Documentation LR

ROBOTICS: Line Following Robot Thesis II C2006
Informatics Computer Institute
Introduction:
Robotics from this generation the 20th century has gone far broad. People widens
their knowledge evolving from simple to digital and to far more advance technology that
man could ever create.
The concept in studying Robotics is to improve human’s way of life the

technology on how people react to what Robots can help in making their life easier,
flexible and reliable to it. Involving a fast pace system without any hassle work saves
more time to other important things in priority to work Robots are a great help to humans
life pressure.
The composition of the project is building a software and hardware using

Microchip Assembly Language, C language and Java language. We will develop a simple
Line Following Robot by assembling its parts and materials, using electronics involving
to its hardware and software. We will control this Line Following Robot through the
software we use, building its behavior through the software, programming its language
using codes loading it to its microchips to let the hardware execute.
The program we create will compile with the PONYPROG and

MPASM/MPLAB. These three software tools are the compiler and loader or editor and
stimulators of the complete program C language of Java. To load the compiled programs
to the PIC microchips controllers it will need hardware with serial ports. This is the
hardware that will become the bridge of the computer and the PIC controllers.
The computer can detect this hardware functionality. The design we develop,
we build dual controller detection in one machine. The aim of the project is to make a
robot which can follow a black strip on a white floor. The robot can be used in many
companies inside their warehouses doing the arrangements or piling the stocks, it can also
be use as transport vehicle inside a warehouse the robot can act as a path guider in normal
works inside an office guides the visitors.
C2006 Thesis II: Page 1
Khalil Vanz A Quilab 0526-0608i3264 Dwight Tan

Daryl Dawn B. Desquitado 0526-0607i3227 Ralph Roa
What is Robotics
Robotics is the science and technology of robot, their design, manufacture, and
application. Robotics requires a working knowledge of electronics, mechanics and
software, and is usually accompanied by a large working knowledge of many subjects. A
person working in the field is a robotics.
Although the appearance and capabilities of robots vary vastly, all robots share
the features of a mechanical, movable structure under some form of autonomous control.
The structure of a robot is usually mostly mechanical and can be called a kinematical
chain (its functionality being akin to the skeleton of the human body). The chain is
formed of links (its bones), actuators (its muscles) and joints which can allow one or
more degrees of freedom.
Most contemporary robots use open serial chains in which each link connects the
one before to the one after it. These robots are called serial robots and often resemble the
human arm. Some robots, such as the Stewart platform, use closed parallel kinematical
chains. Other structures such as those that mimic, the mechanical structure of humans,
various animals and insects, are comparatively rare. Robots used as manipulators have an
end effectors mounted on the last link.

Fact Finding:
Justification
Our study and justification of our system involves an important role in the human
world. The creative minds, group of students, societies and organizations supports the
knowledge acquiring robotics not only in this local country. Due to influences through
foreign countries the study of robotics caught the minds of the Filipinos. The will to
invent, discover new things that would improve the system or new applications of the life
cycle of humans.
A lot of Great Filipino minds succeed on this journey to study how to produce or
create using robotics and the world widespread affects this system We the group students
practicing how robotics system works. We ourselves learned that we can probably create
it ourselves studying the materials the parts, their functions how they react inside and the
output of the materials.
The system robotics strongly involves electronic circuits, diagrams that explain all
each of its parts inside. These electronic parts are the ones initiates all the movements,
behaviors of the line following robot system hardware and software.
The line following robot runs in a multi task environment both the hardware and
the software interacts and reacts to the loaded codes. The connectivity of these two
applications plays a very important relation between the developers deciding how the
robot behaves in a situation programmed to its components.
We the team informatics group of students can create this as well. We can make
this system work with critical minds hungry for accomplishment to this project we
produce. Our group believes that we can do this as what the previous Filipino geniuses
have accomplished. Our goal is to achieve in the success in studying the robotics world to
contribute for the Filipinos as well to prove ourselves that we can reach this goal and to
be successful in professional in the IT/Programming Industry.








Description of the New System:
The line following robot will need to see the line, therefore we require a light
detector. The weapon of choice here will be Infra Red (IR) light. To make this easy for
ourselves the light only needs to be constant. If a white line is present then it will reflect a
Lot of IR from our source. If the line is black then we see the opposite effect.
Line follower robot is a mobile machine that can detect and follow line which is
drawn on the floor. The path can be a visible black line on a white surface or reverse.
The Robot should read for identifying its position in some time, after that, the
control system will create for robot some orders to respect components in purposes of
making correct movements of the robot.
PIC Programmer
The hardware of the system where the loading of codes takes place applying all
the elements needed to make the system work accurately and follows instructions loaded.
This hardware involves the electronic circuits, components and the features
revolving to it connecting through the software using the Ponyprog and the
MPASM/MPLAB controls the program codes of the system

The PIC programmer needs to connect to a COM port of a pc to be able to rub and
use its components and features. The advantage of this programmer is that it uses the
serial RS232 COM port which is freely accessible in NT 2000 and XP.
Power Supply
Connect a 15V DC or AC adapter to the DC input of the PIC programmer

