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 4-wheels line follower.
Overall dimensions: 110 x 60 mm
Track of wheels: 105 mm
Distance between wheels and line sensors: 35 mm / 55 mm
Top speed (theoretical): 1310 cm/s
Algorithm: Intelligent double-loop cascade PID regulator
Sensor readings: analog, A/D converter
uC: STM32F207
Line sensor: TSAL5100 and TSL262R
Number of sensors: 8
Sensor pitch: 15 mm
Motor: BLDC motor Turnigy 1220
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9068
Motor driver: custom built BLDC controller
Rims and tires: form the Mini-Z cars
Gears: RB model M 0.5 42 teeth
http://rbmodel.com/index.php?action=products&group=012
Battery: Dualsky 300mAh 45C/6C 4.2V
