Line Follower Robot

Final Report ECE 478

Line Follower Robot

Lecturer:
Lab instructor:

Nathaniel McVical
Pham Xuan Trung
Nguyen The Nghia

09ES
Trn Vit Tun
L Ch Cng
L Hong Nht

Line Follower Robot

Table of contents
1. Abstract. 3
2. Introduction.3
3. Discussion.3
3.1. Design..3
3.2. Implementation..9
3.2.1 Sensor Working Principle9
3.2.2 Navigate Principle..10
3.2.3 Motor controller module L298N11
3.2.4 Schematic12
3.2.5 Hardware Implement.13
3.2.6 Programming.14
4. Testing and Results19
4.1 Testing19
4.2 Result..19
5. Summary and Conclusion.......20
6. Work Assignment......21
7. Referrence..................................................................................................22

Line Follower Robot

1. Abstract
The line follower robot is one of the self operating mobile machines that follow a line
drawn on the floor. The path can be a visible black line on a white surface (reverse). Capturing
the line position with LDR mounted at the front end of the robot. Most are using ir sensors to
detect the line but in this project LDR is used in place of optical sensors. This kind of robot can
be used for military purposes, delivery services, transportation systems, blind assistive
applications. Line-following robots are very popular with technical university and high-school
students. These projects are quite helpful in motivating students to learn actively the
implementation skills for intelligent mobile robots. The line-following robot devised in this
project includes accurate line detection algorithms with analog outputs of reflective optical
sensors.

2. Introduction
In the previous version, we did build a design and implementation of line follower
robot. In this project we show that how our design works in pratical. Futhermore, we focus on
the components operation by performing many test cases. The main target is that our circuit go
well and robot can follow line. In the final version we keep the same design as midterm report.

3. Discussion
3.1 Design
Discussion design:
Requirement definition
Robot must go in line correctly
Low- cost
Not too large in size
System Specification
- Microcontroller will control motor go in line correctly with two LDR sensor takes
value from ground (Black or white).
- Material to do robot is easy to buy in shop with low cost such as: geared motor,
resistors, Light dependent resistor (LDR), some ICs...
- Size of robot about with CDs disk in diameter.

Function

Line Follower Robot

ADC Function
Signal from LDR will be analog signal and it will be converted to digital signal. The
signal will depend on value of LDR.
Function PWM
Pulse width modulation will give voltage out from some ports of IC. This voltage will
determine speed of motor.
Turn left
When left LDR meet black line, the right motor will rotate faster than left motor.

Turn right
When right LDR meet black line, the left motor will rotate faster than right motor.

Cross intersection
If robot go to intersection, two LDR meet black line. We can improve that by the way is
to ignore two LDR sensors and also two motor go straight.

T junction
The problem here is to have both sensors detect the line at the same time !. However,
the msp430 will know the line has made a turn and we can program it to ignore the

Line Follower Robot

second sensor warning until after the turn is complete. Acute turn angles are treated in
the same way.

Search mode
However at the higher speeds our robot could lose the line or skid off the track so it is
normal to include a sub routine in program to help the robot find the line again. In its
simplest form, one simply makes the robot move in a circle until it picks up the line
again. If the robot cannot find the line within a reasonable time then the msp430 can
power down the whole robot to conserve the batteries.

Architectural design

Prototyping

Line Follower Robot

Detailed Design
- We must create voltage about 3.3V that supply for msp430. According to following figure:
using IC LM1117.

Figure 1: Design circuit of 3.3V using LM1117

- 2 light dependent resistors.

- 2 LEDs.
- 1 board for all components attached on it.
- 1 IC MSP430G2231.
- 2 motors with wheels.

Debugging
Hardware:
- Use voltmeter to check all voltages needed .
- Connect ports on MSP430G2231 to motor corresponding.
- Connect input from signal of LDR to IC MSP430.
Software:
- Using Texas Instruments Code Composer Studio Core Edition version 4.2.1.00004 MSP430
to write and debug code.
- Use oscilloscope to check signal PWM.
- Use Laboratory power supply
Testing
- We check the left or right motor and consider if it move when the left or right sensor meet
black line. This is to guarantee that the signal of sensor being active.
- Checking speed of motor when we change the color of ground.

