Posts Tagged ‘arduino’

A line follower is just like a hello world in robotics. Many have been made and nowadays are based on arduino boards, this time I want to go old school and build this simple line follower from parts on my bin. The DS89C430 is a fast 8051 core variant from Maxim, before the era of arduino these are the microcontrollers that only requires UART connection and do not require a external programmer to load the bootloader because it is loaded with bootloader already from the factory and only a terminal program is required to load the hex file generated from the assembler or compiler.

This line follower consist of 3 TCRT5000 reflective IR sensors that goest to a LM339 quad comparator that gives the microcontroller a high or low signal when a black line is detected or not. A L9110S motor driver module was used to drive the two DC motors in differential drive mode. The whole project is powered by a single 3.7V 18650 battery from an old laptop battery pack. The output is fed to a boost converter based on the classic MC34063 to boost the battery voltage to 5V. The complete schematic is show below.


Schematic Diagram

The whole project is built on a strip board with mixed thru hole and surface mount components depending on what I have on my bin.



And now the code! Basically a logic based on its position on the track. One motor is stopped to make a turn. The code is compiled with SDCC.


Voila! a nice line follower that can navigate even a complicated track! See the video demo below


This project was lost, luckily while digging I found a backup file. I am now making this project available for public use. Released as is with no warranties, I am not liable for any harm done to your system. This should be used ONLY FOR EDUCATIONAL PURPOSES. The client file requires .NET Framework 4.0. The arduino sketch was compiled and tested with Arduino IDE 1.0.5 and Gizduino 328 (Arduino clone in the Philippines by e-Gizmo Mechatronics Central). The program for the 8051 was compiled with SDCC.


Connection Diagram:


1. Select the Correct COM Port
2. Connect
3. Load up the Hex file
4. Upload Hex file to your MCU
5. Grab a beer and enjoy!

Click the Link below for the sketch and the client