Line Follower '13

A Basic PID-Control Line Follower Source Code.

ABOUT

A Line Follower Bot is an autonomous embedded system which recognizes a line/path on a contrasting background and moves along it. In this implementation it is treated as a control system. A PID Control has been used as the primary algorithm for self-correction of path based on input the bot receives through its sensors. The source code is in Embedded C and has been documented considerably.

The entire project is divided into multiple source and header files. It also contains a shell script that will condense all the code from the files into a single file that can be compiled easily using an external compiler. A Makefile has also been included.

INSTALLATION

Things you might need:-

• You might need maketool to use the Makefile.
• You might need UNIX Tools to use the Source Code Condenser.
• You might need avr-gcc (in our case) or a relevant compiler.

###Make Targets

1. Binaries - Creates the final binary file.
2. clean - Removes .obj files.
3. cleanall - Removes all .bin, .obj and .so files.

Just copy the source code as it is to your project directory and compile either using the Makefile or use the Source Code Condenser script to get all the source code into a single file to easily feed to your own compiler.

HOW TO?

We used a 8-bit ATMEL AVR ATmega16 Microcontroller. The pin/port usage will be apparent from the source code. You can easily change that as the source code is modular in design.

###Files ####Header Files

• inc/adci.h - Contains some initialization for the A/DC and its function prototype.
• inc/lineFollwerMain.h - Contains some global level initialization for the bot and upper-level function prototypes.
• inc/normalizeAlgorithm.h - Contains function prototypes for the input normalization algorithm.
• inc/moveAlgorithm.h - Contains initializations for the main PID-Control Algorithm and bot movement function prototypes.

####Source Files

• src/lineFollower.c - Contains the main() routine.
• src/initializeAll.c - Bot initialization code. Initializes A/DC, PWM units, Data Direction registers and PORT registers
• src/inputSensorArray.c - Code to take input from the sensor array and store them.
• src/isRunningFeasible.c - Code to check if bot movement is feasible or required.
• src/normalizeSensorArray.c - Code to normalize the sensor array input received. Used in special situations/cases.
• src/moveLineFollower.c - Contains the main PID-Control algorithm and functions that assign values to ports responsible for movement.

Documentation of the microcontroller is available online. Ports can be changed according to the design easily.

###Note If you have any query, you can mail me. If you wish to contribute, feel free to Fork this repository and send me a Pull Request!