My second line follower robot ( Dörtteker (fourwheel ))

Let's Make Robots Robots
1

this project is continue.


.
..

*Motors

I give motors by Fırat DEDE's website. Japan Autotrol 15:1 12V 746 Rpm

http://www.robotus.net/motor/motor.asp

motors are 10 mA

*battery

I give Battery by türkkuşu of Türk Hava Kurumu.(bataryalar/li-po)

http://modelucak.thk.org.tr/satis1/satis.php

battry is lityum polimer 7.4 volt 1000 mA. I will ally to battery and total 14.8 volt

*Sensors

Sensor is cny70. 4 front 4 back

 

*Program (proton-basic)

Device = 16F876A

XTAL = 20

ALL_DIGITAL = true

TRISA=255

TRISB=255

TRISC=0

Declare CCP1_PIN PORTC.1

Declare CCP2_PIN PORTC.2

Dim HATA As Byte

Dim YON As Byte

Dim SAGPWM As DWord

Dim SOLPWM As DWord

YON=1

'SAĞ [B5] [B2] [B0] [B1] [B3] [B6] SOL

'SOLPWM ----> SAĞ

'SAGPWM ----> SOL

BASLA:

'black to white (siyah-beyaz)

If PORTB.7=1 And PORTB.2=1 And PORTB.0=0 And PORTB.1=0 And PORTB.3=1 And PORTB.6=1 Then GoSub DUZ

If PORTB.7=1 And PORTB.2=1 And PORTB.0=0 And PORTB.1=1 And PORTB.3=1 And PORTB.6=1 Then GoSub SAG1If PORTB.7=1 And PORTB.2=0 And PORTB.0=0 And PORTB.1=1 And PORTB.3=1 And PORTB.6=1 Then GoSub SAG2

If PORTB.7=1 And PORTB.2=0 And PORTB.0=1 And PORTB.1=1 And PORTB.3=1 And PORTB.6=1 Then GoSub SAG3

If PORTB.7=0 And PORTB.2=1 And PORTB.0=1 And PORTB.1=1 And PORTB.3=1 And PORTB.6=1 Then GoSub SAG4

If PORTB.7=1 And PORTB.2=1 And PORTB.0=1 And PORTB.1=0 And PORTB.3=1 And PORTB.6=1 Then GoSub SOL1

If PORTB.7=1 And PORTB.2=1 And PORTB.0=1 And PORTB.1=0 And PORTB.3=0 And PORTB.6=1 Then GoSub SOL2

If PORTB.7=1 And PORTB.2=1 And PORTB.0=1 And PORTB.1=1 And PORTB.3=0 And PORTB.6=1 Then GoSub SOL3

If PORTB.7=1 And PORTB.2=1 And PORTB.0=1 And PORTB.1=1 And PORTB.3=1 And PORTB.6=0 Then GoSub SOL4

'white to black (beyaz-siyah)

If PORTB.7=0 And PORTB.2=0 And PORTB.0=1 And PORTB.1=1 And PORTB.3=0 And PORTB.6=0 Then GoSub DUZ

If PORTB.7=0 And PORTB.2=0 And PORTB.0=1 And PORTB.1=0 And PORTB.3=0 And PORTB.6=0 Then GoSub SAG1

If PORTB.7=0 And PORTB.2=1 And PORTB.0=1 And PORTB.1=0 And PORTB.3=0 And PORTB.6=0 Then GoSub SAG2

If PORTB.7=0 And PORTB.2=1 And PORTB.0=0 And PORTB.1=0 And PORTB.3=0 And PORTB.6=0 Then GoSub SAG3

If PORTB.7=1 And PORTB.2=0 And PORTB.0=0 And PORTB.1=0 And PORTB.3=0 And PORTB.6=0 Then GoSub SAG4

If PORTB.7=0 And PORTB.2=0 And PORTB.0=0 And PORTB.1=1 And PORTB.3=0 And PORTB.6=0 Then GoSub SOL1

If PORTB.7=0 And PORTB.2=0 And PORTB.0=0 And PORTB.1=1 And PORTB.3=1 And PORTB.6=0 Then GoSub SOL2

If PORTB.7=0 And PORTB.2=0 And PORTB.0=0 And PORTB.1=0 And PORTB.3=1 And PORTB.6=0 Then GoSub SOL3