Line Follower Robot

Use Case:

Block Diagram:
Battery
Left motor
Microcontroller MSP430
Sensor

ADC

PWM

Motor
driver

Right motor

Line Follower Robot

Parts list:
1. Resistors: 220 (2), 470 (1), 100 (4), 22K (2)
2. Light Dependent Resistor (2)
3. Capacitors 0.1uF (3), 1uF (1)
4. Diodes: 1N4004
5. IC: LM1117 3.3 volt voltage regulator
6. Texas Instruments MSP430 Value Line LaunchPad Development Board
7. Texas Instruments MSP430G2231 microcontroller.
8. DC Motor: DC geared motor with Wheel
9. Motor control module L298N
10. One reset push button switch
11. Perforated PCB
12. 4 x AA Battery holder
13. CD/DVD ROM
14. Bolt, Nuts, Double Tape and Standard Electrical Tape for the black line

3.2. Implementation
3.2.1 Sensor Working Principle
This Line Follower Robot design used the photocell sensor known as a Light Dependent
Resistor (LDR) made from Cadmium Sulphide (CdS) to detect the black track line, when
the LDR is above the black track line it will give a high resistance value while above the
white background and it will give a low resistance value. Together with the 22K resistor,
they will form whats known as the voltage divider circuit. This voltage divider circuit
sensor will provide the varying voltage according to the amount of the light intensity
reflected back to the LDR. The blue Light Emitting Diode (LED) will provide a constant
light source for the sensors.

Line Follower Robot

Figure 2: The Line Follower Robot Photocall (LDR) Sensor Working Principle

Pulse Width Modulation (PWM) is a technique widely used in modern

switching circuit to control the amount of power given to the electrical
device. By varying the ON period i.e. longer or shorter than the OFF period,
we could control the DC motor rotation speed.

Figure 3: PWM Timing Diagram

Line Follower Robot

3.2.2 Navigate Principle
The MSP430G2231 microconttroller will translate this varying voltage using its analog
to digital conversion (ADC) peripheral into the DC motor rotation speed using what known as
the Pulse Width Modulation (PWM) signal. Because this LFR used the differential steering
(used two independent DC motor for steering) method, therefore by varying the left and the
right DC motor rotation speed proportionally to the light intensity received by both of the left
and right LDR, we could easily make the robot to navigate the black track line successfully.

Figure 4: Line Follower Robot Differential Drive Steering

3.2.3 Motor controller module L298N

The motor driver is built on a L298N H-Bridge using a tri-state switch to control the
directions and PWM input to control speed of the motors. It's supposed to drive two motors
using up to 2A.

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Figure 5: Motor control module L298N

Figure 6: Block Diagram of Motor controller module L298N

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3.2.4 Schematic

Figure 7: The Line Follower Robot with Texas Instruments MSP430G2231

Microcontroller Schematic

3.2.5 Hardware Implement

Figure 8: DC geared motor with Wheel

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Figure 9: Texas Instruments MSP430 Value Line LaunchPad Development Board

Figure 10: Texas Instruments MSP430G2231 microcontroller

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Figure 11: Line Follower Robot

3.2.6 Programming
#include<msp430g2231.h>
#define L_MOTOR BIT0

// Left Motor

#define R_MOTOR BIT6

// Right Motor

#define L_LDR BIT4

// left light dependent resistor

#define R_LDR BIT5

// Right light dependent resistor

#define led_sensor BIT7

// sensor led

#define MAX_COUNT 100

// Sensor Calibration
#define CAL_SAMPLES 5
#define calibration_speed1 75
#define calibration_speed2 40
#define CAL_MOVE_DELAY 320
// PWM Duty Cycle Threshold
#define MAX_THRESHOLD 75

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#define MIN_THRESHOLD 60
// Sensor Status
#define LEFT_SENSOR 0
#define RIGHT_SENSOR 1
Unsigned int pwm_count=0;
Unsigned int PWM_MOTOR1=0;
Unsigned int PWM_MOTOR2=0;
Unsigned int min_Left_LDR=0;
Unsigned int max_Left_LDR=0;
Unsigned int min_right_LDR=0;
Unsigned int max_right_LDR=0;
Unsigned int ADCfunction(unsignedint adc, unsignedint in_min, unsignedint in_max)
{
unsignedint adc_index;
// Calculate the result and put it within 0 to 100% PWM Duty Cycle value
adc_index = 100 - ((adc - in_min) * 100 / (in_max - in_min));
if (adc_index <= MIN_THRESHOLD)
adc_index=0;
if (adc_index >= MAX_THRESHOLD)
adc_index=MAX_THRESHOLD;
return(adc_index);
}
void DelayMs(unsignedint ms)
{
while(ms--) {
delay_sys(1000); // 1 ms delay for 1 MHz Internal Clock
}
}
// TimerA Channel 0 interrupt service routine
#pragma vector=TIMER0_A0_VECTOR
__interrupt void Timer_A (void)
{
// The PWM Period is about: 101 x 0.1 ms = 10.1 ms
pwm_count++;
if (pwm_count >= MAX_COUNT) {
pwm_count=0;
P1OUT |= L_MOTOR; // Turn On Left Motor
P1OUT |= R_MOTOR; // Turn On Right Motor
}
if (pwm_count == PWM_MOTOR1) {
P1OUT &= ~L_MOTOR; // Turn Off Left Motor

