Feeling Blue
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Inspiration
Feeling blue is was my first endeavor into line following robots. It was designed to be an experimentation
platform to try out PIC microcontrollers and the QRD1114 IR sensors. Nothing much else to say really.
Chassis and Propulsion
The robots chassis is the round chassis from Pololu. The motors are a
Tamiya Dual Motor Gearbox with Tamiya Truck Tires.
Line Sensors
The robot uses five QRD1114 IR emitter/IR Photo transistors to detect the line. The sensors have a fairly
limited range so they have to be placed very close to the ground. The output of the sensors are combined to
get the position of the line.
Robot Brain
The robot is driven by a PIC16F876A @ 20MHZ. The micro monitors all the sensors and takes the appropriate action
when a sensor is triggered. The algorithm is pretty basic as I never really finished the code. The is no PID loop
or anything fancy like that. The speed of the motors is set from a table based on where the line is that is it.
Feeling Blue Data Sheet |
| Robot class |
Line Follower |
| Size |
5.1 in(W) x 6.9 in(L) x 2.75 in(H) |
| Weight |
325 grams |
| Frame |
Pololu round chassis and protoboard |
| CPU |
Microchip PIC16F876A |
Programming
Language |
Assembly written in the MPLAB IDE |
| Power |
4.8V from a four cell Nicd battery pack. |
| Motors |
Tamiya Dual Motor Gearbox.
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| Motor driver |
L293 driven by microprocessor |
| Speed Control |
Software generated Pulse Width Modulation. |
| Drive System |
2WD using two motors |
| Tires |
1.5" Tamiya Truck Tires |
| Sensors |
Five QRD1114 IR line sensors. |
Feeling Blue code and schematics
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I never created a schematic for this robot as it was point to point wired from the
datasheets of the parts used.
This information is supplied in the hope it may be useful but without
any warranty; without even the implied warranty of merchantability or fitness
for a particular purpose.
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Web site and all contents © Copyright Steven Easley 2005-2008, All rights reserved.
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