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Robot Car 4WD with Arduino, Line Follower.
 
 
  Home :  Chapter 4: 4WD Robot Car, Line Follower                                                          Home
 
 
 1- Line following robot, Project description
 
The concept of the line follower robot is related to light. Here, we use the behavior of light on the black-and-white surface. The white color reflects all the light that falls on it, whereas the black color absorbs the light.

In this line-follower robot, we use IR transmitters and receivers (photodiodes). They are used to send and receive the lights. When IR rays fall on a white surface, they are reflected toward the IR receiver, generating some voltage changes.

Black surfaces absorb infrared radiation and do not reflect any of the rays that fall on them; therefore, no photons reach the infrared receiver.

In this project, when the IR sensor senses a white surface, an Arduino gets 1 (high) as input, and when it senses a black line, an Arduino gets 0 (low) as input. Based on these inputs, an Arduino Uno provides the proper output to control the motors to move as it is.
 
 
 
 2- Components Used in Line Follower Robot
 
  Types Qty
2.1 Arduino Uno R3 1pcs
2.2 V5.0 Expansion board 1pcs
2.3 L293D motor driver board 1pcs
2.4 IR sensors (Line tracking module) 3pcs
2.5 BO motor 4pcs
2.6 Wheel 4pcs
2.7 Battery Case + Lithium-ion battery 1pcs + 2pcs
2.8 Acrylic plates 2pcs
2.9 USB cable 1pcs
2.10 Aluminium Block 4pcs
2.11 F-F dupont wire  
2.12 Black tape 1pcs
 
  3- Video, Line Following Of the Multi-Functional 4 Wheel Drive Robot Car
  3.1- Watch Video on Youtube, Arduino Smart Car,  Line Tracking Robot  - Part 3   السيارة الذكية - روبوت تتبع الخط، الدرس 32 - الجزء 3   -   للمهندس حمزة عمار
   Video on Youtube, Arduino Smart Car, Line Tracking Robot  - Part 3

https://www.youtube.com/watch?v=P5fEql_J9Vw&t=0s  

 
  4- IR sensors (Line tracking module)   مستشعرات الخط الاسود
 
 

   Line Tracking module is an infrared sensor that detects whether the surface in front of it is reflective or opaque. Sensitivity to ambient light can be adjusted using the knob to achieve a fairly accurate reading.
 
 
  5- Line Following Project 1, Line Tracking of the 4 WD Robot Car  
 
  5.1- Schemas of Movements ...

 
 
 
   5.2- Connections

 
  5.3- the Code  of the Current Application, using the Mixly Software Current Mixly application - (5.08 KB zip file)   download
 
    5.3.1- Picture, the Mixly Blocks(block programming) of the Current Application

 
   5.3.2- Picture,  the Mixly Code of the Current Application, Equivalent to C / C++

 
   5.3.3- the Code of the Current Application    -   C / C++
volatile int IN1;
volatile int IN2;
volatile int IN3;
volatile int IN4;
volatile int rightS;
volatile int centerS;
volatile int leftS;

void forward(int speed) {
left_side_forward(speed);
right_side_forward(speed);
}

void left1(int speed) {
left_side_forward(speed / 2);
right_side_forward(speed);
}

void left2(int speed) {
left_side_backward(speed);
right_side_forward(speed);
}

void left_side_backward(int speed) {
// Left
analogWrite(IN1,0);
analogWrite(IN2,(speed * 0.90));
}

void left_side_forward(int speed) {
// Left
analogWrite(IN1,(speed * 0.90));
analogWrite(IN2,0);
}

int  mixly_digitalRead(uint8_t pin) {
pinMode(pin, INPUT);
return   digitalRead(pin);
}

void right1(int speed) {
left_side_forward(speed);
right_side_forward(speed / 2);
}

void right2(int speed) {
left_side_forward(speed);
right_side_backward(speed);
}

void right_side_backward(int speed) {
// Right
analogWrite(IN3,0);
analogWrite(IN4,speed);
}

void right_side_forward(int speed) {
// Right
analogWrite(IN3,speed);
analogWrite(IN4,0);
}

void stop() {
left_side_forward(0);
right_side_forward(0);
}

void setup(){
IN1 = 11;
IN2 = 6;
IN3 = 5;
IN4 = 3;
rightS = 8;
centerS = 9;
leftS = 10;
}

void loop(){
if (mixly_digitalRead(leftS) == 1 && (mixly_digitalRead(centerS) == 1 && mixly_digitalRead(rightS) == 1)) {
forward(120);

}
if (mixly_digitalRead(leftS) == 1 && (mixly_digitalRead(centerS) == 1 && mixly_digitalRead(rightS) == 0)) {
left1(150);