If PORTB.7=0 And PORTB.2=0 And PORTB.0=0 And PORTB.1=0 And PORTB.3=0 And PORTB.6=1 Then GoSub SOL4

' IF YON=2 THEN GOSUB bekle

' IF PORTB.7=0 AND PORTB.2=0 AND PORTB.0=0 AND PORTB.1=0 AND PORTB.3=0 AND PORTB.6=0 THEN HPWM 2,255,20000 : HPWM 1,255,20000 :DELAYMS 350 ' GOSUB say

' IF YON=4 THEN GOSUB bekle

' IF YON=4 THEN GOSUB dur

HPWM 2,SAGPWM,20000

HPWM 1,SOLPWM,20000

GoTo BASLA

bekle:

DelayMS 10

SAGPWM=195

SOLPWM=200

Return

say:

YON=YON + 1

DelayMS 10

Return

dur:

SAGPWM=0

SOLPWM=0

HPWM 2,SAGPWM,20000

HPWM 1,SOLPWM,20000

GoTo dur

DUZ:

SAGPWM=255

SOLPWM=255

Return

SOL1:

SAGPWM=254

SOLPWM=220

' YON=1

Return

SOL2:

SAGPWM=254

SOLPWM=160

' YON=1

Return

SOL3:

SAGPWM=254

SOLPWM=100

' YON=1

Return

SOL4:

SAGPWM=254

SOLPWM=0

Return

SAG4:

SAGPWM=0

SOLPWM=254

Return

SAG3:

SAGPWM=100

SOLPWM=254

' YON=2

Return

SAG2:

SAGPWM=160

SOLPWM=254

' YON=2

Return

SAG1:

SAGPWM=220

SOLPWM=254

' YON=2

Return

  • CPU: 16f876A
  • Power source: 2x 7.4 Volt 1000mA lityum polimer
  • Programming language: c or basic
  • Sensors / input devices: CNY70
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/my-second-line-follower-robot-dortteker-fourwheel
2

that is fast!!! keep it
that is fast!!!
keep it going :wink:

3

speedy
wow! that’s pretty fast for a line follower! good luck!

4

That, along with the 3pi is
That, along with the 3pi is that fastest line follower (semi ;)) i have seen

5

What is the motor driver
What is the motor driver chip used?

6

motor direver is L293D and
motor direver is L293D and 1.2A.

7

New
New video
http://video.google.com/videoplay?docid=-4274674783417123221

8

looks fast!!! Good Work!
looks fast!!! Good Work!

9

it´s amazing!!!was that a
it´s amazing!!!
was that a competition?

10

3. national education

3. national education ministry (Milli Eğitim Bakanlığı) robot competition.
http://etogm.meb.gov.tr/?sayfa_id=007&sayfa=3_final

 

11

competition in indonesia

track1.jpg
track1.jpg958×575 89.8 KB

12

help n tips needed

next month i will join line follower competition, and get tracks like that.

i feel difficult especially at the edge of arena. do you guys have any idea or tips for me?

lot of thanks before,

13

a difficult runway.Got any

a difficult runway.
Got any other pictures?

more detail. example: 3d

14

Is that PID-regulated?

Hi, that’s a nice and fast line follower! I’m building one myself at the moment for a competition next week. It looks very much like your line following is PID-regulated the way it oscillates when it encounters a sharp corner - is it true?

Keep up the good work!

15

No. Program is simle. I
No. Program is simle. I added up.

16

Japan Autotrol 15:1 12V 746

Japan Autotrol 15:1 12V 746 Rpm Motorlar - Kod: Mauto2 - Fiyat: 30 TL(2 Adet)

eng= Rpm Motors Japan Autotrol 15:1 12V 746 - Code: Mauto2 - Price: 20 USD (2 unit)

istanbul/turkey

17

slm ben bir yarışmaya
slm ben bir yarışmaya katılıcamda pic yazamıyorum sende 16f876a entegresi için çizgi izleyen robot kodları varmı?varsa ekleyebilirmisin?yalnız en yakın zmnda dönersen sevinirim.Çünkü yarışmaya çok az kaldı?

18

slm ben bir yarışmaya
slm ben bir yarışmaya katılıcamda pic yazamıyorum sende 16f876a entegresi için çizgi izleyen robot kodları varmı?varsa ekleyebilirmisin?yalnız en yakın zmnda dönersen sevinirim.Çünkü yarışmaya çok az kaldı?