Line Tracker Robot with PID control system.
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README.md
schematic.gif
screenshot.jpg
source.c

README.md

Semar Mesem

Line Tracker Robot with PID control system.

spec

  • ATMega16 with 4MHz clock
  • L298 for motor driver (connected to PORTD.1 - PORTD.6)
  • Ten Phototransistors connected to LM339 comparator for sensing the line, connected to PINA and PINB ( 5 and 6 ).
  • LCD 2x16 connected to PORTC.
  • Four tactile switches connected to PINB.0 - PINB.3 (used for menu navigation).
  • Schematic can be found here

Screenshot

More photos here.

How it works

Semar Mesem uses 8 sensors infront to track the line. Ideal line's width is 1.5 - 2 cm with possibility 2 - 3 sensors reading the line.