LAB MANUAL

LINE FOLLOWER ROBOT

(Do -It- Yourself)

Version: 1.1.0
Copyright 2024, PRAGYATMIKA, The Power of Intelligence

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Preface
Thank you for purchasing the Programmable Line Follower Kit, this kit
can give you a preliminary understanding of the principles and
techniques of embedded control, we hope that this product will enable
you to learn the relevant knowledge and skills, and for future in-depth
study to lay a solid foundation. When using this product, please follow
the requirements of the manual to operate, to use this product
correctly.

1.System Introduction
The system's patrolling sensors use infrared transceiver tubes, and
the use of LM393 voltage comparator with infrared receiver tube
analog signal into a microcontroller can recognize the level of the
signal. Embedded control core with a 51 series of microcontroller
AT89C2051. AT89C2051 control core is mainly cost and performance
of both. AT89C2051 and AT89x51 in the absence of the use of external
ROM, RAM, functions and instructions are the same, and the
AT89C2051 has a smaller size, very suitable for beginners to use.
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2.Schematic diagram

3.Assembly and debugging instructions

3.1. Electronic components assembly
According to the circuit diagram and circuit board identifier will be
color ring resistors, crystal, ceramic capacitors, light-emitting diodes,
integrated circuits, row of pins, potentiometers, transistors,
electrolytic capacitors soldered on the circuit board. Note that the
electrolytic capacitor and IC seat do not solder the opposite (wrong).
Otherwise, after the power will make the chip heat and electrolytic
capacitor leakage is not conducive to the normal operation of the
circuit. In addition, in order to accurately locate the infrared
transceiver tube, please do not solder the infrared transceiver tube
first, should be soldered in the assembly. After all electronic
components are soldered, the circuit boards should be carefully
inspected to avoid any false soldering, leakage, or short circuit. If
there are any suspected short circuits, use a multimeter and check the
circuit diagram. It is important to eliminate the above conditions
before powering up the product, otherwise the electronic components
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may be damaged or the circuit board may be burned after powering
up the product.

Important:
In some extreme cases, some components or batteries may
nonfunctional due to improper handling or doing mistakes in
connection, thus endangering the safety of the user, please pay
attention to the above situation. Install the battery pack in the
direction shown on the circuit board. Do not make a mistake in
installing the battery compartment to avoid affecting the connection
of the power cord. After the installation is completed, put the battery
box wire from the upper left corner of the battery box in the 2.5 holes
through the empty. There are corresponding power supply pads on
the reverse side, pay attention to the polarity and the length of the
wires when soldering.

3.2. Mechanical assembly

1) the material of the wheel is nylon, and it is shaped on the lathe at
one time.
2) insert the screws into the big hole end of the wheel, and then use
the self-tapping screws with M2.2 X7 to fix the wheel piece and the
output shaft of the motor completely.
3) divide the connecting wires with 2 colors into 4 sections and then
tin them, and weld them on the 2 geared motors respectively.

3.3. Assembly
(1) Install the motor assembly on the board according to the marking
on the board . Pay attention to the direction of the wheel .
(2) Solder the motor leads to the corresponding pads on the circuit
board.
(3) the front of the circuit board upward, the universal wheel screws
from its upper 5mm holes through, and on the reverse side of the
M5 screws will be fixed on the circuit. Finally, screw the universal
wheel into the head of the universal wheel screws and should be
tightened to prevent the vehicle running in the process of the
universal wheel loose.
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(4) the bottom of the circuit board up, according to the circuit board
logo will be infrared transceiver tube welded to the bottom of the
circuit board, pay attention to the LED labeled for infrared
transmitter tube installation position, labeled PHOT0 for infrared
receiver tube installation position, polarity according to the logo
on the circuit board installation, infrared transceiver tube in the
two pins longer. The longer of the two pins of the infrared
transceiver is the anode of the infrared transceiver (positive), the
short is the cathode of the infrared transceiver (negative). The
mounting height of the infrared transceiver should be about 5mm
below the highest point of the gimbal.If it is a beginner may not be
easy to control this position, we recommend that the infrared
transceiver tube mounting height and the height of the gimbal is
almost the same when you can weld, weld the infrared transceiver
tube after the foot of the tube can be bent to the appropriate
height.

