LINE FOLLOWER ROBOT

USING
Micro-Controllers

WALCHAND INSTITUTE OF TECHNOLOGY,SOLAPUR

Robo Club

BY

WASI QAZI
 Introduction

What is a uC ?

In simple words -- a single chip Computer

 Introduction

Computer uC
• uP • uP
• RAM • Flash Memory
• HDD • EEPROM
• Clock • Clock Unit
• Ports (Serial/USB) • SPI / UART Controllers
• Ports (Parallel) • Digital I/O Ports
• Mic/Headphone Jack (ADC/ DAC) • ADC
• Power Supply Unit • Power Supply Unit
• Reset • Reset
• Mother-board • IC
 THE BLOCK DIAGRAM
Clock
12Mhz Main Power Motor Power
Supply Supply

Left
Motor
Microcontroller H - Bridge
HEX DC Motor Control
Inverter Right
Motor

Priority
Encoder
Analog Threshold
Comparators Voltage

NOR Gate

Sensor Array
 Sensors
• A sensor is a device which measures a physical
quantity and converts it into a signal which can
be read by an observer or by an instrument.
• They are used to provide feedback from the
external environment
 IR Sensor Pair
Object /
IR sensor Pair
Line

Transmitter (Tx)

Receiver (Rx)

Transmitter = LED( Light Emitting Diode)

Receiver = Photodiode
 Principle of Operation

WHITE surface
Maximum reflection
T1 is turned ON
Vout is LOW

BLACK surface
Minimum or No Reflection
T1 is turned OFF
Vout is HIGH

R1< R2
ADC BY OP-AMP:

G
N
D

+5v
 Line Follower : Design

The bot has two IR sensors

facing downwards (towards the
floor).
Sleft
Sright The separation between the
sensors is such that in normal
(correct) position of the bot , both
the sensors are on white
surface. ie separation > strip
width

The bot is driven by two wheel

differential drive ie the two back
wheels are driven by
independent motors.
 Line Follower : Algo

When the bot is in correct pos,

both sensors are on white & read
LOW. The robot should move
forward in this case.
Sleft
Sright

Sleft Sright Movement

LOW LOW Forward
 Line Follower : Algo

When the bot is over line from

Sleft
Sright right side, left sensor is on white
& reads LOW whereas right
sensor is on black & reads HIGH
The robot should take a right turn
in this case to come back in
correct pos.

Sleft Sright Movement

LOW HIGH Right Turn
 Line Follower : Algo

When the bot is over line from

S left

left side, right sensor is on white

& reads LOW whereas left
sensor is on black & reads HIGH
S right

The robot should take a left turn

in this case to come back in
correct pos.

Sleft Sright Movement

HIGH LOW Left Turn
 Line Follower

Sleft Sright Movement Left Motor Right Motor

LOW LOW Forward Forward Forward
LOW HIGH Right Turn Forward Back
HIGH LOW Left Turn Back Forward
 Atmega16L : An Overview
8-bit Micro-cotroller
40-pin DIP
32 Programmable I/O Lines
Operating Voltages 2.7 - 5.5V
Speed Grades 0 - 8 MHz
16K Bytes of In-System Self-programmable Flash program memory
512 Bytes EEPROM
Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and
Capture Mode
8-channel, 10-bit ADC
Programmable Serial USART
Master/Slave SPI Serial Interface
Programmable Watchdog Timer with Separate On-chip Oscillator
On-chip Analog Comparator
Pin diagram
Block Daigram
 Simplified Diagram

4 8bit Parallel Input-Output ports through which you can i/p or o/p digital data.
Power Supply
 Port Architecture

P D P
O D I
uC External
R R N
world
T A A
A
 Complete Program
A program to o/p 33 (hex) on PortD and configure and read pins 2 and
7 of Port A

#include <mega16.h>

void main( )
{
unsigned int x,y;

DDRD=0xFF; // all pins o/p

DDRA=0b01111011; // pin 7 & 2 i/p rest immaterial

PORTD=0x33;
x=PINA.2;
y=PINA.7;
}
L298N Motor Driver
Similarly other 2 o/p are connected /disconnected by I/p 3 & I/P
4

All the O/p’s operate independently, ie if all I/p 1-I/p 4 are 1, all
O/p1 – O/p4 will be connected to +VPP

L298 can provide 1A current / Output channel , therefore total

of 4A. But heat sinks should be installed for such high
currents .

VPP can be anything in the range 2V- 46V , therefore any

motor can be driven even though Atmega provides only 0/5 V.
A
T 4 Inputs 4 Outputs
M MOTOR MOTOR
E DRIVER
G
A
 Working of Motor Driver
+VPP

O/p 1 I/p 1 ( O/p from

uC)
O/p 2 I/p 2

O/p 3 I/p 3

O/p 4 I/p 4

If uC send ‘1’ to I/p 1, O/p is conn

touC
If + VPP
send ‘0’ to I/p 1, O/p is conn GND
to GND
 Working of Motor Driver
+VPP

O/p 1 I/p 1 ( O/p from

uC)
O/p 2 I/p 2

O/p 3 I/p 3

O/p 4 I/p 4

If uC send ‘1’ to I/p 2, O/p is conn

GND
touC
If + VPP
send ‘0’ to I/p 1, O/p is conn
to GND
Working of Motor
H-BRIDGE MOTOR CONTROL
H-BRIDGE MOTOR CONTROL
H-BRIDGE MOTOR CONTROL
H-BRIDGE USING TRANSISTOR
 Motor Connection for Clockwise:
+VPP

O/p 1 I/p 1 ( O/p from

uC)
O/p 2 I/p 2

O/p 3 I/p 3

O/p 4 I/p 4

If uC send ‘1’ to I/p 2, O/p is conn

GND
touC
If + VPP
send ‘0’ to I/p 1, O/p is conn
to GND
 Motor Connection for Anti-Clockwise:
+VPP

O/p 1 I/p 1 ( O/p from

uC)
O/p 2 I/p 2

O/p 3 I/p 3

O/p 4 I/p 4

If uC send ‘1’ to I/p 2, O/p is conn

GND
touC
If + VPP
send ‘0’ to I/p 1, O/p is conn
to GND
SPEED CONTROL BY PWM