Line Following Project - Robotics Lab II

Table of Contents

• Introduction
• Features
• Library Usage
  • Servo Functions
  • Motor Functions
  • Line Following Functions
  • Encoder Functions
• Project Rules

Introduction

This project is undertaken to fulfill the requirements for the Robotics Experiment 2 course.

Features

This robot utilizes 4 mechanum DC motors, equipped with a dynamixel servo lifter and line sensors tcrt5000 module. The robot is capable of following line patterns with customizable commands according to desired conditions.

Library Usage

Servo Functions

• servoAngkut(dtime)
• servoTaruh(dtime)
• servoReset(dtime)

Motor Functions

• motorDrivePID(speedL, speedR)
• move(speedFL, speedFR, speedRL, speedRR)
• StopMotors()

Line Following Functions

• autolinefollow(duration, dbreaktime)
• line(desiredMode, desiredSpeed, dbreaktime)
• turn(action)
• findline(speedL, speedR, dbreaktime)
• dnext()
• spinheading(sudut)
• linedelay(speed, dtime, dbreaktime)
• linefoll()
• lineIntersect(n)

Encoder Functions

• FWD(distanceCM, speed)
• BWD(distanceCM, speed)
• R(distanceCM, speed)
• L(distanceCM, speed)
• FWD_XR(distanceCM, speed)
• FWD_XL(distanceCM, speed)
• BWD_XR(distanceCM, speed)
• BWD_XL(distanceCM, speed)
• TR(distanceCM=25, speed=200)
• TL(distanceCM=25, speed=200)

Project Rules

The attached project rules can be found at the following link: [https://github.com/alieffsl/Robotics-Lab-II-Line-Following/blob/main/Project%20Rules/README.md]