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Arduino UNO Line Following Robot with L298N Motor Driver and KY-033 Sensors

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Circuit Documentation

Summary

This document provides a detailed overview of a circuit designed to control a line-following robot. The circuit includes an Arduino UNO microcontroller, an L298N DC motor driver, two hobby motors, a 12V battery, and three KY-033 line tracking sensors. The Arduino UNO reads the sensor values and controls the motors based on the sensor inputs to follow a line.

Component List

  1. Arduino UNO

    • Description: A microcontroller board based on the ATmega328P.
    • Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0

  2. L298N DC Motor Driver

    • Description: A dual H-Bridge motor driver that allows control of two DC motors.
    • Pins: OUT1, OUT2, 12V, GND, 5V, OUT3, OUT4, 5V-ENA-JMP-I, 5V-ENA-JMP-O, +5V-J1, +5V-J2, ENA, IN1, IN2, IN3, IN4, ENB

  3. Motor amarillo motorreductor hobby

    • Description: A small DC motor with a gearbox for increased torque.
    • Pins: vcc, GND

  4. Battery 12V

    • Description: A 12V battery used to power the motor driver and motors.
    • Pins: +, -

  5. KY-033 Line Tracking Sensor

    • Description: A sensor module used for line tracking applications.
    • Pins: A0, D0, GND, VCC

Wiring Details

Arduino UNO

L298N DC Motor Driver

Motor amarillo motorreductor hobby

Battery 12V

KY-033 Line Tracking Sensor

Code Documentation

// Pin definitions
const int sensor1Pin = 10; // D0 of KY-033
const int sensor2Pin = 11; // D0 of KY-033
const int sensor3Pin = 12; // D0 of KY-033
const int motor1Pin1 = 2;  // IN1 of L298N
const int motor1Pin2 = 3;  // IN2 of L298N
const int motor2Pin1 = 4;  // IN3 of L298N
const int motor2Pin2 = 5;  // IN4 of L298N

void setup() {
  // Initialize serial communication
  Serial.begin(9600);

  // Set motor pins as outputs
  pinMode(motor1Pin1, OUTPUT);
  pinMode(motor1Pin2, OUTPUT);
  pinMode(motor2Pin1, OUTPUT);
  pinMode(motor2Pin2, OUTPUT);

  // Set sensor pins as inputs
  pinMode(sensor1Pin, INPUT);
  pinMode(sensor2Pin, INPUT);
  pinMode(sensor3Pin, INPUT);
}

void loop() {
  // Read sensor values
  int sensor1Value = digitalRead(sensor1Pin);
  int sensor2Value = digitalRead(sensor2Pin);
  int sensor3Value = digitalRead(sensor3Pin);

  // Print sensor values to serial monitor
  Serial.print("Sensor1: ");
  Serial.print(sensor1Value);
  Serial.print(" Sensor2: ");
  Serial.print(sensor2Value);
  Serial.print(" Sensor3: ");
  Serial.println(sensor3Value);

  // Control motors based on sensor values
  if (sensor1Value == LOW && sensor2Value == HIGH && sensor3Value == LOW) {
    // Move forward
    digitalWrite(motor1Pin1, HIGH);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor2Pin1, HIGH);
    digitalWrite(motor2Pin2, LOW);
  } else if (sensor1Value == HIGH && sensor2Value == LOW && sensor3Value == LOW) {
    // Turn left
    digitalWrite(motor1Pin1, LOW);
    digitalWrite(motor1Pin2, HIGH);
    digitalWrite(motor2Pin1, HIGH);
    digitalWrite(motor2Pin2, LOW);
  } else if (sensor1Value == LOW && sensor2Value == LOW && sensor3Value == HIGH) {
    // Turn right
    digitalWrite(motor1Pin1, HIGH);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor2Pin1, LOW);
    digitalWrite(motor2Pin2, HIGH);
  } else {
    // Stop
    digitalWrite(motor1Pin1, LOW);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor2Pin1, LOW);
    digitalWrite(motor2Pin2, LOW);
  }

  // Small delay to stabilize readings
  delay(100);
}

This code initializes the pins for the sensors and motors, reads the sensor values, and controls the motors based on the sensor inputs to follow a line. The robot moves forward when the middle sensor detects the line, turns left when the left sensor detects the line, and turns right when the right sensor detects the line. If no sensor detects the line, the robot stops.