1/9/2024 0 Comments Line following robot![]() ![]() This function is explained in detail in a later step. The calibrationMode can be either MIN_MAX or MEDIAN_FILTER. This function calibrates the line sensors. LineSensor(void) Ĭalling this constructor by creating an object initializes ADC0 and ADC1, reads threshold, minimum and maximum values from EEPROM and configures the sensor pins to input mode and emitter control pin to output mode. LineSensor is the library for interfacing the line sensor array with Teensy. It took me quite some time to figure this out and correct the pin assignments in the program. This is because when we connect the line sensor to the perfboard using dual row right-angled headers, the rows will align correctly. If you closely observe the line sensor pins and their corresponding header pins on the perboard, you will notice that the top row of the line sensor maps to the bottom row of the header on the perboard and vice versa. Connect a 470uF electrolytic capacitor across Vcc and Gnd. ![]() ![]() Connect all odd sensor pins (15,13,11,9,7,5,3,1) as shown in picture.Connect emitter control pin (EVEN) to Teensy pin 30.Route the wire for connecting sensor pin 12 through the reverse side of perfboard. We will later connect the line sensor using FFC to DIP adapter and cable. Solder the connections by following the steps below. The even number sensors will be connected to ADC1 and odd number sensors to ADC0. We will connect eight line sensors each to ADC0 and ADC1. We can access any two pins from the two ADCs at the same time. Teensy 3.6 has two ADCs - ADC0 and ADC1 that are multiplexed to 25 accessible pins. Two numbers of 10mm diameter green LEDs for status indication while running. Three-pushbutton breakout for accepting user inputs. User interface : Teensyview for displaying information. Adjustable step-up regulator powers the two motors. 3.3V step-up/down regulator powers microcontroller, sensors, and display device. Power supply : 3.7V, 750mAh lipo battery as power source. Orientation sensor : Prop shield with motion sensors for estimating position and heading of the robot. Odometry : Magnetic wheel encoder pairs for estimating the coordinates and distance covered. Line sensor : Pololu's QTRX-MD-16A 16-channel analog output line sensor array in medium-density arrangement (8mm sensor pitch).ĭrive : 6V, 1580rpm, high power micro metal gear motors with magnetic wheel encoder and silicone wheels fitted on aluminium hubs. Microcontroller : Teensy 3.6 development board featuring 32-bit 180MHz ARM Cortex-M4 processor. The major systems of the robot are outlined below. 24 pin FFC to DIP breakout and FFC cable (Type A, 150mm length)Īs with my earlier design of a self-balancing robot, this robot is an assemblage of breakout boards mounted on a perfboard which also serves the purpose of a structure.Pololu Ball Caster with 3/8” Metal Ball.DRV8833 Dual Motor Driver Carrier (x2).MP12 6V 1580 rpm micro gear motor with encoder (x2).Pololu Adjustable 4-5-20V Step-Up Voltage Regulator U3V70A.Pololu Step-Up/Step-Down Voltage Regulator S9V11F3S5.Pololu QTRX-MD-16A Reflectance Sensor Array. ![]()
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