Line Follower Robot

This Arduino project provides a modularized approach for controlling a robot using PID-based line following with sensor feedback.

Components

1. Motors

• Attributes:

  • normal_speed: Normal speed of the motors.
  • min_speed: Minimum allowable speed.
  • max_speed: Maximum allowable speed.
  • Pins for left and right motor control (left_in1, left_in2, left_en, right_in1, right_in2, right_en).

• Methods:

  • initialize(): Sets up the motor control pins.
  • set_motor(int in1, int in2, int en, int speed): Controls individual motors.
  • get_direction(int speed): Determines motor direction.
  • normalize_speed(int speed): Ensures speed stays within defined limits.
  • drive(int speed_difference, bool debug): Drives the robot with a speed difference between left and right motors.

2. PID (Proportional-Integral-Derivative) Controller

• Attributes:

  • KP: Proportional gain.
  • KI: Integral gain.
  • KD: Derivative gain.
  • last_proportional, integral: Trackers for PID calculations.

• Methods:

  • calculate_speed_difference(int proportional): Computes the speed difference using PID control.

3. Sensors

• Attributes:

  • threshold: Threshold value for line detection.
  • sensors_count: Number of sensors.
  • sensor_pins: Array of pins for individual sensors.
  • errors: Array of error values corresponding to different line positions.
  • previous_error: Tracks the previous error value.

• Methods:

  • calculate_error(): Calculates the error based on sensor readings.
  • on_line(int sensor_pin): Checks if a sensor is on the line.
  • get_line_position(): Determines the position of the line based on sensor readings.

Settings

User-configurable settings for threshold, sensor count, sensor pins, errors, motor speeds, PID gains, debugging, and delay time.

Implementation

1. Initialize Components:

   • Set up motor control and serial communication.
   • Adjust PID and sensor settings.

2. Main Loop:

   • Continuously calculate sensor error.
   • Use PID controller to determine speed difference.
   • Drive the motors accordingly.

3. Debugging:

   • Optionally print error and speed difference values to Serial for debugging purposes.