Line Following Robot Based on Differential Drive System

Figure 1 

The robot utilizes Futaba S-148 servo motors to build a differential drive system that will be used to design the line following robot.
The servo motors were mounted to the bottom of the plexiglass and bolted the hub of foam wheels so the horn of the servos can be controlled. An array of 3 matched IR transmit/receive pairs mounted on a circuit board comprises the sensor system which can be used to fine tune the sensitivity by raising or lowering. The IR transmitter is the diode and the phototransistor is the receiver. The input from the sensor array is taken by the microcontroller and in response, the servo motors are driven.
Two A/D channels through A/D chip are contained in the Atmel Bot board where the Atmel 90S2313 uses a serial interface to read the data from the A/D chip. The voltage is represented by a 12-bit digital value which is the retrieved data from the A/D channels.
The center sensor goes to the 2313’s onboard comparator where the compare or reference voltage is set with a divider circuit in order to get a threshold of 2.5V with software aid.

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