📚 ECEGR 3121 Junior Lab II

🐙 https://github.com/edsperanto/Line-Following_Robot

Overview

This line-following robot was created for ECEGR 3121. Our professor set up a winding course that we had to build a small, wheeled robot to run through. The robot was limited to use only a reflectance sensor array to sense its environment, which proved extremely unreliable. We had to program logic for the robot to finish the course twice (forwards, turn around, and backwards) despite this limitation.

Note that the code in the GitHub repo is not the final version of the code that was used to run the robot through the course, but an earlier version with the basic functionality. I did not archive the final code and could no longer find it :/

What I learned

• Interface with Raspberry Pi GPIO in C with wiringPi
• How to use a reflectance sensor array to detect lines
• How to use a motor controller

How to run

Assuming you have a Raspberry Pi connected to the same components at the same pins as the picture below:

1. Install wiringPi on your Raspberry Pi
2. Download the GitHub repository
3. Compile by running bash compile.sh
4. Run the program with ./go_robot

Course

The course that the robot has to run through has two sides. It must start from "S", run through once, turn around, run through again in the other direction, and finish at "F".

Final product