Line following robot

In order to achieve the requirements that were given to us for that project we decided to use a microcontroller: Attiny85. The rest of the circuit was built arround that controller in order to receive the information from the censors, to control the motors or even to power the controller.

The Attiny85 microcontroller is Arduino compatible therefore the code running on the microcontroller was written in C using the Arduino IDE. It uses the sensors attached on the front to detect the black line and actionate the motor in consequence. This firmware is explained in the diagram below:

A demonstration of the final robot following the line can be seen on the video below:

Project supervisor: Dr. Deniz Gunduz, leader of the Information Processing and Communications Lab.