Assembling the CheapBot Line Follower
In 8 easy steps
Schematic
Step by Step
• The bare PCB
Step 1
• Add Resistors
Step 2
• Add IR LEDs
Step 3
• Add Phototransistors
Line Follower with IR LEDs and Phototransistors
Step 4
• Solder the Interface Cable using the strain relief holes
Note
• Function of the Interface Cable header pins
Step 5
• Attach two plastic bumpers using four sheet metal screws
Step 6
• Attach line follower to the bottom of the robot
Step 7
• Plug in the Interface Cable
Test the Behavior of the Line Follower
SYMBOL Detectors = B0SYMBOL RightDetect = BIT0SYMBOL LeftDetect = BIT1
Line_Finder_Check:Detectors = 0RightDetect = PINC.0LeftDetect = PINC.1DEBUGGOTO Line_Finder_Check
Step 8
• Write the line follower program
– Drive the robot forward– Check both sides of the line follower– Steer which ever way detects the black line– Repeat until both sides of line detector see
black
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