Introduction: LINUSBot - Line Follower Robot

Picture of LINUSBot - Line Follower Robot

The operation of this Robot is quite simple.

Infra-red sensors placed at the front of the chassis  will monitor when our Robot is over a black line or when it is over a white background.
In this project we will use the appropriate rounded chassis to the Robot.
In case the robot being on the black line, it will always go ahead, and in the case of out of line and fall into a white area, it will determine whether to correct to the left or right, and thus remain on the black line.

The sensors that will be used is  the array infrared sensor Pololu (also called reflectance sensors) QTRx8RC, that consists of eight sensors (only five are used) QRE1113GR.

This array has a digital output and can easily be managed using the appropriate library of Pololu, for determine the position of the line relative to the sensors.

This array of sensors can be broken in a array with 6 sensors and another with 2 sensors.
For more information about the sensors array , visit:

http://www.pololu.com/catalog/product/961

In this first project, we will use a raw control for our robot, ie we are concerned to keep the robot following the line ...
The Robot will run in a track and we will note that the motions of the robot will be somewhat "robotic", ie: not very smooth, but jerky.

See http://arduinobymyself.blogspot.com.br for more projects.

Step 1: The Track

Picture of The Track

The track will be made of a piece of white cardstock and black electrical tape.
The bend ought to a minimum diameter 6" or greater.
Below we have two examples of track

Step 2: Hardware and Components

Picture of Hardware and Components

1 X Arduino UNO, Mega, Duemilanove or Teensy + + 2.0
1 x prototype shield (optional) (highly recommended)
1 x dual H-BRIDGE
2 x Gear Box with 30:1 of ratio transmission and associated DC motor
2 x wheels 3"
2 x 9V Batteries 400 mA / h
2 x 9V battery clip
1 x Ball caster (third wheel)
wires and cables for connections
screws, nuts, washers, spacers for mounting
2 x acrylic parts for cutting the chassis
tools in general

Step 3: Chassis Project

Picture of Chassis Project

The chassis was constructed with a 3 mm piece of acrylic in a rounded format with slots for the wheels.
See the screenshots below (sorry but is in Portuguese) but can have a general idea.

Step 4: Schematic Diagram

Picture of Schematic Diagram

Lets go to the pinouts:

1 - The motors are connected to the output pins of the H-Bridge (care about to the polarity);
2 - The 9V battery is connected to VCC (+) and GND (-) of the H-Bridge;
3 - Pins in1, in2, in3 and in4 of H-bridge are connected to the arduino pins: 10, 11, 5 and 6 respectively;
4 - Pins 1, 2, 3, 4 and 5 of the QTR sensor, are connect to the pins A0, A1, A2, A3 and A4 (notice that the sensor 1 should be the most left);
5 - The LCD is connect as showed in the diagram: pins R / W - 13, Enable - 12, data - 9, 8, 7 and 4 (it dependent of the type of yours display);
6 - The button is connected to pin 2 of the Arduino;
7 - The Buzzer is connected to the Arduino pin 3;
8 - The Battery sensor is connected to pin A5
10K/5K consists of two resistors connected to GND / VCC and the center tap is  connected to the arduino. as below

| GND | --- / \ / \ / \ / ------ / \ / \ / \ / ----- | VCC |
                       10K       |         5K
                                     |
                                   A5



Step 5: The Software

You can download the complete software from the link below:

http://www.4shared.com/file/8yKb70LD/LINUSBot_9_3p...

This program follows the Pololu methodology.

Get all files needed to build the project at GitHub: https://github.com/Arduinobymyself/LINUSBot.git

Step 6: The Video

The videos are in Portuguese.

1st Prototype
screencast: http://www.screencast.com/t/mVXhRPWH
youtube: http://www.youtube.com/watch?v=YEzRKP34UGs&feature=youtu.be

2nd Prototype
screencast: http://www.screencast.com/t/6LN3XlDg3cJ
youtube: http://youtu.be/Z046AKObE34


Others Projects:


https://www.instructables.com/id/Basic-Principles/
https://www.instructables.com/id/PINGBot-Explorer-Robot/
https://www.instructables.com/id/Dual-H-Bridge-L298-Breakout-Board-Homemade/
https://www.instructables.com/id/3x3x3-LED-Cube-1/
https://www.instructables.com/id/LINUSBot-Line-Follower-Robot-with-PID-control/

Step 7: Photos

Picture of Photos

Two prototypes were made the first is a wooden prototype and the second is an acrylic prototype.
See the photos below for more details.

