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MSP430 Line Follower

Follows a line
main.pdf39.48 KB

This is a line follower that uses a MSP430G2553 16 bit microcontroller and a L293d motor driver. There are 5 cny70 analog infrared sensors that feed the value to the 10 bit adc on the microcontroller. I have implemented a PID routine mixed in with some random control logic. Faster motors are currently on the way which will make it go twice as fast.

I attached the main.c source code if anyone is interested.

Link to video if site not working: http://www.youtube.com/watch?v=Nf13Ptlydhg

Future improvements:

  • Lipo battery instead of 9volt
  • Fuzzy logic instead of PID

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Hi. Can I ask for the circuit diagram of the whole robot? Thanks. I want to make one. That is very nice! Thank you!

cool project, and always good to see folks playing with the 430. Was there any reason why you chose to use the adc as opposed to using a high/low signal for the line sensors?

Looking good there Crackers, with motors that are twice as fast this will really be something speedy!

I see your cat is as good at helping test robots as mine is =)

Great work!