3.4. Test:
1) the first power switch to "0FF" position. Circuit board on the two
integrated circuits should not be installed (LM393 and
AT89C2051). In the case of confirming that there is no
short-circuit, circuit breakage, false soldering will be 2 AA (5
batteries) into the battery compartment, pay attention to the
polarity. The end with a spring should be marked with a "one"
symbol on the battery or a more flat end into. Conditional users
can also use a regulated power supply with protection or current
limiting function into the battery box, the same should also pay
attention to the polarity of the problem. There may be users using
14500 lithium batteries for the car power supply, in this special
note, 14500 is a lithium battery, when you use this battery for the
car power supply, please pay special attention to, 1, lithium
battery voltage is higher than ordinary No. 5 battery, so in the use
of 14500 lithium battery voltage is higher than ordinary No. 5
battery.
Battery, so in the use of 14500 lithium batteries must be used in a
placeholder barrel or one of the batteries shorted, do not use 2
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 14500 lithium batteries, which will cause excessive voltage from
the surface of the microcontroller chip and infrared transmitting
tube burned. Users please pay high attention. 2, lithium batteries
can not be over-discharged, the car in normal circumstances and
not using other functional modules, the car's current is about
400mA. General l4500 lithium battery capacity of 900mA is
considered the largest, so that the car can run up to 1.5 hours or
so, if greater than this time may cause lithium overdischarge and
thus damage the lithium battery. We recommend that users use
lithium batteries with protection plate.
2) the multimeter gear to 200mA current gear, the car did not start
running (motor does not rotate) when the current will not exceed
20mA. 2 pins of the switch with a short pen to make the circuit is
electrified. Observe the reading on the multimeter should have 12
mA or so can be considered to be the circuit is working basically
normal. Next and then the LM393 chip in the right direction into
the 8-pin IC seat. Repeat the above measurement process, the
current increase should be about 1mA or at most 2mA, if it
exceeds 2mA, please remove the pen immediately, and the circuit
for troubleshooting. If the above technical requirements are met,
we can insert the AT89C2051 chip into the 20-pin IC holder in the
correct direction, set the multimeter to 200mA current, and short
the 2 pins of the switch with the meter to energize the circuit.
Observe the reading on the multimeter should be about 125mA
can be considered as the circuit works basically normal. So far
after the installation of the above steps, the car has been able to
run normally. Before running the microcontroller chip AT89C2051
according to the correct location and direction into the 20-pin IC
block. And lay the test track on the last page of the manual on the
horizontal surface. Set the 2 potentiometers at the front of the
cart to the center position. Put the cart on the test track and turn
on the power switch. The cart will follow the path of the test track.
The runway can also be made of a non-reflective strip such as a
black insulating tape, the load surface must be flat and reflective.

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4. Expansion and secondary development
4.1 Expansion:
At the beginning of the design of the trolley, we have considered the
problem of expansion for the majority of users, after all, the same
value of the product in the case of adding a very small amount of cost,
the more functions, the better. In this regard, we have prepared the
following important configurations for the users.
1, in the design we only use the P1 port I / 0 port, so that the more
powerful P3 port is left to the user, so that users can be connected to
a number of external such as infrared communication, temperature
and humidity measurement, wireless data communication, wired data
communication, ultrasonic ranging, ultrasonic communication, data
storage, obstacle avoidance control and other functions of the
module.
2. There are a set of Φ3.0+Φ6.0 mounting holes at the front and rear
of the trolley, which are mainly used for installing and fixing the
function modules, and the hole spacing is the 16X16 modular
standard hole spacing of our company. Users should pay attention to
the module mounting holes in the installation of the module is not
compatible with the trolley, such as mismatch, please make your own
adapter plate and then use it, do not force to load, in order to avoid
damage to the trolley or the module.
3, in order to extend the module can have power supply interface, we
deliberately set up a set of power outputs in the upper part of the
microcontroller. Its output voltage is equivalent to the output voltage
of the sub-battery box. And there are 3 sets of power output interface.
It is convenient for users to use more modules.

4.2 Secondary development:

This product is designed to be an expandable and secondary
development product. We will provide all users with complete circuit
diagrams and C language test source code. In the future, we will
continue to introduce modules and applications compatible with this
product, as well as open the circuit diagrams and source code to the
general public as in the past.
Disclaimer: All the contents of this material have been carefully
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checked, if any printing errors or omissions or misunderstanding of
the content, the company reserves the right of final interpretation.
The products are subject to technical improvement, updating and
replacement of manuals without prior notice. Product appearance,
color, material and other aspects of the improvement of changes,
please prevail in kind.

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