LineFollower Kwark

Hello,

I’d like to share my linefollower project that I’ve recently built. The entire project, including software, hardware, and PC application, is available on my GitHub.

Electronics & Components:

  • Microcontroller: STM32F722
  • Sensors: 12 KTIR0711 infrared sensors.
  • Motors: 2 Pololu DC motors HPCB 10:1
  • Motor Drivers: 2 Pololu TB6612FNG drivers (paralleled channels)
    Encoders: 2 AMS AS5040 magnetic rotary encoders to measure motor speed
  • Communication: Bluetooth module to communcite with the PC application
  • Power Supply: 7.4V LiPo battery

You can check the youtube demostraction video: https://www.youtube.com/watch?v=Kh0NfI-lTgY

PCBs:



Software:

  • Firmware: Written in C, the firmware uses event-driven state machine and PID algorithms for motor control.
  • Bootloader: Enables wireless firmware updates via Bluetooth.
  • PC Application: Developed using QT (C++), the PC app provides a graphical interface to control, configure, and monitor the robot.
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