Introduction: Line Follower
This project is a line follower robot, but whit a different: motors controller are made with eight NPN transistors. I have build this particular driver because a broke L298N driver. I have only old 2N1711 transistors and my son is very impatient. Then I have devised this method for motors controller
Sensors:
TCRT5000 Infrared Tracking Sensor Module
Step 1: Diagram, Scheme and Schetch
I have used dia to draw diagram, and fritzing for schemes
And this is the Arduino's schetch:
#define dxg 11<br>#define dxb 10 #define dxv 9 #define dxr 8 #define sxg 5 #define sxv 4 #define sxb 3 #define sxr 2
void setup() { pinMode(dxg,OUTPUT); pinMode(dxb,OUTPUT); pinMode(dxv,OUTPUT); pinMode(dxr,OUTPUT); pinMode(sxg,OUTPUT); pinMode(sxv,OUTPUT); pinMode(sxb,OUTPUT); pinMode(sxr,OUTPUT); pinMode(6,INPUT); pinMode(7,INPUT); }
void loop() { // dynamic line follower code int lsensor=digitalRead(6); int rsensor=digitalRead(7); if((lsensor==LOW)&&(rsensor==LOW)) { //both sensors on white // go forward digitalWrite(dxg,HIGH); digitalWrite(dxb,HIGH); digitalWrite(dxv,LOW); digitalWrite(dxr,LOW); digitalWrite(sxg,HIGH); digitalWrite(sxv,HIGH); digitalWrite(sxb,LOW); digitalWrite(sxr,LOW); } else if((lsensor==HIGH)&& (rsensor==LOW)) { //right sensor on black line // turn right digitalWrite(dxg,LOW); digitalWrite(dxb,LOW); digitalWrite(dxv,HIGH); digitalWrite(dxr,HIGH); digitalWrite(sxg,HIGH); digitalWrite(sxv,HIGH); digitalWrite(sxb,LOW); digitalWrite(sxr,LOW); } else if((lsensor==LOW)&&(rsensor==HIGH)) { //left sensor on black line // turn left digitalWrite(dxg,HIGH); digitalWrite(dxb,HIGH); digitalWrite(dxv,LOW); digitalWrite(dxr,LOW); digitalWrite(sxg,LOW); digitalWrite(sxv,LOW); digitalWrite(sxb,HIGH); digitalWrite(sxr,HIGH); } else { digitalWrite(dxg,LOW); digitalWrite(dxb,LOW); digitalWrite(dxv,LOW); digitalWrite(dxr,LOW); digitalWrite(sxg,LOW); digitalWrite(sxv,LOW); digitalWrite(sxb,LOW); digitalWrite(sxr,LOW); } }
Step 2: Photos for Details
The leds are connected whit arduino's outputs ( transistors's base) and wired through 220 ohm resistance to GND.