Line Follower Hub

Warning: This code is part of a university project and includes components developed with the assistance of AI. The AI has been used to add functionalities, restructure code, and help build tests. Please ensure you understand the code and its implications before using it in critical applications.

A comprehensive Arduino library for line follower robots supporting multiple sensor configurations and advanced algorithms.

Features

• Multiple sensor configurations (3, 4, or 8 channels)
• PID-based line following
• Advanced junction detection
• Maze solving capabilities
• L298N motor driver support
• Debug utilities for development

Version History

v3.2.1 (2023)

• Advanced maze solving algorithms
• Eight-channel sensor support
• Improved junction detection
• Enhanced debugging utilities

v2.5.0 (2023)

• Four-channel sensor implementation
• PID controller refinements
• Added motor driver abstraction
• Junction detection capabilities

v1.0.0 (2020)

• Initial release
• Basic three-channel sensor support
• Simple line following algorithms
• L298N motor driver support

Installation

Method 1: Arduino IDE Library Manager (Recommended)

1. Open Arduino IDE
2. Navigate to Sketch -> Include Library -> Manage Libraries
3. Search for "LineFollowerHub"
4. Click Install

Method 2: Manual Installation

1. Download this repository as a ZIP file
2. Open Arduino IDE
3. Go to Sketch -> Include Library -> Add .ZIP Library
4. Select the downloaded ZIP file

Hardware Setup

Supported Configurations

3-Channel Setup

• Connect IR sensors to analog pins:
  • Left Sensor → A0
  • Center Sensor → A1
  • Right Sensor → A2

4-Channel Setup

• Connect IR sensors to analog pins:
  • Far Left → A0
  • Left → A1
  • Right → A2
  • Far Right → A3

8-Channel Setup

• Connect IR sensors to analog pins A0 through A7

Motor Connection (L298N)

• Enable A → Pin 5
• Enable B → Pin 6
• Input 1 → Pin 7
• Input 2 → Pin 8
• Input 3 → Pin 9
• Input 4 → Pin 10

Basic Usage

Simple 4-Channel Example

include <LineFollowerHub.h>
// Pin definitions for 4 sensors
int sensorPins[] = {A0, A1, A2, A3};
// Create objects
FourChannelSensor sensors(sensorPins);
PIDController pid(1.0, 0.1, 0.5);
L298NDriver motors(7, 8, 9, 10, 5, 6);
void setup() {
sensors.init();
motors.init();
}
void loop() {
int position = sensors.getPosition();
float correction = pid.compute(0, position);
// Apply motor speeds
int leftSpeed = BASE_SPEED + correction;
int rightSpeed = BASE_SPEED - correction;
motors.setSpeed(leftSpeed, rightSpeed);
}

Advanced Features

Junction Detection

The library includes junction detection capabilities for:

• Left/Right turns
• T-junctions
• Cross junctions
• Dead ends

Maze Solving

Built-in maze solving algorithms using:

• Left-hand rule
• Path optimization
• Junction memory

Configuration

PID Tuning

Adjust PID parameters in your code:

PIDController pid(Kp, Ki, Kd);
// Example: PIDController pid(1.0, 0.1, 0.5);

Sensor Calibration

Always calibrate sensors before use:

void setup() {
sensors.init();
sensors.calibrate(); // Run calibration routine
}

Debugging

Use DebugUtils to log sensor values and robot state:

DebugUtils::log("Sensor value: " + String(sensorValue));
DebugUtils::log("Robot position: " + String(position));

Monitor output through Serial Monitor at 9600 baud.

Examples

The library includes several example sketches:

• 3ch_pid: Basic 3-channel line following
• 4ch_pid: 4-channel PID control
• 8ch_advanced: Advanced features with maze solving

Contributors

• Bezalelohim
• mellbillB