[2012] Line Follower Snail

e14 Contributor — Fri, 08 Oct 2021 04:46:31 GMT

Current Revision posted to Documents by e14 Contributor on 10/8/2021 4:46:31 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 the biggest line follower Snail.

Overall dimensions: 297 x 210 mm
Track of wheels: 150 mm
Distance between wheels and line sensors: 220 mm
Top speed (theoretical): 1400 cm/s
Algorithm: Intelligent double-loop cascade PID regulator
Sensor readings: analog, A/D converter (12-bit ADC)

uC: STM32F207, 120 MHz
Line sensor: LTH1650-01
Number of sensors: 13
Sensor pitch: 7 mm
Motor: BLDC Xcelorin 1:18 sensored motor
Motor driver: custom built BLDC controller (Atmega8, IRS2186, IRF1404)
Rims and tires: VTEC-Competition Pre-Glued Wheel 27R
Gears: RB model M 0.7 70 teeth
http://rbmodel.com/index.php?action=products&group=012 http://rbmodel.com/index.php?action=products&group=034
Battery: Dualsky 1750mAh 45C/6C 11.1V

Ducted fun: EDF64 with BLDC 350 W motor

Tags: bldc, controller, line, follower, robot, arm, brushless, motor, sensor