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LINE FOLLOWER Using Arduino - MURTAZA'S WORKSHOP

This document provides instructions to build a line following robot using an Arduino. It includes a parts list, explains the chassis, electronics, and assembly. The Arduino code uses sensors to follow a line and includes PID tuning parameters to control the motor speeds.

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Bogdan Deac
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24 views5 pages

LINE FOLLOWER Using Arduino - MURTAZA'S WORKSHOP

This document provides instructions to build a line following robot using an Arduino. It includes a parts list, explains the chassis, electronics, and assembly. The Arduino code uses sensors to follow a line and includes PID tuning parameters to control the motor speeds.

Uploaded by

Bogdan Deac
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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  Go to Course Home  LINE FOLLOWER using Arduino  Complete Lesson

How To Make A DIY LINE FOLLOWER using Arduino at Home

Learn How to build a PID Line Follower. With Basic Components such as Arduino, L298N H-bridge and an array of Sensors.

Parts
Arduino UNO: https://amzn.to/2QdKthB
Motor Driver: https://amzn.to/35grl6x
Battery: https://amzn.to/2Fadc0c

Chassis
Electronics
Assembly
Arduino Code

1 // Intsall QTR SENSOR Library Version 3 from Library Manager.


2
3 #include <QTRSensors.h>
4
5 /////////////////////////////////////////////////
6
7 #define speedLimit 170
8 #define rightSpeed 120
9 #define leftSpeed 120
10 #define NUM_SENSORS 8
11 QTRSensorsRC qtrrc((unsigned char[]) {
12 A0, A1, A2, A3, A4, A5, 12, 13 // SENSOR PIN NUMBERS
13 },
14 NUM_SENSORS, 2500, 2);
15 unsigned int sensorValues[NUM_SENSORS];
16 int myPins[6] = {5, 6, 7, 8, 9, 10}; // MOTOR PIN NUMBERS
17
18 //// PID TUNNING PARAMETERS
19 float Kp = 0.07;
20 float Kd = 0.8;
21 float Ki = 0;
22
23 /////////////////////////////////////////////////
24
25 int preError = 0;
26 int integral = 0;
27 int rightSpeedPwm = 0;
28 int leftSpeedPwm = 0;
29 int myFloor = 0;
30
31
32 void setup()
33 {
34 for (int i = 0; i < 6; i++) {
35 pinMode(myPins[i], OUTPUT);
36 }
37 pinMode(11, OUTPUT);
38 digitalWrite(11, HIGH);
39 delay(2000);
40 int i;
41
42 for (int i = 0; i < 200; i++)
43 {
44 if ( 0 <= i &amp;&amp; i < 5 ) rightFunc();
45 if ( 5 <= i &amp;&amp; i < 15 ) leftFunc();
46 if ( 15 <= i &amp;&amp; i < 25 ) rightFunc();
47 if ( 25 <= i &amp;&amp; i < 35 ) leftFunc();
48 if ( 35 <= i &amp;&amp; i < 45 ) rightFunc();
49 if ( 45 <= i &amp;&amp; i < 55 ) leftFunc();
50 if ( 55 <= i &amp;&amp; i < 65 ) rightFunc();
51 if ( 65 <= i &amp;&amp; i < 75 ) leftFunc();
52 if ( 75 <= i &amp;&amp; i < 85 ) rightFunc();
53 if ( 85 <= i &amp;&amp; i < 90 ) leftFunc();
54
55 if ( i >= 90 ) {
56 stopFunc();
57 delay(4);
58 }
59
60 qtrrc.calibrate();
61 delay(4);
62 }
63
64 delay(2000);
65 Serial.begin(9600);
66
67 }
68
69 void loop()
70 {
71
72 unsigned int sensorValues[8];
73 unsigned int position = qtrrc.readLine(sensorValues, 1, myFloor);
74 int error = position - 3500;
75
76 if ( sensorValues[0] < 100 &amp;&amp; sensorValues[7] < 100 ) {
77 myFloor = 0; //white ground - black line
78 }
79 if ( sensorValues[0] > 500 &amp;&amp; sensorValues[7] > 500 ) {
80 myFloor = 1; //black ground - white line
81 }
82
83 integral = integral + error;
84 int myTurn = Kp * error + Kd * (error - preError) + Ki * integral;
85 preError = error;
86
87 rightSpeedPwm = rightSpeed + myTurn ;
88 leftSpeedPwm = leftSpeed - myTurn ;
89 rightSpeedPwm = constrain(rightSpeedPwm, -speedLimit, speedLimit);
90 leftSpeedPwm = constrain(leftSpeedPwm, -speedLimit, speedLimit);
91 moveRobot(rightSpeedPwm, leftSpeedPwm);
92
93 }
94
95 void moveRobot(int myLeftSpeed, int myRightSpeed)
96 {
97 if (myLeftSpeed <= 0) {
98 digitalWrite(myPins[1], 0);
99 digitalWrite(myPins[2], 1);
100 }
101 else {
102 digitalWrite(myPins[1], 1);
103 digitalWrite(myPins[2], 0);
104 }
105
106 if (myRightSpeed <= 0) {
107 digitalWrite(myPins[3], 0);
108 digitalWrite(myPins[4], 1);
109 }
110 else {
111 digitalWrite(myPins[3], 1);
112 digitalWrite(myPins[4], 0);
113 }
114
115 analogWrite(myPins[0], abs(myLeftSpeed));
116 analogWrite(myPins[5], abs(myRightSpeed));
117 }
118
119
120 void stopFunc() {
121 moveRobot(0, 0);
122 }
123
124 void rightFunc() {
125 moveRobot(-90, 90);
126 }
127
128 void leftFunc() {
129 moveRobot(90, -90);
130 }

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