ASURO Line Follower for Contest

This is the ASURO Robot following black lines. We have programmed it for a racing contest at the Ruhr Universitaet Bochum. First we had measured the odometrical parameters and maintained the differences between the motors and transistors. The ADC values from the PTs have to be adjusted by a certain offset; otherwise, ASURO will just nicely go round and round. We're pretty sure we will win by the way. The contest will be held in a week, so I might add a comment how it went then.
Features are:
1. start on command; as requested, the robot will wait for its group number to be transmitted via the IR/UART interface; the number to compare with is being stored in the EEPROM
2. tracking a line (stable as you can see!) using the photo transistors
3. dodging barriers; as requested, the robot will go backwards, turn by 90° to the left and seek a new line
4. some speed optimization! as it follows a curve, the ASURO will slow down the inner wheel to run as smoothly as possible
5. some LED flashing to indicate interrupts...
6. timer based interrupt triggering + sleep mode to save some power

Category:

Science & Technology

Tags:

• ASURO
• contest
• odometry
• race
• speed
• elctronics
• robot
• measurement
• uart
• infrared
• eeprom
• ruhr
• university
• bochum
• embedded processors
• microcontroller
• eingebettete prozessoren
• optimization
• winner
• adc
• line
• follow

[CyReVolt]

We are sad to tell that we just lost and didn't even achieve the "ASURO driver's license". To be honest, it wasn't our fault. The distances between the barriers and the new lines to follow were changed and my teammate didn't succeed in adjusting our program due to issues with our robot's circuits. Too bad. It behaved unexpectedly after a few changes considering motor speed and consistency. We haven't lost our pride though; this video will always remain in our memories and the work in our hearts!