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Microprocessor Systems & Interfacing Lab
Project Report
“Light Following Robot”
Fall 2018
Submitted By:
Muhammad Usama FA16-BEE- 130
Simad Zaib FA16-BEE- 139
Talha Hussain FA16-BEE- 157
Usama Bukhari FA16-BEE- 176
Aqib Javed FA14-BEE- 047
Supervisor:
“Engr. Zubair Khaliq”
Department of Electrical & Computer Engineering
COMSATS University Islamabad
Wah Campus
Declaration
We hereby declare that the project entitled “Light Following Robot” submitted to the department of “Electrical and Computer Engineering COMSATS University Islamabad (Wah Campus)” is our original work under the guidance of “Sir. Zubair Khaliq”. We further declare that the work reported in this project has not been submitted and will not be submitted either in part and in full , for the award of any other degree in this university or any other institute or university. Signature : Muhammad Usama ------------------------------------------------------------------------------------- Simad Zaib ------------------------------------------------------------------------------------- Talha Hussain -------------------------------------------------------------------------------------- Usama Bukhari --------------------------------------------------------------------------------------- Aqib Javed --------------------------------------------------------------------------------------- Date: ----------------------------------------
Introduction & Objective of Project :
An autonomous robot called light following robot is cap ab le o f d et ect in g and following the light source on the traveling path. The light following robot includes two photodiodes, one on the right and other on the left. When the light falls on the right photodiode, the robot will move on the right side. Similarly, the robot will move on the left side when the light falls on the left photodiode. The robot is controlled by a feedback mechanism. A Light Following Robot is an electro-mechanical device with an added intelligence .It decides the path to follow according to the light that falls on it. In this project we have designed a robot wherein the amount of light falling on it will be detected by a Light Dependent Resistor (LDR) sensor. Whenever light falls on it, its resistance value decreases depending on the intensity of that light
Circuit Components :
Arduino Uno Motor Driver IC (L293D) Chassis (3-Wheel) LDR (Light Dependent Resistor) Breadboard Jumper Wires Lithium Battery
Arduino UNO :
The Arduino UNO is an open-source microcontroller board based on the Microchip ATmega328P microcontroller and developed by Arduino.cc. The board is equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to various expansion boards (shields) and other circuits. The board has 14 Digital pins, 6 Analog pins, and programmable with the Arduino IDE (Integrated Development Environment) via a type B USB cable. It can be powered by a USB cable or by an external 9 volt battery, though it accepts voltages between 7 and 20 volts.
Figure 1: Arduino Uno
Motor Driver IC (L293D):
L293D is a dual H-Bridge motor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a low-current control signal and provide a higher-current signal. This higher current signal is used to drive the motors. L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively. Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver gets enabled. As a result, the outputs become active and work in phase with their inputs. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and in the high-impedance state.
Figure 4: Chassis
LDR (Light Dependent Resistor ):
An LDR is a component that has a (variable) resistance that changes with the light intensity that falls upon it. This allows them to be used in light sensing circuits. Figure 5: LDR
Figure 6: LDR Graph
Breadboard :
A breadboard is a solderless device for temporary prototype with electronics and test circuit designs. Most electronic components in electronic circuits can be interconnected by inserting their leads or terminals into the holes and then making connections through wires where appropriate. Figure 7 : Breadboard
Figure 9: LIPO Battery
Light Following Robot Circuit Design :
LDR have two pins , one pin is connected to ground and another pin is connected to input of arduino. Even you connect it by 10k ohm resistor to +5v. (L293D) IC have 16pin. 1,8,9 and 16 pin connected to +5v. and 4,5,12,13 pin connected to ground. Input 1,2,3 and 4pin is connected to arduino pin. Output is connected to left motor and right motor. Input 1 and 2 is connected for left motor and input 3 and 4 is connected for right motor.
Project Simulation :
Figure 10:Project Simulation Reference: Appendix A: Project Code : int enablepin1=11; int enablepin2=12; int input1leftmotor=2; int input2leftmotor=4; int input3rightmotor=7; int input4rightmotor=3; int ldr1center=A0; int ldr2left=A1; int ldr3right=A2; void setup() {
left(); Serial.println("left"); delay(600); } else if (value3>value1&&value3>value2) { right(); delay(600); Serial.println("right"); } } void straight(){ digitalWrite(input1leftmotor,HIGH); digitalWrite(input2leftmotor,LOW); digitalWrite(input3rightmotor,HIGH); digitalWrite(input4rightmotor,LOW); } void left(){ digitalWrite(input1leftmotor,LOW); digitalWrite(input2leftmotor,LOW); digitalWrite(input3rightmotor,HIGH); digitalWrite(input4rightmotor,LOW); } void right(){ digitalWrite(input1leftmotor,HIGH); digitalWrite(input2leftmotor,LOW); digitalWrite(input3rightmotor,LOW); digitalWrite(input4rightmotor,LOW); }
Appendix B:
Schematic Diagram :
Figure 11:Schematic Diagram Appendix C: List of Equipment Arduino Uno Motor Driver IC (L293D) Chassis (3-Wheel) LDR (Light Dependent Resistor) Breadboard Jumper Wires Lithium Battery References : Sites Reference https://en.wikipedia.org https://www.coursehero.com https://www.engineersgarage.com https://www.kitronik.co.uk https://www.instructables.com
