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    Line Follower Robot. 03doc

    Uploaded by

    Bilal Ali Ahmad
    This project report describes a line following robot that can lift objects. It uses a PIC18F458 microcontroller and sensors to follow a white line and detect junctions. When junctions are detected, the robot either lifts an arm or turns right to continue following the line. The mechanical design includes motors, wheels and an arm lifter. Algorithms and code in C language are used to control the robot's movements and lifting arm. The code makes the robot follow the line, turn at junctions and lift the arm when needed.

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    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd

    Line Follower Robot. 03doc

    Uploaded by

    Bilal Ali Ahmad
    261 views30 pages
    This project report describes a line following robot that can lift objects. It uses a PIC18F458 microcontroller and sensors to follow a white line and detect junctions. When junctions are detected, the robot either lifts an arm or turns right to continue following the line. The mechanical design includes motors, wheels and an arm lifter. Algorithms and code in C language are used to control the robot's movements and lifting arm. The code makes the robot follow the line, turn at junctions and lift the arm when needed.

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    Line Follower Robot. 03doc

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    This project report describes a line following robot that can lift objects. It uses a PIC18F458 microcontroller and sensors to follow a white line and detect junctions. When junctions are detected, the robot either lifts an arm or turns right to continue following the line. The mechanical design includes motors, wheels and an arm lifter. Algorithms and code in C language are used to control the robot's movements and lifting arm. The code makes the robot follow the line, turn at junctions and lift the arm when needed.

    Copyright:

    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd
    Download as doc, pdf, or txt
    261 views30 pages

    Line Follower Robot. 03doc

    Uploaded by

    Bilal Ali Ahmad
    This project report describes a line following robot that can lift objects. It uses a PIC18F458 microcontroller and sensors to follow a white line and detect junctions. When junctions are detected, the robot either lifts an arm or turns right to continue following the line. The mechanical design includes motors, wheels and an arm lifter. Algorithms and code in C language are used to control the robot's movements and lifting arm. The code makes the robot follow the line, turn at junctions and lift the arm when needed.

    Copyright:

    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd
    Download as doc, pdf, or txt
    of 30

    Line follower with arm lifter

    PROJECT REPORT

    Line Follower With Arm Lifter

    Submitted To :
    Sir Azhar Zaidi

    Submitted By :
    Nida Afaq

    08-EE-128

    Qurat ul-ain

    08-EE-137

    Mohsin Majeed

    08-EE-17

    Hamza Shahid

    08-EE-116

    Abstract:
    1

    Line follower with arm lifter


    This project is an implementation of a line following robot, with modification of metal rods
    connected to it. It senses and follows a path of white color and lifts any box that comes in its
    way.PIC18F458 is the microcontroller used .Sensors are used to detect the right color and
    let the robot follow it. Sensors are also placed at the right side of robot, which detects a
    junction. This robot gives basis for any type of robot which is not remote controlled. So it
    can be used in any advanced robot with increased complexity and larger size.

    Acknowledgement:

    Line follower with arm lifter

    Table Of Contents:

    Project description:
    The project mainly comprises of three sections.
    microController section
    Mechanical section
    Sensors
    3

    Line follower with arm lifter


    Micro-Controller Section:
    This section comprises of all the coding that is done to make the robot follow the line and lift
    box.PIC 18F458, is the microcontroller used. MikroC is used for programming in C
    language.

    Microcontroller:
    Different microcontrollers are available like Motorola,Intels 8052,Atmels AVR,Zilogs Z8 and
    PIC.PIC is chosen for this project as
    It is cost effective.
    Software and hardware development tools like compilers, assemblers,
    debuggers and emulators are easily available.
    It meets our computing needs more efficiently.

    PIC:
    PIC has different families 10xxx,12xxx,14xxx,16xxx,17xxx and 18xxx.they all are 8 bit
    processors .data larger than 8 bit is broken into 8-bit pieces to be processed.PIC 18xxx
    family is used as it has the highest performance of all the families of 8-bit PIC
    microcontrollers and it is available in 18- tpo 80- pin packages with easy migration to more
    powerful version of chip without losing software compatibility.

