LineFollower-Kwark

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README

Introduction

The LineFollower Robot is an autonomous robot designed to follow a predefined path marked by a black or white line.
This project serves a quite advanced solution including hardware project, embedded software and PC QT application.

A short video demo is available on YouTube.

Example - one of the first - linefollower run:

Hardware

High level block diagram

Comments

linefollower: The core component of the software, manages the main event driven state machine. It handles the initialization of all subsystems. This component integrates sensor data processing, PID control algorithms, encoder feedback, and motor management. Additionally, it facilitates communication with the PC application for debugging and configuration purposes.
linefollower_config: Defines the default configurations and settings for the robot. This ensures that all hardware related configurations is easily adjustable.
lf_signal_queue: Implements a signal queue used for managing events and signals within the state machine.
linefollower_commands: Handles the processing of serial communication protocol (SCP) commands received from the PC application. It defines a set of commands for controlling the robot's modes, resetting the MCU, initiating calibration, reading and writing NVM data, toggling debug mode, retrieving session information, and entering the bootloader for firmware updates.
lf_calibrate: Manages the calibration process for the sensors. It handles the collection of sensor data during calibration runs, computes appropriate threshold values based on the collected values.
sensors: The module is responsible for interfacing with the robot's sensors to detect the line. It processes ADC data to determine states and manages the associated LEDs. Also implements algorithms to detect specific straight lines and right angles.
pid: Implements the PID control algorithms used to regulate the robot's motor speeds based on sensor and encoder feedback.
encoder: Manages the interfacing with the motor encoders to track the robot's velocity.
tb6612_motor: The module interfaces with the TB6612 motor driver hardware to control the robot's motors.
nvm: The module handles non-volatile memory operations, enabling the storage and retrieval of configuration data, calibration settings, and runtime parameters. The module ensures data integrity through CRC verification. The nvm module allows the robot to retain configurations across power cycles.
scp: Implements the Serial Communication Protocol (SCP) used for communication between the robot and external interfaces such as the PC application.
scp_dispatcher: The module acts as a handler for processing SCP commands received via the scp module. It manages a global command queue using a circular buffer to store incoming data, parses SCP packets, verifies data integrity using CRC, and dispatches valid commands to their respective handlers.

LineFollower-Kwark

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Introduction

Hardware

High level block diagram

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Introduction

Hardware

High level block diagram

Schematic and PCB

Component Details

Software

Main run loop

Code Structure

Bootloader

QT Application