The project involves the development of a differential robot equipped with a line follower sensor. This robot is designed to autonomously navigate along predefined paths by detecting and following lines on the ground. The incorporation of a line follower sensor enables the robot to make real-time adjustments in its movements, showcasing a practical application of robotics in path tracking and automated navigation.
Sensor and parts used in the design:
- Nucleo-F446RE with custom PES board
- 2 x 78:1 Metal Gearmotor 20Dx43L mm 12V CB
- SparkFun Line Follower Array
- 2 x Conrad energy NiMH receiver battery packs 6V, 2300mAh
- Jumper wires
Links to hardware
- Mbed Studio
- Libraries:
- mbed-os 6.17.0
- eigen
- pm2_drivers
In order to run the project you need to have Mbed Studio with which you can compile the main program and run it on the microcontroller. All the libraries you need are included in the repository. If you use a different design, kinematics, or hardware, you need to change the appropriate variables for the program to run properly. Also, if you are not using a custom PES Board, you need to change pins names that are passed as parameters while objects are defined.
- The files include a map that should be printed on a large scale for the algorithm to run properly: MAP
- Update dependencies after releasing drivers!