the robot needs to go through many intersections, among which are left junctions, right junctions
and 3-way junctions. Sometimes the robot needs to turn at different speeds to enter the junction.

1
4
2
5

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Introduction to Push Button

A push button is a type of switch that functions to control a machine directly through
the touch of a hand or finger from the user or the surface of a component. Mikrobotik
has push buttons S1 and S2. The analog reading value will be less than 400 when S1 is
pressed while the analog reading will be less than 500 when S2 is pressed.

Introduction to Movement and Its Mechanisms.

The technique used is to combine several Path Finder and Path Finder Tank blocks.
By using the Path Finder or Path Finder Tank block, the robot will move autonomously following the black or white line until it
finds an intersection and then the robot will turn towards the specified intersection.
To get the first hidden treasure, the robot moves using the Path Finder until it finds a left intersection and turns to the left.
Then, the robot continues moving using the Path Finder until it finds a right intersection and turns to the right for the second
hidden treasure. Next, the robot continues moving using the Path Finder until it finds a 3-way junction and turns left for the
third hidden treasure. After that, to get the fourth haunted treasure the robot needs to use the Path Finder Tank until it meets
the left intersection and turn left and finally to get the last haunted treasure the robot needs to use the Path Finder Tank until
it finds the right intersection and turns right.
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Here is a sketch of the movement of the robot searching for hidden treasures by going through different intersections to
complete the task.

i) The robot moves from the starting point to find the left junction and turns using the Path Finder to the left to pick
up the first hidden treasure.

Start

ii) The robot moves to find the right junction and turns using the Path Finder round to the right to pick up the
second hidden treasure.

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 2

iii) The robot moves to find the 3-way intersection and turns using the Path Finder to the left to pick up the third
hidden treasure.

iv) The robot moves again to find the left junction and turns using the Path Finder Tank to the left to pick up the
fourth hidden treasure.
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 4

v) The robot continues to move looking for the right junction and turns using the Path Finder Tank to the right to
take the last hidden treasure and then stops .

5
End

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Step by Step Block Arrangement:
Step 1 Set up an automatic calibration block arrangement.

The left wheel turns The right wheel turns

forward Left wheel speed backward Right wheel speed

Mikrobotik perform the calibration process while moving for a few seconds.

Mikrobotik stop for 1 second.

Step 2 Combine the After Mikrobotik starts block with the repeat until block. After that, add the Path Finder
block and set it (Junction – “Left”, Action – “Turn Left”, Speed – “60”, Turn Speed – “200”, Junction Speed
– “200”, Forward Delay – “400” and Turn Period – “400” ).

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 Step 3 Add a new Path Finder block and set the value to (Junction – “Right”, Action – “Turn Right”, Speed –
“60”, Turn Speed – “200”, Junction Speed – “50”, Forward Delay – “0” and Turn Period – “600” ).

Step 4 Add a new Path Finder block and set the value to (Junction – “Middle”, Action – Turn Left”,
Speed – “60”, Turn Speed – “200”, Junction Speed – “100”, Forward Delay – “250” and Turn Period –
“300” ).

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 Step 5 Add a Path Finder Tank block and set the value to (Junction – “Left”, Action – Turn Left”,
Speed – “70”, Turn Speed – “100”, Junction Speed – “100”, Forward Delay – “350” and Min Turn Period
– “200” ).

Step 6 Add a new Path Finder Tank block and set the value to (Junction – “Right”, Action – Turn Right”,
Speed – “40”, Turn Speed – “100”, Junction Speed – “100”, Forward Delay – “150” and Min Turn Period
– “50” ).

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 Step 7 After uploading the code, turn on the Mikrobotik switch and perform the calibration process. After
that, Mikrobotik will move to find the designated intersection and make a circle until it finds the hidden
treasure.

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 Extra: Try Upgrade and Self Program
DEVICE PORT ARDUINO NANO PIN PERIPHERALS ADDITIONAL INFO
ITR1 A6 Line Detection Sensor – Outer Left ITR8307
ITR2 A3 Line Detection Sensor – Inside Left ITR8307
ITR3 A2 Line Detection Sensor – Middle ITR8307
ITR4 A1 Line Detection Sensor – Inside Right ITR8307
ITR5 A0 Line Detection Sensor – Outer Right ITR8307
S1 A7 User Switch S1 Value < 100
S2 A7 User Switch S2 Value ≥ 100 & < 400
BUZZER D2 Buzzer
LED1 D13 Indicator Light L1
LED2 D12 Indicator Light L2
M1 – AIN1 D5 Left Motor – Bridge A Input 1 DRV8833 Dual H-Bridge Motor Driver
M1 – AIN2 D6 Left Motor – Bridge A Input 2 DRV8833 Dual H-Bridge Motor Driver
M2 – BIN1 D3 Right motor – Bridge B Input 1 DRV8833 Dual H-Bridge Motor Driver
M2 – BIN2 D9 Right motor – Bridge B Input 2 DRV8833 Dual H-Bridge Motor Driver
P1 D7 Open Pot P1
P2 D8 Open Pot P2
BT – TX D10 Bluetooth Pot TX
BT – RX D11 Bluetooth Pot RX

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