}
if (mixly_digitalRead(leftS) == 1 && (mixly_digitalRead(centerS) == 0 && mixly_digitalRead(rightS) == 0)) {
left2(150);

}
if (mixly_digitalRead(leftS) == 0 && (mixly_digitalRead(centerS) == 1 && mixly_digitalRead(rightS) == 1)) {
right1(150);

}
if (mixly_digitalRead(leftS) == 0 && (mixly_digitalRead(centerS) == 0 && mixly_digitalRead(rightS) == 1)) {
right2(150);

}
if (mixly_digitalRead(leftS) == 0 && (mixly_digitalRead(centerS) == 0 && mixly_digitalRead(rightS) == 0)) {
stop();

}

}
 
   5.3.4- Test the Current Application
     1- Connect the Arduino UNO board of the 4WD robot car to computer’s USB port with USB cable to upload the code
     2- if the Code upload success, Turn the Power Slide switch ON
 
 
  6- Line Following Project 2, Line Tracking with Ultrasonic of the 4 WD Robot Car  
 
  6.1- Schemas of Movements ...

 
 
 
   6.2- Connections

 
 
   6.3- the Code  of the Current Application, using the Mixly Software Current Mixly application - (5.37 KB zip file)   download
 
   6.3.1- Picture, the Mixly Blocks(block programming) of the Current Application

 
   6.3.2- Picture,  the Mixly Code of the Current Application, Equivalent to C / C++

 
  6.3.3- the Code of the Current Application    -   C / C++
volatile int IN1;
volatile int IN2;
volatile int IN3;
volatile int IN4;
volatile int rightS;
volatile int centerS;
volatile int leftS;

float checkdistance_A1_A2() {
digitalWrite(A1, LOW);
delayMicroseconds(2);
digitalWrite(A1, HIGH);
delayMicroseconds(10);
digitalWrite(A1, LOW);
float distance = pulseIn(A2, HIGH) / 58.00;
delay(10);
return distance;
}

void forward(int speed) {
left_side_forward(speed);
right_side_forward(speed);
}

void left1(int speed) {
left_side_forward(speed / 2);
right_side_forward(speed);
}

void left2(int speed) {
left_side_backward(speed);
right_side_forward(speed);
}

void left_side_backward(int speed) {
// Left
analogWrite(IN1,0);
analogWrite(IN2,(speed * 0.90));
}

void left_side_forward(int speed) {
// Left
analogWrite(IN1,(speed * 0.90));
analogWrite(IN2,0);
}

int  mixly_digitalRead(uint8_t pin) {
pinMode(pin, INPUT);
return   digitalRead(pin);
}

void right1(int speed) {
left_side_forward(speed);
right_side_forward(speed / 2);
}

void right2(int speed) {
left_side_forward(speed);
right_side_backward(speed);
}

void right_side_backward(int speed) {
// Right
analogWrite(IN3,0);
analogWrite(IN4,speed);
}

void right_side_forward(int speed) {
// Right
analogWrite(IN3,speed);
analogWrite(IN4,0);
}

void stop() {
left_side_forward(0);
right_side_forward(0);
}

void setup(){
IN1 = 11;
IN2 = 6;
IN3 = 5;
IN4 = 3;
rightS = 8;
centerS = 9;
leftS = 10;
pinMode(A1, OUTPUT);
pinMode(A2, INPUT);
}

void loop(){
while (checkdistance_A1_A2() > 20) {
if (mixly_digitalRead(leftS) == 1 && (mixly_digitalRead(centerS) == 1 && mixly_digitalRead(rightS) == 1)) {
forward(120);

}
if (mixly_digitalRead(leftS) == 1 && (mixly_digitalRead(centerS) == 1 && mixly_digitalRead(rightS) == 0)) {
left1(150);

}
if (mixly_digitalRead(leftS) == 1 && (mixly_digitalRead(centerS) == 0 && mixly_digitalRead(rightS) == 0)) {
left2(150);

}
if (mixly_digitalRead(leftS) == 0 && (mixly_digitalRead(centerS) == 1 && mixly_digitalRead(rightS) == 1)) {
right1(150);

}
if (mixly_digitalRead(leftS) == 0 && (mixly_digitalRead(centerS) == 0 && mixly_digitalRead(rightS) == 1)) {
right2(150);

}
if (mixly_digitalRead(leftS) == 0 && (mixly_digitalRead(centerS) == 0 && mixly_digitalRead(rightS) == 0)) {
stop();

}
}
stop();

}
}
 
  6.3.4- Test the Current Application
     1- Connect the Arduino UNO board of the 4WD robot car to computer’s USB port with USB cable to upload the code
     2- if the Code upload success, Turn the Power Slide switch ON
 
 
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