    PIC18F458:
    PIC 18 has a RISC architecture that comes with some standard features such as on-chip
    program(code) ROM, data RAM, data EEPROM, timers ,ADC and USART and I/O
    ports.PIC 18 deals with 16 bit instructions and PIC family having letter F in part no indicates
    that on-chip ROM is flash.
    PIC 18F458 is used for this project because it has easy bidirectional motion .
    It is a 40 pin IC that comes in different packages such as DIP(dual in-line
    packages),QFP( quad flat package) and LLC (leadless chip carrier).a total of 33 pins are set
    aside for the five port A,B,C,D,E with their alternative functions. The rest of the pins are
    4

    Line follower with arm lifter


    designated as Vdd ,GND (Vss),OSC1,OSC2 and MCLR(master clear).in this project we are
    using PIC 18F458 in DIP packaging.

    Mechanical section:
    The mechanical sector comprises of motors, wheels, and aluminum sheet and arm lifter.
    The figure below shows the full mechanic al structure

    Motors:
    5

    Line follower with arm lifter

    The motors used are the motors of power window of car .three motors are used in total ,two
    for moving the line follower and one is used for raising and lowering the arm lifter. The
    speed of motor is more than our requirement so it is coupled with the gear to increase the
    torque and consequently reduce the speed to our required level.the output of the gear is
    connected to the shaft which is passing through the wheels.

    Ratings:
    The motor is of 12V and 1.5 A.

    Wheels:
    6

    Line follower with arm lifter


    The wheels are made up of nylon material having a grooved surface. The wheels are
    wrapped with rubber to reduce the friction and move the robot easily.

    Arm lifter:
    It is made up of aluminium sheets and with the help of nut it is connected to shaft of motor.
    The arm moves up and down by the clockwise and anticlockwise rotation of motor.
    specifications of motor are same (12V & 1.5 A)

    Line follower with arm lifter

    Line follower with arm lifter

    Aluminum sheets :
    The sheets used are of 19 guage.the sheet which is used to place motors and batteries is of
    width 16 inches and of length 19 inches. The aluminum rods which connect the base sheet
    with top sheet are of 10 inches. The top sheet is used to place PCB s.The aluminum sheets
    are bended to increase the mechanical strength.

    Batteries:
    In this project two batteries are used to power the circuit and these are of 12 V ,5A/20H.
    9

    Line follower with arm lifter

    Sensors:
    Seven sensors are used in total. Five of them are used to keep the robot in line and two of
    them are used to detect junction. The sensing utilizes the properties of LDRs
    Five sensors used are labeled as Sc, Sl , Sl , Sr , Sr. If Sc and one of Sr is active it means
    robot is turning right so speed of left motor is increased to bring it back onto center line and
    if Sc and one of Sl is active it means it is turning towards left so speed of right motor is
    increased to bring it back onto centre line.

    Junction sensor:
    Sensors at junction are labeled as Jl and Jr.if Jl gives 0 output followed by 0 output of j r it
    means that robot have crossed some junction.

    Schematic:
    10

    Line follower with arm lifter


    For sensor circuit LM324 IC is used. It is a 14 pin IC, Out of which 3,5 ,10,12 are input pins.
    So for seven sensors two such ICs are used. The figure below just showing one sensor
    circuit. This IC needs 5Vs to function properly.

    PCB Designing:
    PCB designs of project is as follow

    11

    Line follower with arm lifter

    Algorithm of project

    Code:
    12

    Line follower with arm lifter


    The following code is used to move the line follower and lift object placed at
    junction.
    //take f=125hz
    // for left h bridge RE0, 1 n RD0, 1
    //for right Rb0, 1 n RD2, 3
    //H-Bridge
    //LEFT
    #define A PORTD.F0;
    #define B PORTD.F1;
    #define C PORTE.F0;
    #define D PORTE.F1;
    //RIGHT
    #define A2 PORTD.F2;
    #define B2 PORTD.F3;
    #define C2 PORTB.F0;
    #define D2 PORTB.F1;

    //five sesors
    #define sll PORTA.F0;
    #define sl PORTA.F1;
    #define sc PORTA.F2;
    13

    Line follower with arm lifter


    #define sr PORTA.F3;
    #define srr PORTA.F4;
    #define jr PORTB.F4;
    #define jl PORTB.F5;
    unsigned char JR=0;
    unsigned char JL=0;

    void start();
    void stop();
    void linetr();
    void arm(int);
    void turnrght();
    void turnlft();
    void reverse();
    void rght6();
    void rght4();
    void rght2();
    void rght1();
    void lft6();
    void lft4();
    14

