Line Following Robot

A PID-controlled line following robot built for competitive racing. Competed in two events — won 1st place at GIFT Festronix.

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Hardware

Component	Details
Microcontroller	Arduino Nano
Sensor	QTR-8A (8-channel analog)
Motor Driver	TB6612FNG
Motors	N20 × 2
Power	2S LiPo → Nano Vin (7–12V)
PCB	Hand-soldered Zero PCB
→ Schematic

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How It Works

The QTR-8A reads the line position across 8 analog sensors. Error is calculated relative to center, fed into a PD controller, and output as differential PWM to the two motors via TB6612FNG drivers.

Speed is dynamic — maximum on straight sections, reduced on turns for tighter cornering without losing stability.

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PID Configuration

Parameter	Value
Kp	0.3
Kd	3.0
Straight Speed	255
Turn Speed	120
Max PWM	255

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Project Structure

firmware/     → Arduino source code and PID config
hardware/     → Pin mapping and bill of materials
docs/         → Architecture, design decisions, risk log
logs/         → Debug notes and troubleshooting history

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Competition Results

Event	Result
IIT Pravaah	Did not compete (circuitry damage)
GIFT Festronix	🏆 1st Place

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Build Journey

A full 15-day development log covering every hardware failure, platform switch, and tuning session that led to the final build.

→ DEVLOG.md