Line Follower Robot. 03doc

8/19/2019 Line Follower Robot. 03doc

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Line follower with arm lifter

PROJECT REPORT

Line Follower With Arm Lifter

Submitted To :

Sir Azhar Zaidi

Submitted By :

Nida Afaq 08-EE-128

Qurat ul-ain 08-EE-137

Mohsin Majeed 08-EE-17

a!za Shahid 08-EE-11"

Abstr!t:

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#his $roje%t is an i!$le!entation of a line follo&in' ro(ot) &ith !odifi%ation of !etal rods

%onne%ted to it* +t senses and follo&s a $ath of &hite %olor and lifts an, (o that %o!es in its

&a,*.+/188 is the !i%ro%ontroller used *Sensors are used to dete%t the ri'ht %olor and

let the ro(ot follo& it* Sensors are also $la%ed at the ri'ht side of ro(ot) &hi%h dete%ts a jun%tion* #his ro(ot 'ies (asis for an, t,$e of ro(ot &hi%h is not re!ote %ontrolled* So it

%an (e used in an, adan%ed ro(ot &ith in%reased %o!$leit, and lar'er size*

A!"nowled#ement:

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Tble Of Contents:

Pro$e!t des!ri%tion:

#he $roje%t !ainl, %o!$rises of three se%tions*

• !i%ro/ontroller se%tion

• Me%hani%al se%tion

• Sensors

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&i!ro'Controller Se!tion:

#his se%tion %o!$rises of all the %odin' that is done to !a4e the ro(ot follo& the line and lift

(o*P(C )*F+,*) is the !i%ro%ontroller used* &i"roC is used for $ro'ra!!in' in /

lan'ua'e*

&i!ro!ontroller:

5ifferent !i%ro%ontrollers are aaila(le li4e Motorola)+ntel6s 802)At!el6s A)Zilo'6s Z8 and

.+/*.+/ is %hosen for this $roje%t as

• +t is %ost effe%tie*

• Soft&are and hard&are deelo$!ent tools li4e %o!$ilers) asse!(lers)

de(u''ers and e!ulators are easil, aaila(le*• +t !eets our %o!$utin' needs !ore effi%ientl,*

P(C:

.+/ has different fa!ilies 10)12)1)1")17 and 18*the, all are 8 (it

$ro%essors *data lar'er than 8 (it is (ro4en into 8-(it $ie%es to (e $ro%essed*.+/ 18

fa!il, is used as it has the hi'hest $erfor!an%e of all the fa!ilies of 8-(it .+/

!i%ro%ontrollers and it is aaila(le in 18- t$o 80- $in $a%4a'es &ith eas, !i'ration to !ore$o&erful ersion of %hi$ &ithout losin' soft&are %o!$ati(ilit,*

P(C)*F+,*:

.+/ 18 has a +S/ ar%hite%ture that %o!es &ith so!e standard features su%h as on-%hi$

$ro'ra!9%ode: ;M) data AM) data EE.;M) ti!ers )A5/ and


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desi'nated as dd )@N5 9ss:);S/1);S/2 and M/>9!aster %lear:*in this $roje%t &e are

usin' .+/ 188 in 5+. $a%4a'in'*

&e!hni!l se!tion:

#he !e%hani%al se%tor %o!$rises of !otors) &heels) and alu!inu! sheet and ar! lifter*

#he fi'ure (elo& sho&s the full !e%hani% al stru%ture

*

&otors:

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#he !otors used are the !otors of $o&er &indo& of %ar *three !otors are used in total )t&o

for !oin' the line follo&er and one is used for raisin' and lo&erin' the ar! lifter* #he

s$eed of !otor is !ore than our require!ent so it is %ou$led &ith the 'ear to in%rease the

torque and %onsequentl, redu%e the s$eed to our required leel*the out$ut of the 'ear is

%onne%ted to the shaft &hi%h is $assin' throu'h the &heels*

Rtin#s:

#he !otor is of 12 and 1* A*

Wheels:

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#he &heels are !ade u$ of n,lon !aterial hain' a 'rooed surfa%e* #he &heels are

&ra$$ed &ith ru((er to redu%e the fri%tion and !oe the ro(ot easil,*

Arm lifter

+t is !ade u$ of alu!iniu! sheets and &ith the hel$ of nut it is %onne%ted to shaft of !otor*

#he ar! !oes u$ and do&n (, the %lo%4&ise and anti%lo%4&ise rotation of !otor*

s$e%ifi%ations of !otor are sa!e 912 B 1* A:

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Aluminum sheets :

#he sheets used are of 1C 'ua'e*the sheet &hi%h is used to $la%e !otors and (atteries is of &idth 1" in%hes and of len'th 1C in%hes* #he alu!inu! rods &hi%h %onne%t the (ase sheet

&ith to$ sheet are of 10 in%hes* #he to$ sheet is used to $la%e ./? s*#he alu!inu! sheets

are (ended to in%rease the !e%hani%al stren'th*

Btteries:

+n this $roje%t t&o (atteries are used to $o&er the %ir%uit and these are of 12 )A=20*

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Sensors:

Seen sensors are used in total* ie of the! are used to 4ee$ the ro(ot in line and t&o of

the! are used to dete%t jun%tion* #he sensin' utilizes the $ro$erties of >5s

ie sensors used are la(eled as S%) Sl ) Sl ) Sr ) Sr* +f S% and one of Sr is a%tie it !eans

ro(ot is turnin' ri'ht so s$eed of left !otor is in%reased to (rin' it (a%4 onto %enter line and

if S% and one of S l is a%tie it !eans it is turnin' to&ards left so s$eed of ri'ht !otor is

in%reased to (rin' it (a%4 onto %entre line*

Jun!tion sensor:

Sensors at jun%tion are la(eled as D l and Dr*if Dl 'ies 0 out$ut follo&ed (, 0 out$ut of j r it

!eans that ro(ot hae %rossed so!e jun%tion*

S!hemti!:

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or sensor %ir%uit >M32 +/ is used* +t is a 1 $in +/) ;ut of &hi%h 3) )10)12 are in$ut $ins*

So for seen sensors t&o su%h +/s are used* #he fi'ure (elo& just sho&in' one sensor

%ir%uit* #his +/ needs s to fun%tion $ro$erl,*

PCB -esi#nin#:

./? desi'ns of $roje%t is as follo&

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Al#orithm of %ro$e!t

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#he follo&in' %ode is used to !oe the line follo&er and lift o(je%t $la%ed at

jun%tion*

==ta4e f12hz

== for left h (rid'e E0) 1 n 50) 1

==for ri'ht (0) 1 n 52) 3

==-?rid'e

==>E#

Fdefine A .;#5*0G

Fdefine ? .;#5*1G

Fdefine / .;#E*0G

Fdefine 5 .;#E*1G

==+@#

Fdefine A2 .;#5*2G

Fdefine ?2 .;#5*3G

Fdefine /2 .;#?*0G

Fdefine 52 .;#?*1G

==fie sesors

Fdefine sll .;#A*0G

Fdefine sl .;#A*1G

Fdefine s% .;#A*2G13


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Fdefine sr .;#A*3G

Fdefine srr .;#A*G

Fdefine jr .;#?*G

Fdefine jl .;#?*G

unsi'ned %har D0G

unsi'ned %har D>0G

oid start9:G

oid sto$9:G

oid linetr9:G

oid ar!9int:G

oid turnr'ht9:G

oid turnlft9:G

oid reerse9:G

oid r'ht"9:G

oid r'ht9:G

oid r'ht29:G

oid r'ht19:G

oid lft"9:G

oid lft9:G

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oid lft29:G

oid lft19:G

==F$ra'!a %ode

==F$ra'!a interru$t !ultiH%h4Hisr

oid !ultiH%h4Hisr9:

I

if9+N#/;N*01:

I

DJJG

D>JJG

K

if 9D2 BB D>2:

I

sto$9:G

ar!91:G

start9:G

reerse9:G

+N#/;N*00G

K

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if 9D BB D>:

I

sto$9:G

start9:G

&hile9.;#A*2L0:

Iturnr'ht9:GK

linetr9:G

+N#/;N*00G

K

if 9D" BB D>":

I

sto$9:G

ar!92:G

start9:G

reerse9:G

+N#/;N*00G

K

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if9D8 BB D>8:

I

sto$9:G

start9:G

&hile9.;#A*2L0:

Iturnr'ht9:GK

linetr9:G

+N#/;N*00G

K

K

oid linetr9oid: I start9:G

&hile91:

I

if 9.;#A*0 1 BB .;#A*11 BB .;#A*20 BB .;#A*31 BB

.;#A*1:

I

==strai'ht

==for left !otor

.;#5*01G

.;#E*00G

.;#5*11G17


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.;#E*10G

==for ri'ht !otor

.;#5*21G

.;#?*00G

.;#5*11G

.;#?*10G K

else if9.;#A*01 BB .;#A*11 BB .;#A*20 BB

.;#A*30 BB .;#A*1:

I

==sli'ht ri'ht

r'ht"9:G

K

else if 9.;#A*01 BB .;#A*11 BB .;#A*21 BB

.;#A*30 BB .;#A*1:

I

==!ediu! ri'ht

r'ht9:G K


.;#A*30BB .;#A*0:

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I==!id etre!e ri'ht

r'ht29:G

K

else if 9.;#A*01 BB .;#A*11 BB .;#A*21 BB .;#A*31

BB .;#A*0:

I

==etre!e ri'ht

r'ht19:GK

==EN5 ; +@# #E# #


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lft9:G

K


.;#A*31 BB .;#A*1:

I

==!ed-etre!e left

lft29:G

K


.;#A*31 BB .;#A*1:

I

==etre!e left

lft19:G

K

K

K

oid r'ht"9:

I

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==hile9srL1:

.;#5*01G

.;#E*00 G

.;#5*11 G

.;#E*10G

dela,H!s9":G

.;#5*00G

==unsi'ned int e2-dG

dela,H!s92:G

K

oid r'ht9:

I

==hile9srL1:

.;#5*01G

.;#E*00 G

.;#5*11 G

.;#E*10G

dela,H!s9:G

.;#5*00G


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dela,H!s9:G

K

oid r'ht29:

I

==hile9srL1:

.;#5*01G

.;#E*00 G

.;#5*11 G

.;#E*10G

dela,H!s92:G

.;#5*00G


dela,H!s9":G

K

oid r'ht19:

I

==hile9srL1:

.;#5*01G

.;#E*00 G

.;#5*11 G

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.;#E*10G

dela,H!s91:G

.;#5*00G


dela,H!s97:G

K

oid lft9:

I

==hile9slL1:

I

.;#5*21G

.;#?*00G

.;#5*31G

.;#?*10G

dela,H!s9:G

.;#5*20G

dela,H!s9:GK

K

oid lft"9:

I

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==hile9slL1:

I

.;#5*21G

.;#?*00G

.;#5*31G

.;#?*10G

dela,H!s9":G

.;#5*20G

dela,H!s92:GK

K

oid lft29:

I

==hile9slL1:

I

.;#5*21G

.;#?*00G

.;#5*11G

.;#?*10G

dela,H!s92:G

.;#5*20G

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dela,H!s9":GK

K

oid lft19:

I

==hile9slL1:

I

.;#5*21G

.;#?*00G

.;#5*11G

.;#?*10G

dela,H!s91:G

.;#5*20G

dela,H!s97:GK

K

oid ar!9int a:

I

.212CG

E//.1>12CG

#+S5000G

#2/;N001G

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#M20G

if9a1:

I

E//.1/;N05G

#2/;N*#M2;N1G K

if 9a2:

I E//.1/;N0/EG

#2/;N*#M2;N1G K

K

oid turnr'ht9:I

.;#5*01G .;#E*00G==># +N > S.EE5

.;#5*11G.;#E*10G

.;#5*21G.;#?*00G.;#5*11G.;#?*10G

dela,H!s91:G

.;#5*20G==r'ht 12* dut, %,%le

K

oid turnlft9:

I

.;#5*21G.;#?*00G.;#5*11G.;#?*10G==r'ht +N > S.EE5

.;#5*01G.;#E*00G.;#5*11G.;#E*10G

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dela,H!s91:G

.;#5*00G==lft 12* dut, %,%le

K

oid reerse9:I

.;#5*00G .;#5*20G

.;#E*01G.;#?*01G

dela,H!s920:G

.;#E*11G.;#5*10G

.;#?*11G .;#5*10GK

oid start9:

I

.;#5*01G

.;#E*00G

.;#5*11G.;#E*10G

.;#5*21G

.;#?*00G

.;#5*11G

.;#?*10G

K

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oid sto$9:I

.;#5*00G

.;#E*01G

.;#5*10G.;#E*11G

.;#5*20G

.;#?*01G

.;#5*10G

.;#?*11G

E//.1/;N000GK

oid !ain9:

I

#+S5000G

#+SE0G

+N#/;N*00G

+N#/;N*31G

+N#/;N*71G

==#M2+E1G

#+SA*"0G

#+SA*70G

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#+S?*00G

#+S?*10G

#+S?*1G

#+S?*1G

#+SA*1G

#+SA*1G

#+SA*1G

#+SA*1G

#+SA*1G

linetr9:G

K

Future d.n!ements:

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Line Follower Robot. 03doc

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