    Line follower with arm lifter


    void lft2();
    void lft1();

    //#pragma code
    //#pragma interrupt multi_chk_isr
    void multi_chk_isr()
    {
    if(INTCON.F0==1)
    {
    JR++;
    JL++;
    }
    if (JR==2 && JL==2)
    {
    stop();
    arm(1);
    start();
    reverse();
    INTCON.F0=0;
    }
    15

    Line follower with arm lifter


    if (JR==4 && JL==4)
    {
    stop();
    start();
    while(PORTA.F2!=0)
    {turnrght();}

    linetr();
    INTCON.F0=0;

    }
    if (JR==6 && JL==6)

    {
    stop();
    arm(2);
    start();
    reverse();
    INTCON.F0=0;
    }
    16

    Line follower with arm lifter


    if(JR==8 && JL==8)
    {
    stop();
    start();
    while(PORTA.F2!=0)
    {turnrght();}
    linetr();
    INTCON.F0=0;
    }
    }
    void linetr(void) { start();
    while(1)
    {
    if (PORTA.F0 == 1 && PORTA.F1==1 && PORTA.F2==0 && PORTA.F3==1 &&
    PORTA.F4==1)
    {
    //straight
    //for left motor
    PORTD.F0=1;
    PORTE.F0=0;
    PORTD.F1=1;
    17

    Line follower with arm lifter


    PORTE.F1=0;
    //for right motor
    PORTD.F2=1;
    PORTB.F0=0;
    PORTD.F1=1;
    PORTB.F1=0; }

    else if(PORTA.F0==1 && PORTA.F1==1 && PORTA.F2==0 &&


    PORTA.F3==0 && PORTA.F4==1)
    {
    //slight right
    rght6();
    }
    else if (PORTA.F0==1 && PORTA.F1==1 && PORTA.F2==1 &&
    PORTA.F3==0 && PORTA.F4==1)
    {
    //medium right
    rght4();
    }
    else if (PORTA.F0==1 && PORTA.F1==1 && PORTA.F2==1 &&
    PORTA.F3==0&& PORTA.F4==0)
    18

    Line follower with arm lifter


    {//mid extreme right
    rght2();
    }
    else if (PORTA.F0==1 && PORTA.F1==1 && PORTA.F2==1 && PORTA.F3==1
    && PORTA.F4==0)
    {
    //extreme right
    rght1();}
    //END OF RIGHT TURNS
    //BEGINING OF LEFT TURNS
    else if (PORTA.F0==1 && PORTA.F1==0 && PORTA.F2==0 &&
    PORTA.F3==1 && PORTA.F4==1)
    {
    //slight left
    lft6();
    }

    else if (PORTA.F0==1 && PORTA.F1==0 && PORTA.F2==1 &&


    PORTA.F3==1 && PORTA.F4==1)
    {
    //medium left
    19

    Line follower with arm lifter


    lft4();
    }
    else if (PORTA.F0==0 && PORTA.F1==0 && PORTA.F2==1 &&
    PORTA.F3==1 && PORTA.F4==1)
    {
    //med-extreme left
    lft2();

    else if (PORTA.F0==0 && PORTA.F1==1 && PORTA.F2==1 &&


    PORTA.F3==1 && PORTA.F4==1)
    {
    //extreme left
    lft1();
    }
    }
    }

    void rght6()
    {
    20

    Line follower with arm lifter


    //While(sr!=1)
    PORTD.F0=1;
    PORTE.F0=0 ;
    PORTD.F1=1 ;
    PORTE.F1=0;
    delay_ms(6);
    PORTD.F0=0;
    //unsigned int e=2-d;
    delay_ms(2);
    }
    void rght4()
    {
    //While(sr!=1)
    PORTD.F0=1;
    PORTE.F0=0 ;
    PORTD.F1=1 ;
    PORTE.F1=0;
    delay_ms(4);
    PORTD.F0=0;
    //unsigned int e=2-d;
    21

    Line follower with arm lifter


    delay_ms(4);
    }
    void rght2()
    {
    //While(sr!=1)
    PORTD.F0=1;
    PORTE.F0=0 ;
    PORTD.F1=1 ;
    PORTE.F1=0;
    delay_ms(2);
    PORTD.F0=0;
    //unsigned int e=2-d;
    delay_ms(6);
    }
    void rght1()
    {
    //While(sr!=1)
    PORTD.F0=1;
    PORTE.F0=0 ;
    PORTD.F1=1 ;
    22

