This document describes a line tracking self-driving car project using an Arduino controller. The objective is to use sensors to read different color surfaces and send commands to motor controllers to adjust the car's course accordingly. The hardware includes line tracking sensors, an Arduino board, and motors. The software reads sensor input in the main loop, and defines functions for left, right, forward and reverse movement. Design challenges include converting from 4 wheels to 2, properly positioning the sensors, and calibrating motor power and sensor readings for smooth tracking.

1. CE595
Line Tracking Self Driving Car by Chih Han Chen

2. OBJECTIVE
Using arduino controller as brain
to control the movement of the
two wheels vehicle base on
different reflective surface from
sensor reading on the black and
white color. As the sensor detect
the change in the color surface, an
appropriate command is issue to
the motor controller to readjust it’s
course.

3. 4. Arduino Line Tracking Sensor
3.Arduino Power
HARDWARE_2 https://www.sunfounder.com/learn/Smart-Car-Kit-for-Arduino/36-40-smart-car.html

4. Software ( I/O define) Adapt from https://github.com/sparkfun/RedBot

5. Software (init setup)

6. Software (main loop- sensor reading)

7. Software (left,right,forward,reverse functions)

8. Design Challenge
1. 4 wheelers to 2 wheelers conversion require moderate hardware and software
modification.
2. The height of Line Tracking Sensor could not be too close or too high. It is need to
be at just about 1.5 inch above the ground to receive proper reading.
3.The PWM to the DC motor could not be over power or under power to make sure
the vehicle could follow the course smoothly.
4.The Analog port of the Line Tracking Sensor require robot to insync with the
consistancy of the sensor reading. Therefore the robot may run off course in the
first couple cycle of reading but eventually settle into the consistant pattern.