LINE FOLLOWER Part 3 : CONNECTING ALL TOGETHER AND CONCEPT
Coming to the part 3 all you need is-
- Arduino UNO(you can use others also,but I prefer UNO for beginners)
- Sensor Array(min 3 to max 5 numbers of ir sensors)
- Motor Driver(L298 or any other)
- Line follower Chassis
- Two DC motors
- Jumper Wires(male-female,female-female)
- Wheels and an Castro Wheel(Multi directional wheel)
Connect all the Modules According to the diagram given below:-
Points Worth Noting:-
- All the modules should have a common ground. Every time you add any module to your project you should add ground of module to the ground pin of Arduino.
- Connect the enable of motor Driver to any of PWM pins(3,5,6,9,10,11). It will help you to control the speed of Motor.
- If you don't want speed Control then add enable pin to 5V of motor Driver or Vin, it will then take max speed in default.
- Put all your sensor input to the analog pins. Its more convenient and gracious. You can use these pins as analog(A0....A5) or as digital pins(14-19). Digital input is better for line follower.
Concept Behind the Line follower Algorithm:
I will discuss the concept or the idea that can you use easily. Suppose you have 3 sensors so there are total of 8 possibilities of sensor values.
" You can use the formula-2^(No. of sensors)"
If you are using 5 sensors then you have 2^5=32 possibilities.
Lets go in detail....
See the figure
- The sensor give digital HIGH while on white surface and digital LOW on black surface or VICE VERSA if you have sensor of inverting mode(op-amp).
- Here we are considering following black line on white surface.
- Going case by case.
CASE
|
ACTION REQUIRED
|
LEFT MOTOR
|
RIGHT MOTOR
|
1
|
FORWARD
|
FORWARD
|
FORWARD
|
2
|
SMOOTH TURN RIGHT
|
FORWARD
|
STOP
|
3
|
SMOOTH TURN LEFT
|
STOP
|
FORWARD
|
4
|
STOP OR START
|
STOP OR FORWARD
|
STOP OR FORWARD
|
5
|
STOP OR START
|
STOP OR FORWARD
|
STOP OR FORWARD
|
6
|
SHARP RIGHT TURN
|
FORWARD
|
REVERSE
|
7
|
SHARP LEFT TURN
|
REVERSE
|
FORWARD
|
8
|
ANTINODE DETECT
|
STOP OR FORWARD
|
STOP OR FORWARD
|
- For simplicity here speed control is not disscussed. You can do that using Enable pin and analogWrite(pin number, 0-255) in arduino codes.
- Codes to the line follower bot is in next blog.
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