BLF BOT (Black Line Follower)

BLF V3 boards test

Motor test with V3 boards - Insulation wheels.

Though id try the boards with real motors. The biggest issue was getting enough grip from the motors to the paper.

My first try was Insulation from two wires

Finally came up with a solution silicone baking sheet.

Using a leather punch, you can cut out 3mm diameter disks, pus a pin through the middle and fit them to the motors.

The problem now remains to control the power, PWM is giving me some control, but when there is only one motor running they don't have enough power. Awaiting a new SMT board from OSHPark, Hopefully this will cut down the weight

After looking at Steerable Bristle bot I saw a demo with no brushes and two vibration motors that were the same as I was using.

After a few plays I got it working, but.. It only works on a flexible surface like rubber sheet or a mouse mat. Working on paper (even over a rubber mat) was very poor. This makes it difficult to add black lines, so Ive abandoned that method for now.

Not really part of the project, but a needed accessory a charger for the batteries.

Details at extelec.uk/bcc

New SMT V3 boards ordered from OSH Park, Smaller, with pads for Learn Mode and an extra in only port for future development.

plus and ICP header for programing the uP (needed as the chip is Surface mount and soldered in)

Ill share in OSH park when the boards are proved.

Code completed for the PIC12F675. I always viewed this as the processor of choice for the project, but I had PIC12F510 in stock so that came first.

PIC12F510 has EEPROM on board. this makes the storing of calibration data possible.

Due to the PCB design the only pin I could easily use without changing the PCB was the status LED, so bringing this pin high on power up now gives Learn mode.

When used with the calibration track this will count transitions on left and right sides and adjust motor power accordingly to help maintain the bot in a straight line.

Working bot from the first PCB details added.

More to come. PIC12F675 support - Calibration - SMD PCB - Geared motor tests.