https://community.element14.com/technologies/robotics/w/documents/9474/2012-line-follower-mouseen-USTelligent Community 12https://community.element14.com/technologies/robotics/w/documents/9474/2012-line-follower-mouseFri, 08 Oct 2021 04:46:33 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:ece8ad80-1448-45cf-93ce-a7ad7facab57Former Memberhttps://community.element14.com/technologies/robotics/w/documents/9474/2012-line-follower-mouse#commentsCurrent Revision posted to Documents by Former Member on 10/8/2021 4:46:33 AM<br /> <p style="margin:0;">Last half a year I spent with a group of some wonderful people. <strong>Damian Lukawski, Adam Moloniewicz and Lukasz Rojek</strong> jointed the team. They are great and they&#39;ve got brilliant ideas. We have built 4 robots together. In this post we would like to present our first 4-wheels line follower.</p><p style="margin:0;padding:0px;">&nbsp;</p><p style="margin:0;">Overall dimensions: 110 x 60 mm<br />Track of wheels: 105 mm<br />Distance between wheels and line sensors: 35 mm / 55 mm<br />Top speed (theoretical): 1310 cm/s<br />Algorithm: Intelligent double-loop cascade PID regulator<br />Sensor readings: analog, A/D converter</p><p style="margin:0;padding:0px;">&nbsp;</p><p style="margin:0;">uC: STM32F207<br />Line sensor: TSAL5100 and TSL262R<br />Number of sensors: 8<br />Sensor pitch: 15 mm<br />Motor: BLDC motor Turnigy 1220<br /><a class="jive-link-external-small" href="http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9068" rel="nofollow" target="_blank">http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9068</a><br />Motor driver: custom built BLDC controller <br />Rims and tires: form the Mini-Z cars<br />Gears: RB model M 0.5 42 teeth <br /><a class="jive-link-external-small" href="http://rbmodel.com/index.php?action=products&amp;group=012" rel="nofollow" target="_blank">http://rbmodel.com/index.php?action=products&amp;group=012</a><br />Battery: Dualsky 300mAh 45C/6C 4.2V</p><p style="margin:0;padding:0px;">&nbsp;</p><p style="margin:0;"><span><a href="https://community.element14.com/resized-image/__size/620x300/__key/communityserver-wikis-components-files/00-00-00-00-70/contentimage_5F00_15483.jpg"><img alt="image" src="https://community-storage.element14.com/communityserver-components-secureimagefileviewer/communityserver/wikis/components/files/00/00/00/00/70/contentimage_15483.jpg-620x300.jpg?sv=2016-05-31&amp;sr=b&amp;sig=7Ji8Rls6oX3FfGu1%2Bl6FvY8pBF0aC9h1AeGzToqTbVw%3D&amp;se=2026-05-22T23%3A59%3A59Z&amp;sp=r&amp;_=m9APc7RaAm7FYjKNK5EQ1Q==" style="max-height: 300px;max-width: 620px;" /></a></span></p><p style="margin:0;padding:0px;">&nbsp;</p><p style="margin:0;"><span><a href="https://community.element14.com/resized-image/__size/620x300/__key/communityserver-wikis-components-files/00-00-00-00-70/contentimage_5F00_15484.jpg"><img loading="lazy" alt="image" src="https://community-storage.element14.com/communityserver-components-secureimagefileviewer/communityserver/wikis/components/files/00/00/00/00/70/contentimage_15484.jpg-620x300.jpg?sv=2016-05-31&amp;sr=b&amp;sig=jYCXJ2Mc0DQ5jb9%2FFSsVEdjsXXmQmppCaWTFbTHqstQ%3D&amp;se=2026-05-22T23%3A59%3A59Z&amp;sp=r&amp;_=KEucRk4HPN9MLWFaB/xLDg==" style="max-height: 300px;max-width: 620px;" /></a></span></p><p style="margin:0;padding:0px;">&nbsp;</p><p style="margin:0;"><span><a href="https://community.element14.com/resized-image/__size/620x300/__key/communityserver-wikis-components-files/00-00-00-00-70/contentimage_5F00_15485.jpg"><img loading="lazy" alt="image" src="https://community-storage.element14.com/communityserver-components-secureimagefileviewer/communityserver/wikis/components/files/00/00/00/00/70/contentimage_15485.jpg-620x300.jpg?sv=2016-05-31&amp;sr=b&amp;sig=dOK8AdFtIPh1bOCBDUVac1Gv%2BAZq65C6bP%2Bh8Xij108%3D&amp;se=2026-05-22T23%3A59%3A59Z&amp;sp=r&amp;_=0wZdMbczv+FqjqgCAwTUgw==" style="max-height: 300px;max-width: 620px;" /></a></span></p><div style="clear:both;"></div> <div style="font-size: 90%;">Tags: bldc, line, follower, robot, stm, brushless, motor</div>