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Line Tracer using Line Array
1

Items Required

  • Chassis                                 Buy Now
  • SP Duino Board                      Buy Now
  • Auton Shield                          Buy Now
  • USB cable (A to B connector)   Buy Now
  • plastic geared DC motor          Buy Now
  • Wheels                                   Buy Now
  • Line Array sensor                    Buy Now
  • battery                                   Buy Now
2

Component Specification

ACRYLIC CHASSIS
     Length :150mm
     Width  :120mm

  • Chassis has provision to connect SP Duino Board, BO Motor and a castor wheel.
  • A special provision is provided to connect the Line Array sensor.



CLAMP
  •      Clamp is used to fit the motor to the chassis.
  •      It has a perforated body to adjust and fit the motor with ease.
           
BO MOTOR
         RPM: 150 at 12V
         Voltage: 2V to 12V
         Gear: Plastic
  • This motor is generally used for all autonomous robots.
  • Specially for its small size and good power.

          

BO WHEELS
            Diameter: 70mm
            Width: 8mm       
            Shaft: D-Type        
  • Plastic Wheel for DC BO/Plastic geared motors 
  • Compatible with all  D-Shaft motors
          

                  
CASTOR WHEEL
            Base plate diameter - 27.5mm
            Castor wheel diameter - 13.5mm
            Wheel height - 18mm
  • Ball castor wheel is an omni directional wheel. 
  • This is attached in the front to balance the robot movement.
                   
 BATTERY
        Battery Voltage : 7.4V / 2Cell
        Battery Capacity : 1000mAh
        Constant Discharge : 20C (20Amps)
        Peak Discharge (10sec): 30C (30Amps)

    Lipo batteries are always efficient to use int these type of robots.
 
SP DUINO BOARD
           Microcontroller: ATmega328
           Operating Voltage: 5V
           Input Voltage (recommended): 7-12V
           Input Voltage (limits): 6-20V
           Digital I/O Pins: 14 (of which 6 provide PWM output)
           Analog Input Pins: 6
           DC Current per I/O Pin: 40 mA
           DC Current for 3.3V Pin: 50 mA
           Flash Memory: 32 KB (ATmega328) - 2 KB used by bootloader
           SRAM: 2 KB (ATmega328)
           EEPROM: 1 KB (ATmega328)
           Clock Speed: 16 MHz


AUTON SHIELD

                Input voltage: 7-14V 
                Dimensions:  64.77mm x 74.93mm
  • Provided with stackable headers
  • Reverse polarity protection
  • On board 5V, 1.5Amps regulator
  • Equipped with L293D dual motor driver
  • Interfaces 2 DC Motors
  • 13 standard sensor ports (6 ports can be used for analog sensors)
  • Line array sensor port
  • Pins compatible with Hobby servos
      
          

LINE ARRAY SENSOR
  • A line array sensor is an arrangement with 5 IR sensors.
  • It gives a combination of 5 values from each of its unit.
  • Especially used for Line Tracer,it can trace line with any thickness.


3

assembling the Robot

CONNECTING CLAMP
  • Clamp is fitted in the chassis in its appropriate position.
  • Castor wheel is fitted in front of the chassis to balance the robot.

   
          
CONNECTING MOTORS AND WHEELS
  • The Motor is attached to clamp with screws.
  • The shaft of the motor should face other side of robot.
  • Wheels are fixed to shaft and screwed tightly.
               
                          

STACKING SP DUINO AND AUTON SHIELD
  • A long screw and spacers are inserted into the screw hole of SP Duino Board and mounted on the chassis.
  • Now  the Auton shield is stacked on top of the SpDuino Board.
                  

                                          
                 

FITTING THE LINE ARRAY
          Fix the Line array in the exclusive provision given for it and screw it.


              
           

4

Connecting the Components

MOTOR CONNECTION
  • The left motor is connected to M1 port of Auton shield.
  • The right motor is connected to the M2 port.
          
LINE ARRAY CONNECTION
          Connect the line array sensor to the Auton shield with a 7 pin RMC.


           

5

Line Tracer Logic

  • The line array sensor has 5 sensors, so it should have 32 combinations.
  • Practically not all combinations comes into working scenario, so only the required combinations are marked and programmed.
  • To avoid unnecessary confusion priority is given.
  • At junctions either right or left can be programmed, but for the whole priority should remain the same.


6

Line Tracer Programming Tips

  • First the outer most sensors S1 and S5 are checked, depending on their output the inner sensors are checked.
  • if S1 & S5 are low then the inner sensors S2,S3,S4 are checked for various combinations.
  • if S1 & S5 are high then the priority is introduced by checking the inner sensors.
  • if S1 is high and all other sensors are low then the robot turns left.
  • if S5 is high and all others are low then the robot turns right.
7

Line Tracer Sample Program

Below is the program for simple line tracer. Click the below button and upload the program.

sample program

HAPPY ROBOTING !!!
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