This line follower robot is a autonomous robot designed to follow black line on white surface with Avr microcontroller and PID control system. This robot consist of custom made array of 5 infrared sensors (tcrt5000) to detect the black line's position and adjust its movement accordingly. For controlling and changing the value of PID i used Bluetooth Electronics from keuwlsoft.
- Arduino nano: I chose Arduino nano because it is small and also directly take 12v. It is by know mean good microcontroller I should have used some SMT32 board like blue pill or black pill.
- Motor driver: I used TB66FNG motor drive because of it's low drop out voltage and it is really small. I could have used DVR6633 but I only had 3S lipo.
- Line Sensor: I built my own line sensor with tcrt5000 IR sensor. I used 220ohm resistor for current limiting and 10kohm resistor as pull up resistor.
- Battery: I used 3S 1100mah 30C ZOP lipo battery which was the smallest battery I had.
- Motors: I used 2 12v 500RPM N20 motors.
- Chassis: Chassis was made with PCB board which if I remember correctly is made of G10 material.
- Wheel: I used 44mm diameter N20 traction wheel. For front support nylon screws where used.
- Using small battery reduces inertia which improves turning angle. So avoid using bigger battery.
- Avoid using crappy motor drivers like L298N or L293D they have very big voltage drop which reduces motor speed.
- When using brushed motor like N20 the length of Chassis should be reasonably long which allow the motors time to respond to sensor data.
- tcrt5000 gives best reading around 2.5mm above the surface so put your sensor accordingly.
- Keep your robot center of mass as low as possible. Robots with a high center of mass struggle with fast turns and become unstable.