Task 7 - Line Following Alphabot

Task

Line Following Alphabot

Functions To Do

1. Sensor & Movement Logic
   • Use 5 IR sensors to read the white line position and store values in an array.
   • Calibrate sensors at startup for accurate detection.
   • Continuously read sensor values and round them for stability.
   • Calculate the line position using a weighted sum for proportional control.
   • Implement PID control (proportional, integral, derivative) to follow the line smoothly.
   • Adjust motor speeds based on PID output to keep the robot centered on the line.
2. Motor Control
   • Use PWM to control left and right motor speeds independently.
   • Implement functions for turning left, right, and making 180-degree turns using motor direction and speed control.
   • Stop motors when needed for precise maneuvers or at the end of the line.
3. Feedback & Debugging
   • Print sensor values and calculated positions to the serial monitor for debugging and calibration.

Output

Solution

White_line_tracking