Line Rider Color Sensing Robot ¶

Robert Cooper, Parker Davis, Nate Webster, and Andrew Ye

Overview:¶

The goal of this project was to create a wheeled robot that follows a line and executes different actions based on the color of the line.

Materials¶

• 1x Shadow robot kit
• 1x Adafruit Bluefruit LE UART Friend - Bluetooth Low Energy (BLE)
• 1x SparkFun Electronics ROB-14451 (H bridge)
• 1x SparkFun microSD Transflash Breakout
• 1x SparkFun Mono Audio Amp Breakout - TPA2005D1
• 1x Speaker - PCB Mount
• Breadboards
• Duct Tape
• Wires
• External Batteries

Building the robot¶

The chasis of the robot is the Sparkfun Shadow robot kit (https://os.mbed.com/users/4180_1/notebook/shadow-robot-kit/) and an upside down breadboard to point the color sensors downwards.

I/O Connections:

• Left Color Sensor (p28, p27)
• Right Color Sensor(p9, p10)
• Bluetooth (p13,p14)
• Speaker (p18)
• Left Motor (p23, p15, p16); Left motor pwm, fwd, rev to h-bridge
• Right Motor (p24, p17, p19); Right motor pwm, fwd, rev to h-bridge

Currently Programmed Colors¶

• White: The colored line is bordered with white to serve as a control background for the robot. When the robot sees a white line on one side, it course corrects away from that side until it no longer sees the white edge.
• Blue: This is the standard move forward color for the robot.
• Green: This is the fast move forward color for the robot.
• Yellow: This indicates that the line is turning. The robot slows down and plays a tone while moving along the yellow section of the line.
• Red: This tells the robot to stop.

Example Track