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}
if (pwm_count == PWM_MOTOR2) {
P1OUT &= ~R_MOTOR; // Turn Off Right Motor
}
}
unsigned int ReadSensorFunction(unsignedchar state)
{
ADC10CTL0 &= ~ENC; // Disable ADC10
if (state) {
ADC10CTL1 &= ~INCH_4; // Deselect ADC Channel 4
ADC10CTL1 |= INCH_5; // Select ADC Channel 5 (A5), Right LDR
} else {
ADC10CTL1 &= ~INCH_5; // Deselect ADC Channel 5
ADC10CTL1 = INCH_4; // Select ADC Channel 4 (A4), Left LDR
}
ADC10CTL0 |= ENC + ADC10SC; // Enable ADC10 and Conversion start
while (ADC10CTL1 & ADC10BUSY); // Wait for ADC Conversion
return(ADC10MEM); // Return ADC Value
}
void Cal_Sensor()
{
Unsigned char i;
Unsigned int signal_left,signal_right;
// Get the Maximum Value Sensor Value (over black line)
P1OUT |= led_sensor; // Turn On the Sensor LED
DelayMs(1000); // Give enough time to light the LDR
signal_left=0;
signal_right=0;
for(i=0; i < CAL_SAMPLES; i++) {
signal_left += ReadSensorFunction(LEFT_SENSOR); // Read The Left LDR (A4)
delay_sys(50);
signal_right += ReadSensorFunction(RIGHT_SENSOR); // Read The Right LDR (A5)
delay_sys(50);
}
max_Left_LDR = signal_left / CAL_SAMPLES; // Get the Max Left Average Value
max_right_LDR = signal_right / CAL_SAMPLES; // Get the Max Right Average Value
// Now move the robot to the next calibration stage
PWM_MOTOR1=calibration_speed1;

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Line Follower Robot

PWM_MOTOR2=calibration_speed2;
DelayMs(CAL_MOVE_DELAY);
// Turn off the Motor (Duty Cycle 0)
PWM_MOTOR1=0;
PWM_MOTOR2=0;
// Get the Minimum Value Sensor Value (over white line)
signal_left=0;
signal_right=0;
for(i=0; i < CAL_SAMPLES; i++) {
signal_left += ReadSensorFunction(LEFT_SENSOR); // Read The Left LDR (A4)
delay_sys(50);
signal_right += ReadSensorFunction(RIGHT_SENSOR); // Read The Right LDR (A5)
delay_sys(50);
}
min_Left_LDR = signal_left / CAL_SAMPLES; // Get the Min Left Average Value
min_right_LDR = signal_right / CAL_SAMPLES; // Get the Min Right Average Value
// Blink the Sensor LED after calibrating
for(i=0; i < CAL_SAMPLES; i++) {
P1OUT &= ~led_sensor; // Turn Off LED
DelayMs(500);
P1OUT |= led_sensor; // Turn On LED
DelayMs(30);
}
}
void main(void)
{
unsigned int Value_Sensor;
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
// P1.0,P1.6 and P1.7 output, Other as Input
P1DIR = L_MOTOR + R_MOTOR + led_sensor;
// Enable the pull-down resistor on the unused input ports
P1REN = BIT1 + BIT2 + BIT3;
P2REN = BIT6 + BIT7;
// Reset all the Output
P1OUT = 0x00;
// TIMER A channel 0 will interrupt every 100 cycles

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Line Follower Robot

// Interrupt time counter period: 100 / 1.000.000 = 0.1 ms
TACCTL0 = CCIE; // CCR0 interrupt enabled
TACCR0 = 99;
TACTL = TASSEL_2 + MC_1; // Start Timer, SMCLK, Up Mode
// Start the ADC10 Peripheral
// Vref = Vcc, 16 ADC Clock, Enable ADC10
ADC10CTL0 = SREF_0 + ADC10SHT_3 + ADC10ON;
// Sample-and-hold ADC10SC bit, ADC10 Clock /1, ADC10 Source Clock, Single Channel Conversion
ADC10CTL1 = SHS_0 + ADC10DIV_0 + ADC10SSEL_0 + CONSEQ_0;
ADC10AE0 = L_LDR + R_LDR; // Enable A4 and A5 as ADC Input
DelayMs(1); // Wait for ADC Ref to settle
// Initial the PWM Duty Cycle and Enable the MSP430 Interrupts
pwm_count=0;
PWM_MOTOR1=0;
PWM_MOTOR2=0;
__enable_interrupt();
// Now we Calibrate the LDR Sensors
Cal_Sensor();
DelayMs(1000); // Delay 1000 ms before start
// Loop Forever
for(;;)
{
// Read the Left LDR Sensor and make sure is within the range
Value_Sensor=ReadSensorFunction(LEFT_SENSOR);
if (Value_Sensor > max_Left_LDR)
Value_Sensor=max_Left_LDR;
if (Value_Sensor < min_Left_LDR)
Value_Sensor=min_Left_LDR;
// Assigned the Left PWM Duty Cycle
PWM_MOTOR1=ADCfunction(Value_Sensor,min_Left_LDR,max_Left_LDR);
delay_sys(20);
// Read the Right LDR Sensor and make sure is within the range
Value_Sensor=ReadSensorFunction(RIGHT_SENSOR);
if (Value_Sensor > max_right_LDR)
Value_Sensor=max_right_LDR;

