MSP430 Line Follower

Let's Make Robots Robots
1

This is a line follower that uses a MSP430G2553 16 bit microcontroller and a L293d motor driver. There are 5 cny70 analog infrared sensors that feed the value to the 10 bit adc on the microcontroller. I have implemented a PID routine mixed in with some random control logic. Faster motors are currently on the way which will make it go twice as fast.

I attached the main.c source code if anyone is interested.

Link to video if site not working: http://www.youtube.com/watch?v=Nf13Ptlydhg

Future improvements:

  • Lipo battery instead of 9volt
  • Fuzzy logic instead of PID

Follows a line

  • Actuators / output devices: 30:1 micro metal dc motors
  • Control method: embedded microcontroller
  • CPU: Msp430g2553
  • Power source: 9 volt
  • Programming language: C
  • Sensors / input devices: 5 infrafed reflective
  • Target environment: indoor
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/msp430-line-follower
2

**Wow!Great work! **

Wow!
Great work! 

3

Looking good there Crackers,

Looking good there Crackers, with motors that are twice as fast this will really be something speedy!

I see your cat is as good at helping test robots as mine is =)

4

cool project, and always

cool project, and always good to see folks playing with the 430. Was there any reason why you chose to use the adc as opposed to using a high/low signal for the line sensors?

5

Great Job!

Hi. Can I ask for the circuit diagram of the whole robot? Thanks. I want to make one. That is very nice! Thank you!

6

**great job! **

can i ask for the entire code? i want to do this one and i just bought a msp430,motors and motor driver.