Comments

FadiG1 (author)2016-09-29

Hello,

Can you send me the code Please, I'm Very interested

My email is fedi.gasmi@esprit.tn

Thank you

aniket00 (author)2016-06-04

this is my email id plz send me the liabrary and code

anughadage007@gtmail.com

ДарьсүрэнБ (author)2016-03-29

Hi,

Can you send me the code Please, I'm Very interested

My email is darika_0808@yahoo.com

Thank you

Fozzy310 (author)2016-03-24

Hi,

Can you send me the code Please, I'm Very interested !

My email is : frtareco@yahoo.fr

Thanks a lot !

obaalbaki (author)2016-03-15

can u send me the code please?!
my email is : Omar.baalbaki.2001@gmail.com

geilson.menezes.39 (author)2015-09-22

Hello,

sketch_aug25b:14: error: 'BUTTON_PULLUP_INTERNAL' was not declared in this scope

'BUTTON_PULLUP_INTERNAL' was not declared in this scope

how can i fix this one.

email: geilson.rm@hotmail.com

AnojithanP (author)2015-08-24

hello sir, I have a issue saying

sketch_aug25b:14: error: 'BUTTON_PULLUP_INTERNAL' was not declared in this scope

'BUTTON_PULLUP_INTERNAL' was not declared in this scope

how can i fix this one.
my email address is : ano.tech2@gmail.com

AnojithanP (author)2015-08-24

Sir this is an awesome project,

May i have the code and the libraries for this project.

ano.tech2@gmail.com

Thank you

sahmed71 (author)2015-02-03

Can you please send me the code and library for the line follower robot you built? I'm still on the learning stage and this would help me a lot.
I've send an request via email which is shafayat.ahmed24@gmail.com.
Thanks in advance.

ibraheem.alkaebi (author)2015-01-17

,hello , can you please send me the code on

ibra86heem@yahoo.com

Hi Ibraheem,

Request the ocde and libraries by sending an email to arduinobymyself@gmail.com

Regards

Marcelo Moraes

NitishK2 (author)2015-01-10

for coding:

http://ismrobotics.blogspot.in

Nandev (author)2014-06-08

Hello, can you please send me the code on nandevbundhoo@gmail.com

BIGDOG1971 (author)Nandev2014-06-16

Hi,
As you have requested, the code and libraries are sent for you.
Check your email inbox, please.

Greetings

benitosavage (author)BIGDOG19712014-09-30

Hello BIGDOG1971 and or Nandev, could one of you send me the libraries for this project. Much appreciated.

ihvan3535 (author)2014-08-22

Very nice project! ,hello , can you please send me the code on mustafaaaakin35@hotmail.com

achand8 (author)2014-05-25

You zip tied the motors to the chassis? I am looking for a way to fix it to the chassis

BIGDOG1971 (author)achand82014-06-02

Hi Achand8,
Yes, in a first instance, I zipped and tied the motors to the chassis but after I glued the motors to the chassis (in the acrylic version).

I hope I have helped you.

Feel free to send me comments/questions/problems.

Best Regards


Marcelo Moraes
arduinobymyself.blogspot.com.br
arduinobymyself@gmail.com

achand8 (author)BIGDOG19712014-06-02

I am trying to make this one from scratch and I want mine to go fast like 3pi, around 400 rpm. I am looking for better ways to mount to motors to the acrylic. Something like this!

mortezaab (author)2014-01-31

Send me an email and I will provide you the ".ino" file.

mortezaab100@gmail.com

jrd210 (author)2013-04-14

Interesting but getting to the download of software is a nightmare, can you just add the *ino to the pdf??

BIGDOG1971 (author)jrd2102013-04-14

Send me an email and I will provide you the ".ino" file.

marcelo.moraes.1971@gmail.com

Cheers.

GeniusDevils (author)2013-02-27

Have a look at a new concept - A wall follower robot

http://www.geniusdevils.com/2013/01/wall-follower-robot-with-distance-sensor-and-microcontroller.html

CPRSJ (author)2013-01-31

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http://cpr-sj.com

dmitriyprohorovss (author)2013-01-30

super!

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Bio: I am 43 years old and I live in Brazil. I am a Telecommunication / Electronics Engineer. Sixteen years acting in the industry of "Telecommunication and ... More »
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