Assembling the CheapBot Line Follower

In 8 easy steps

Schematic

Step by Step

• The bare PCB

Step 1

• Add Resistors

Step 2

• Add IR LEDs

Step 3

• Add Phototransistors

Line Follower with IR LEDs and Phototransistors

Step 4

• Solder the Interface Cable using the strain relief holes

Note

• Function of the Interface Cable header pins

Step 5

• Attach two plastic bumpers using four sheet metal screws

Step 6

• Attach line follower to the bottom of the robot

Step 7

• Plug in the Interface Cable

Test the Behavior of the Line Follower

SYMBOL Detectors = B0SYMBOL RightDetect = BIT0SYMBOL LeftDetect = BIT1

Line_Finder_Check:Detectors = 0RightDetect = PINC.0LeftDetect = PINC.1DEBUGGOTO Line_Finder_Check

Step 8

• Write the line follower program

– Drive the robot forward– Check both sides of the line follower– Steer which ever way detects the black line– Repeat until both sides of line detector see

black