Project is about making line following robot using TIVA board.For devolping this robot,the modules used are ADC,PWM and GPIO.Using ADC pin,conversion of analog value of white line sensor to digital value.PWM pin is used for controlling the speed of motor and GPIO pin can be used for moving motor clockwise and anti-clockwise.One additional module of EEPROM is also included.EEPROM is used to store the threshold value of the sensor so if robot is again turn on, the robot will regain it's value from EEPROM.Thus,no need to calibrate sensor every time and also it can perform auto-calibration of sensor.In this function ,the threshold value of black and white line are stored in EEPROM.On pressing of sw1 switch it goes to calibration mode and does the calibration by storing threshold value in EEPROM.Thus,every time calibration is not needed and as the value is stored in EEPROM,it can be regained after restarting the robot.Thus,every time we don't need to calibrate as the value is stored in EEPROM.
Step 1: Hardware Required:
Hardware required for assembling robot are shown in figure.
Step 2: Assemblying Chassey of Robot
Assemble the body of robot.Apply the glue gun at the bottom of the chassey so it remain stable.
Step 3: Attaching Acuater:
Attaching the dc motor and wheel through screw
Step 4: Attaching White Line Sensor and Increasing Height:
Due,to less space we need to increase the height.Increase the height of top through the support as shown in figure and also attach the white line sensor.AS, on increasing the height of robot,the body will remain loss,so apply glue gun so chassey of robot becames stable.
Step 5: Devolping Pcb:
Now on genral pcb make the connection as shown in figure.
Step 6: Assembly and Calibration:
Connect the motor driver ic, white line sensor with tiva. Now,load the program and on the debug mode.Add variable x,y,z as watch expression and observe the value on computer.This procedure enables to varify if robot is working properly or not.
Step 7: Adding Power Bank and Battery:
Attach the power bank and also connect 9 volt battery to motor driver ic.Additional 9 volt battery is connected because power from TIVA board was not adequate to run DC motor. final robot will look as shown in figure.
Step 8: Flowchart
As per flowchart,robot will take continously right turn untill right turn condition is satisfied.Now,if right turn condition is not satisfied and left turn condition is satisfied than it will continously take left turn untill condition is satisfied.If above two condition are not satisfied than it will continue forward motion.
There is a timer interrupt of every 10ms which will varify weather switch is pressed or not.If switch is pressed than it will go to autocalibration mode and calibrate the robot.The value of calibration will be stored in EEPROM so we don't need to calibrate the robot again.