Line Following Robot

1. Line Following Robot David Bouse Jonathan Chen Michelle Chu Kayla Seliner

2. Need To come up with a practicum project that full filled the 411 requirements Create a fun project that would get kids interested in science and engineering. Incorporate all the engineering knowledge we have learned over the past 3+ years.

3. Objective To design, test, and build a mini robot that senses and maneuvers along a path. This path is a visible black line on a white surface. The robot will navigate based on the feedback between sensors and motors.

4. Approach Decision Matrix with four different projects. Line following robot was the winner. Project Proposal Requirements Specifications Design Process Block Diagram Schematic Parts List Board Layout Prototype Testing

5. Requirements Specifications Engineering Requirements Power • Robot must be able to operate on a battery supply • Robot must operate for a minimum of 2 hours before replacing battery Cost • Material cost must not exceed $100/robot Usability • Robot must not exceed .75 pounds • Robot must detect a black line with a width between .6 in. to .9 in. • Robot should follow a line with minimum radius of 6 in. Safety • Robot must not have any exposed wires • Robot must not contain any harmful materials Marketing • Robot must be controlled by micro-controller • Robot must have at least one input sensor • Robot must have at least one actuator • Robot must use a two layer PBC that is between 1 & 16 in. 2, with no side smaller than 1 in. or bigger than 12 in. Justifications Easy to replace and low cost. / Allows portability Limit the frequency needed for battery change Team members have limited funds for this project Limit the load on the motors Standard width of electrical tape is 0.75 in & easily used to create a line Minimum maneuverability of robot. Prevent shocking the user when in use. Robot will be used by children & must be safe Requirements set by Andrew Greenburg. Requirements set by Andrew Greenburg. Requirements set by Andrew Greenburg. Requirements set by Andrew Greenburg.

6. Design Process Basic Block Diagram

7. Hardware Design Level - 0 & Level -1 Block Diagram Prototyping Sensor Motor Design Power Supply Schematic Board Layout Prototyping

8. Schematic Design

9. Board Layout Top Layer Bottom Layer

10. Software Design Basic Algorithm

11. Software Design (Cont.) Differential signaling Calibration Forward Left (6 different sharpness's) Right (6 also) Hard coded values for speeds

12. IP and Prior Work Lego Power Motor Schematic and use www.philohome.com/pf/pf.htm Arduino Uno Prototyping Micro-Controller arduino.cc/en/Reference/HomePage Ladyada Interfacing photocells • http://www.ladyada.net/learn/sensors/cds.html • Blogs Spot • Infrared Transmitter information • http://irbasic.blogspot.com/

13. Testing Hardware Testing Tested different types of sensor Photo Resistors Investigated sensor output values Motor Testing Power Supply Testing Software Testing Applied PWM to control motor speed Used sensor for motor control Tested prototype with motors and sensors to control direction

14. Test Cases

15. Test Cases

16. Alternative Sensor Methods IR Sensors Photo Transistors Voltage Range was limited Light Sensing Range was limited

17. Results By integrating the sensors, microcontroller, and motors our robot was able to follow a black line!

18. Bill of Material

19. Contributions David Bouse Board Layout Enclosure Design Schematic Jonathan Chen Schematic Hardware Testing Prototyping Software Enclosure Design Michelle Chu Hardware Testing Schematic Prototyping Enclosure Design Kayla Seliner Software Software Testing Prototype Testing Web Administration

20. Lessons Learned Schematic Design Board Layout Soldering Prototyping Testing & Debugging Scheduling / Time Management Team Coordination

21. Questions?