[2012] Line Follower Rabbit

Former Member — Fri, 08 Oct 2021 04:46:24 GMT

Current Revision posted to Documents by Former Member on 10/8/2021 4:46:24 AM

Last half a year I spent with a group of some wonderful people. Damian Lukawski, Adam Moloniewicz and Lukasz Rojek jointed the team. They are great and they've got brilliant ideas. We have built 4 robots together. In this post we would like to present our first line follower with tiny BLDC motors.

Overall dimensions: 125 x 130 mm
Track of wheels: 110 mm
Distance between wheels and line sensors: 103 mm
Top speed (theoretical): 1300 cm/s
Algorithm: Intelligent double-loop cascade PID regulator
Sensor readings: analog, A/D converter

uC: STM32F103, 72 MHz
Line sensor: TSAL5100 and TSL262R, KTIR0711S
Number of sensors: 15
Sensor pitch: 5 mm and other distance
Motor: BLDC motor Turnigy 1220
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9068
Motor driver: custom built BLDC controller (Atmega8)
Rims and tires: form the Mini-Z cars
Gears: RB model M 0.5 40 teeth
http://rbmodel.com/index.php?action=products&group=012
Battery: Dualsky 300mAh 45C/6C 4.2V