The PIC programmer Diagram

MPLAB Integrated Development Environment
What is MPLAB IDE?
MPLAB Integrated Development Environment. Integrated toolset for the

development of embedded applications employing Microchip's PIC and dsPIC
microcontrollers. MPLAB IDE runs as a 32-bit application on MS Windows, is easy to
use for the components for fast application development and super-charged debugging.
MPLAB IDE also serves as a single, unified graphical user interface for additional
Microchip and third party software and hardware development tools. Moving between
tools and upgrading from the software simulator to hardware debug is easy.
Below is an illustration of the MPLAB IDE Software Environment

MPLAB IDE features:
Flexible customizable programmer's text editor
• Fully integrated debugging with right mouse click menus for breakpoints, trace
and editor functions
• Tabbed editor option or separate source windows
• Recordable macros
• Context sensitive color highlighting for assembly, C and BASIC code readability
• Mouse over variable to instantly evaluate the contents of variables and registers
• Set breakpoints and tracepoints directly in editor to instantly make changes and
evaluate their effects
• Graphical project manager
• Version control support for MS Source Safe, CVS, PVCS, Subversion
Free components

• Programmer’s text editor
• MPLAB SIM, high speed software simulator for PIC and dsPIC devices with
peripheral simulation, complex stimulus injection and register logging
• Full featured debugger
• MPASM™ and MPLINK for PIC MCUs and dsPIC DSC devices
• HI-TECH C PRO for PIC10/12/16 MCU Families running in lite mode
• CCS PCB C Compiler
• Labcenter Electronic’s Proteus VSM spice simulator
• Many Powerful Plug-Ins including
• ○ AN851 Bootloader programmer
• ○ AN901 BLDC Motor Control Interface
• ○ AN908 ACIM Tuning Interface
Cereberes Scheme

Materials Requirement

The components list of the line following robot
Transistor Diode Resistor Capacitor

847 – 4pcs. 4148 – 3pcs. 1k – 10pcs. Polarized:
857 – 2pcs. 1N4007 – 4pcs. 4k – 10pcs. 47u – 5pcs.
10k – 10pcs. Non-Polarized:
2k2 – 5pcs. 100n – 10pcs.
1n – 5pcs.
Zener Diode LED IC Socket Voltage & Regulator

6V – 3pcs. Green – 1pc. PIC16F84A Socket 78L05 or +5volts DC
13V – 3pcs Red – 1pc. 18pins Regulator
VGA Female socket 220 AC->12v/15v DC
step-down transformer
List of Symbols
V – Volts
R – Resistors
D – Diodes
C – Capacitors
DC – Direct Current
IC – Integrated Chip
T – Transistors
Ohms -

Process Flows
Problems and Limitation of the System
 Choice of the line is made in the hardware abstraction and can be change by
software.
 Calibration is difficult, and it is not easy to set a perfect value.
 The Steering mechanism is not easily implemented in huge vehicles and

impossible for non-electric vehicles (petrol powered).
 Few curves are not made efficiently, and must be avoided.
 Lack of a four wheel drive, makes it not suitable for a rough terrain.
 Use of IR even though solves a lot of problems pertaining to interference, makes

it hard to debug a faulty sensor.
 Lack of speed control makes the robot unstable.
Scopes and Constrains

Requirement Specification
Module 1: Database Administration
1.1: Able to create a running and working line following robot.

1.2: Able to follow command inputs loads and development.
1.3: Able to initiate the language programmed.
1.4: Able to detect the designated colors.
Hardware and Software Selection


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ROBOTICS: Line Following Robot Thesis II C2006

Informatics Computer Institute

The concept in studying Robotics is to improve human’s way of life the

The composition of the project is building a software and hardware using

The program we create will compile with the PONYPROG and

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Description of the New System:

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Connect a 15V DC or AC adapter to the DC input of the PIC programmer

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The PIC programmer Diagram

C2006 Thesis II: Page 13

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MPLAB Integrated Development Environment

What is MPLAB IDE?

MPLAB Integrated Development Environment. Integrated toolset for the

Below is an illustration of the MPLAB IDE Software Environment

C2006 Thesis II: Page 14

Khalil Vanz A Quilab 0526-0608i3264 Dwight Tan

MPLAB IDE features:

Flexible customizable programmer's text editor

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The components list of the line following robot

Transistor Diode Resistor Capacitor

Zener Diode LED IC Socket Voltage & Regulator

C2006 Thesis II: Page 18

Khalil Vanz A Quilab 0526-0608i3264 Dwight Tan

Problems and Limitation of the System

 Calibration is difficult, and it is not easy to set a perfect value.

 The Steering mechanism is not easily implemented in huge vehicles and

 Few curves are not made efficiently, and must be avoided.

 Use of IR even though solves a lot of problems pertaining to interference, makes

 Lack of speed control makes the robot unstable.

Scopes and Constrains

C2006 Thesis II: Page 19

Khalil Vanz A Quilab 0526-0608i3264 Dwight Tan

Module 1: Database Administration

1.1: Able to create a running and working line following robot.