    Line follower with arm lifter


    PORTE.F1=0;
    delay_ms(1);
    PORTD.F0=0;
    //unsigned int e=2-d;
    delay_ms(7);
    }
    void lft4()
    {
    //While(sl!=1)
    {
    PORTD.F2=1;
    PORTB.F0=0;
    PORTD.F3=1;
    PORTB.F1=0;
    delay_ms(4);
    PORTD.F2=0;
    delay_ms(4);}
    }
    void lft6()
    {
    23

    Line follower with arm lifter


    //While(sl!=1)
    {
    PORTD.F2=1;
    PORTB.F0=0;
    PORTD.F3=1;
    PORTB.F1=0;
    delay_ms(6);
    PORTD.F2=0;
    delay_ms(2);}
    }
    void lft2()
    {
    //While(sl!=1)
    {
    PORTD.F2=1;
    PORTB.F0=0;
    PORTD.F1=1;
    PORTB.F1=0;
    delay_ms(2);
    PORTD.F2=0;
    24

    Line follower with arm lifter


    delay_ms(6);}
    }
    void lft1()
    {
    //While(sl!=1)
    {
    PORTD.F2=1;
    PORTB.F0=0;
    PORTD.F1=1;
    PORTB.F1=0;
    delay_ms(1);
    PORTD.F2=0;
    delay_ms(7);}
    }
    void arm(int a)
    {
    PR2=1249;
    ECCPR1L=1249;
    TRISD=0x00;
    T2CON=0x01;
    25

    Line follower with arm lifter


    TMR2=0;
    if(a==1)
    {
    ECCP1CON=0x4D;
    T2CON.TMR2ON=1; }
    if (a==2)
    { ECCP1CON=0xCE;
    T2CON.TMR2ON=1; }
    }
    void turnrght(){
    PORTD.F0=1; PORTE.F0=0;//LFT IN FULL SPEED
    PORTD.F1=1;PORTE.F1=0;
    PORTD.F2=1;PORTB.F0=0;PORTD.F1=1;PORTB.F1=0;
    delay_ms(1);
    PORTD.F2=0;//rght 12.5% duty cycle
    }
    void turnlft()
    {
    PORTD.F2=1;PORTB.F0=0;PORTD.F1=1;PORTB.F1=0;//rght IN FULL SPEED
    PORTD.F0=1;PORTE.F0=0;PORTD.F1=1;PORTE.F1=0;
    26

    Line follower with arm lifter


    delay_ms(1);
    PORTD.F0=0;//lft 12.5% duty cycle
    }
    void reverse(){
    PORTD.F0=0; PORTD.F2=0;
    PORTE.F0=1;PORTB.F0=1;
    delay_ms(250);
    PORTE.F1=1;PORTD.F1=0;
    PORTB.F1=1; PORTD.F1=0;}

    void start()
    {
    PORTD.F0=1;
    PORTE.F0=0;
    PORTD.F1=1;PORTE.F1=0;
    PORTD.F2=1;
    PORTB.F0=0;
    PORTD.F1=1;
    PORTB.F1=0;
    }
    27

    Line follower with arm lifter


    void stop(){
    PORTD.F0=0;
    PORTE.F0=1;
    PORTD.F1=0;PORTE.F1=1;
    PORTD.F2=0;
    PORTB.F0=1;
    PORTD.F1=0;
    PORTB.F1=1;
    ECCP1CON=0x00;}

    void main()
    {
    TRISD=0x00;
    TRISE=0;
    INTCON.F0=0;
    INTCON.F3=1;
    INTCON.F7=1;
    //TMR2IE=1;
    TRISA.F6=0;
    TRISA.F7=0;
    28

    Line follower with arm lifter


    TRISB.F0=0;
    TRISB.F1=0;
    TRISB.F4=1;
    TRISB.F5=1;

    TRISA.F4=1;
    TRISA.F5=1;
    TRISA.F4=1;
    TRISA.F5=1;
    TRISA.F4=1;
    linetr();

    Future advancements:
    29

    Line follower with arm lifter

    30

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