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if (Value_Sensor < min_right_LDR)
Value_Sensor=min_right_LDR;
// Assigned the Right PWM Duty Cycle
PWM_MOTOR2=ADCfunction(Value_Sensor,min_right_LDR,max_right_LDR);
delay_sys(20);
}
}

4. Testing and Results

4.1 Testing
After the selection of ranges for components of the line follower robot,the circuits are
constructed and all the components are assembled on the test base. We perform testing:
1. Test Led:
Objective: Make sure that Led light stable and operate as programming.

2. Test Photo Resistor: This is the important components.

Objective: Photo resistor change the resistor value when receive light source.
Technique: Use white light source such as flash light to change the amount of
light coming to photo resistor surface. After that we measure the changing of
voltage in particular cases. When the LDR receive less amount of light, it will
give a high resistance value. on the contrary, while LDR receive more amount
of light,it will give a low resistance value.

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Line Follower Robot

3. Test PWM: Link on youtube about our Test
https://www.youtube.com/watch?v=tyOA1EiQohQ&list=UU7bvWShiRGDWS1TGiZFM3Q&index=1
Objective: To confirm that the pulse signal from port 2 and port 8 is working.
Technique: Use Led1 and Led 2 attached in launchpad to test after sending code
to microcontroller. Moreover, after completing the real circuit, we connect with
osciloscope to measure pulse signal.

4. Test source supply 3.3 V for the circuit:

Objective: To make sure the Msp controller run stable with the 3.3 V source.
5. Test Reset circuit
Objective: To navigate the operation of system when we push reset button.
Finally, we finish the test with our desire.

4.2 Result
In general, we completed our robot as we designed. However, we have a big problem
with power supply for circuit. The pwm signal as well as photo resistor run well but the
unstable voltage make our circuit fail (The MSP430G2231 microcontroller can not work with a
unproperly voltage). We will describe more about the problem in summary section.

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Line Follower Robot

5. Summary and Conclusion

The final version of our robot can not work. We really disapointed about that. Anything
work well with the test plan however it's impossible to solve the prolem. When we supply 9V
source for the circuit, the voltage decrease immediately (2.8V) resulting in the msp430
controller cannot work with the unstable voltage. We try many times and spend much time to
test and check the problem. But it still happens. We try to test the H-bridge but there is nothing.
The weird thing is that the robot can run well two times when we testing. It means, at that time,
the voltage is stable and of course other part such as microcontroller and photo resister work.
In summary, the fact is that our robot can not work. We have made a demo clip to show that
pwm and photo resistor are running. Because all members worked very hard on the project,
we hope that we can find the problem why the voltage is unstable. After doing this project, we
have learned that:
- Decide the topic of project is the most important step.
- Spend proper time to test a problem. If it's still wrong, we have better find another ways.

6. Work Assignment:
There are 3 members in our group.
1. Le Hoang Nhat: (60 hours)
-Design UML diagram
-Work on circuit
-Implement components
-Testing
-Write Report
- Presend demo
2. Tran Viet Tuan: (60 hours)

-Design UML diagram

- Work on circuit
- Implement components
- Testing
- Present demo
-Write report

3. Le Chi Cong (60 hours)

-Design UML diagram

-Draw circuit schematic
-Implement components
-Work on circuit
-Testing
-Present demo
-Write Report

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Line Follower Robot

7. References
[1] Embedded Systems: A Contemporary Design Tool by James K. Peckol
[2] Nor Maniha Abdul Ghani, Faradila Naim, Tan Piow Yon , Two Wheels Balancing Robot
with Line Following Capability, World Academy of Science, Engineering and Technology,
pp-634-638, 2011.
[3] http://www.ti.com/lit/ds/symlink/msp430g2231.pdf
[4] http://www.datasheetcatalog.org/datasheet/nationalsemiconductor/LM1117.pdf
[5] Build Your Own Transistor Based Mobile Line Follower Robot (LFR)-emicro.com

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