This document provides instructions for building a line-following robot car using an Arduino board. It explains that sensors are used to locate a line on the ground and the Arduino code makes the car's motors move to follow the line. The car senses the line's position with 2 front sensors, decides which way to turn based on the sensor readings, and the motors act to move the car forward or turn it left or right. The document also provides advice to test components separately before integrating everything and start with low motor speeds when testing.

1. 7th – Following a line
Nestor Benavides

2. Basic components
Actuators (motors):
Control the car’s direction.
MOVE TURN
Forward Backward Left Right
Sensors (KY033):
Identify where is the line
to follow.

3. How does it work?
1. Sense 2. Decide 3. Act
KY 033
Arduino
(code)
Motors
1. Sense: Locate the line.
2. Decide: Based on the position of the line, decide where to move the car.
3. Act: Make the motors move on that direction.
- Repeat the process -

4. Sensing possibilities
In the simplest case, the line follower will have only 2 sensors in front and identify
3 different possibilities to locate the line:
S1 S2
Remember the readings:
White < 50
Black > 49
<50 <50 <50 <50>49 >49

5. Deciding and acting
Move forward Turn right Turn left
*Instructions to move forward* *Instructions to turn right* *Instructions to turn left*

6. Final code structure
*declare the components and variables to use*
*State sensors, actuators, variables and SerialMonitor*
*Read the sensors*
*Show the readings in
the SerialMonitor*
*Make the car move forward*
*Make the car turn right*
*Make the car turn left*

7. Final advices
1. Test sensors and actuators separately, first
make sure that the sensors are reading
properly, then that the motors work as you
want, only after that, you can combine
everything.
2. Test the motors with low speed, when you see
that the car works, start adjusting the speed
as you desire.
3. The more sensors you use, more effective and
smooth your line follower will be, however,
you will need to code more and calculate
more possibilities.